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tby-udel · Jun 10, 2024 · 0e04bf2 · 0e04bf2
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diff --git a/perception/lidar_centerpoint/README.md b/perception/lidar_centerpoint/README.md
@@ -29,6 +29,7 @@ We trained the models using <https://github.com/open-mmlab/mmdetection3d>.
 ## Parameters
 
 ### Core Parameters
+
 {{ json_to_markdown("perception/lidar_centerpoint/schema/centerpoint_ml_package.schema.json") }}
 {{ json_to_markdown("perception/lidar_centerpoint/schema/centerpoint_sigma_ml_package.schema.json") }}
 {{ json_to_markdown("perception/lidar_centerpoint/schema/centerpoint_tiny_ml_package.schema.json") }}

diff --git a/perception/lidar_centerpoint/schema/centerpoint_sigma_ml_package.schema.json b/perception/lidar_centerpoint/schema/centerpoint_sigma_ml_package.schema.json
@@ -1,99 +1,98 @@
 {
-    "$schema": "http://json-schema.org/draft-07/schema#",
-    "title": "Parameters for Centerpoint Sigma ML model",
-    "type": "object",
-    "definitions": {
-      "centerpoint_sigma_ml_package": {
-        "type": "object",
-        "properties": {
-          "model_params": {
-            "type": "object",
-            "description": "Parameters for model configuration.",
-            "properties": {
-              "class_names": {
-                "type": "array",
-                "description": "An array of class names will be predicted.",
-                "default": ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"],
-                "items": {
-                  "type": "string"
-                },
-                "uniqueItems": true
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for Centerpoint Sigma ML model",
+  "type": "object",
+  "definitions": {
+    "centerpoint_sigma_ml_package": {
+      "type": "object",
+      "properties": {
+        "model_params": {
+          "type": "object",
+          "description": "Parameters for model configuration.",
+          "properties": {
+            "class_names": {
+              "type": "array",
+              "description": "An array of class names will be predicted.",
+              "default": ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"],
+              "items": {
+                "type": "string"
               },
-              "point_feature_size": {
-                "type": "integer",
-                "description": "A number of channels of point feature layer.",
-                "default": 4
-              },
-              "max_voxel_size": {
-                "type": "integer",
-                "description": "A maximum size of voxel grid.",
-                "default": 40000
-              },
-              "point_cloud_range": {
-                "type": "array",
-                "description": "An array of distance ranges of each class, this must have same length with `class_names`.",
-                "default": [-76.8, -76.8, -4.0, 76.8, 76.8, 6.0],
-                "items": {
-                  "type": "number"
-                }
-              },
-              "voxel_size": {
-                "type": "array",
-                "description": "An array of voxel grid sizes for PointPainting, this must have same length with `paint_class_names`.",
-                "default": [0.32, 0.32, 10.0],
-                "items": {
-                  "type": "number"
-                }
-              },
-              "downsample_factor": {
-                "type": "integer",
-                "description": "A scale factor of downsampling points.",
-                "default": 1,
-                "minimum": 1
-              },
-              "encoder_in_feature_size": {
-                "type": "integer",
-                "description": "A size of encoder input feature channels.",
-                "default": 9
-              },
-              "has_variance": {
-                "type": "boolean",
-                "description": "Flag indicating if the model includes variance estimation.",
-                "default": false
-              },
-              "has_twist": {
-                "type": "boolean",
-                "description": "Flag indicating if the model includes twist estimation.",
-                "default": false
+              "uniqueItems": true
+            },
+            "point_feature_size": {
+              "type": "integer",
+              "description": "A number of channels of point feature layer.",
+              "default": 4
+            },
+            "max_voxel_size": {
+              "type": "integer",
+              "description": "A maximum size of voxel grid.",
+              "default": 40000
+            },
+            "point_cloud_range": {
+              "type": "array",
+              "description": "An array of distance ranges of each class, this must have same length with `class_names`.",
+              "default": [-76.8, -76.8, -4.0, 76.8, 76.8, 6.0],
+              "items": {
+                "type": "number"
+              }
+            },
+            "voxel_size": {
+              "type": "array",
+              "description": "An array of voxel grid sizes for PointPainting, this must have same length with `paint_class_names`.",
+              "default": [0.32, 0.32, 10.0],
+              "items": {
+                "type": "number"
               }
             },
-            "required": [
-              "class_names",
-              "point_feature_size",
-              "max_voxel_size",
-              "point_cloud_range",
-              "voxel_size",
-              "downsample_factor",
-              "encoder_in_feature_size",
-              "has_variance",
-              "has_twist"
-            ]
-          }
-        },
-        "required": ["model_params"]
-      }
-    },
-    "properties": {
-      "/**": {
-        "type": "object",
-        "properties": {
-          "ros__parameters": {
-            "$ref": "#/definitions/centerpoint_sigma_ml_package"
-          }
-        },
-        "required": ["ros__parameters"]
-      }
-    },
-    "required": ["/**"]
-  }
-
+            "downsample_factor": {
+              "type": "integer",
+              "description": "A scale factor of downsampling points.",
+              "default": 1,
+              "minimum": 1
+            },
+            "encoder_in_feature_size": {
+              "type": "integer",
+              "description": "A size of encoder input feature channels.",
+              "default": 9
+            },
+            "has_variance": {
+              "type": "boolean",
+              "description": "Flag indicating if the model includes variance estimation.",
+              "default": false
+            },
+            "has_twist": {
+              "type": "boolean",
+              "description": "Flag indicating if the model includes twist estimation.",
+              "default": false
+            }
+          },
+          "required": [
+            "class_names",
+            "point_feature_size",
+            "max_voxel_size",
+            "point_cloud_range",
+            "voxel_size",
+            "downsample_factor",
+            "encoder_in_feature_size",
+            "has_variance",
+            "has_twist"
+          ]
+        }
+      },
+      "required": ["model_params"]
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/centerpoint_sigma_ml_package"
+        }
+      },
+      "required": ["ros__parameters"]
+    }
+  },
+  "required": ["/**"]
+}