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pre-commit-ci[bot] committed Jun 6, 2024
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239 changes: 119 additions & 120 deletions perception/lidar_centerpoint_tvm/schema/centerpoint.schema.json
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Original file line number Diff line number Diff line change
@@ -1,129 +1,128 @@
{
"$schema": "http://json-schema.org/draft-07/schema#",
"title": "Parameters for Lidar Centerpoint TVM Node",
"type": "object",
"definitions": {
"centerpoint": {
"type": "object",
"properties": {
"class_names": {
"type": "array",
"description": "List of class names for object detection.",
"items": {
"type": "string"
},
"default": ["CAR", "PEDESTRIAN", "BICYCLE"]
},
"rename_car_to_truck_and_bus": {
"type": "boolean",
"description": "Flag to rename car detections to truck and bus.",
"default": true
"$schema": "http://json-schema.org/draft-07/schema#",
"title": "Parameters for Lidar Centerpoint TVM Node",
"type": "object",
"definitions": {
"centerpoint": {
"type": "object",
"properties": {
"class_names": {
"type": "array",
"description": "List of class names for object detection.",
"items": {
"type": "string"
},
"point_feature_size": {
"type": "integer",
"description": "The size of the point features.",
"default": 4
"default": ["CAR", "PEDESTRIAN", "BICYCLE"]
},
"rename_car_to_truck_and_bus": {
"type": "boolean",
"description": "Flag to rename car detections to truck and bus.",
"default": true
},
"point_feature_size": {
"type": "integer",
"description": "The size of the point features.",
"default": 4
},
"max_voxel_size": {
"type": "integer",
"description": "The maximum number of voxels.",
"default": 40000
},
"point_cloud_range": {
"type": "array",
"description": "The range of the point cloud.",
"items": {
"type": "number"
},
"max_voxel_size": {
"type": "integer",
"description": "The maximum number of voxels.",
"default": 40000
"default": [-89.6, -89.6, -3.0, 89.6, 89.6, 5.0]
},
"voxel_size": {
"type": "array",
"description": "The size of the voxels.",
"items": {
"type": "number"
},
"point_cloud_range": {
"type": "array",
"description": "The range of the point cloud.",
"items": {
"type": "number"
"default": [0.32, 0.32, 8.0]
},
"downsample_factor": {
"type": "integer",
"description": "The factor by which to downsample the point cloud.",
"default": 1
},
"encoder_in_feature_size": {
"type": "integer",
"description": "The size of the input features for the encoder.",
"default": 9
},
"has_twist": {
"type": "boolean",
"description": "Flag to indicate if the twist (velocity) is included.",
"default": false
},
"post_process_params": {
"type": "object",
"properties": {
"circle_nms_dist_threshold": {
"type": "number",
"description": "The distance threshold for circle NMS.",
"default": 1.5
},
"default": [-89.6, -89.6, -3.0, 89.6, 89.6, 5.0]
},
"voxel_size": {
"type": "array",
"description": "The size of the voxels.",
"items": {
"type": "number"
"score_threshold": {
"type": "number",
"description": "Detected objects with score less than threshold are ignored.",
"default": 0.35
},
"default": [0.32, 0.32, 8.0]
},
"downsample_factor": {
"type": "integer",
"description": "The factor by which to downsample the point cloud.",
"default": 1
},
"encoder_in_feature_size": {
"type": "integer",
"description": "The size of the input features for the encoder.",
"default": 9
},
"has_twist": {
"type": "boolean",
"description": "Flag to indicate if the twist (velocity) is included.",
"default": false
"yaw_norm_threshold": {
"type": "number",
"description": "The threshold for yaw normalization.",
"default": 0.0
}
},
"post_process_params": {
"type": "object",
"properties": {
"circle_nms_dist_threshold": {
"type": "number",
"description": "The distance threshold for circle NMS.",
"default": 1.5
},
"score_threshold": {
"type": "number",
"description": "Detected objects with score less than threshold are ignored.",
"default": 0.35
},
"yaw_norm_threshold": {
"type": "number",
"description": "The threshold for yaw normalization.",
"default": 0.0
}
"required": ["circle_nms_dist_threshold", "score_threshold", "yaw_norm_threshold"]
},
"densification_params": {
"type": "object",
"properties": {
"world_frame_id": {
"type": "string",
"description": "The world frame id to fuse multi-frame pointcloud.",
"default": "map"
},
"required": ["circle_nms_dist_threshold", "score_threshold", "yaw_norm_threshold"]
"num_past_frames": {
"type": "integer",
"description": "The number of past frames to fuse with the current frame.",
"default": 1
}
},
"densification_params": {
"type": "object",
"properties": {
"world_frame_id": {
"type": "string",
"description": "The world frame id to fuse multi-frame pointcloud.",
"default": "map"
},
"num_past_frames": {
"type": "integer",
"description": "The number of past frames to fuse with the current frame.",
"default": 1
}
},
"required": ["world_frame_id", "num_past_frames"]
}
},
"required": [
"class_names",
"rename_car_to_truck_and_bus",
"point_feature_size",
"max_voxel_size",
"point_cloud_range",
"voxel_size",
"downsample_factor",
"encoder_in_feature_size",
"has_twist",
"post_process_params",
"densification_params"
]
}
},
"properties": {
"/**": {
"type": "object",
"properties": {
"ros__parameters": {
"$ref": "#/definitions/centerpoint"
}
},
"required": ["ros__parameters"]
}
},
"required": ["/**"]
}

"required": ["world_frame_id", "num_past_frames"]
}
},
"required": [
"class_names",
"rename_car_to_truck_and_bus",
"point_feature_size",
"max_voxel_size",
"point_cloud_range",
"voxel_size",
"downsample_factor",
"encoder_in_feature_size",
"has_twist",
"post_process_params",
"densification_params"
]
}
},
"properties": {
"/**": {
"type": "object",
"properties": {
"ros__parameters": {
"$ref": "#/definitions/centerpoint"
}
},
"required": ["ros__parameters"]
}
},
"required": ["/**"]
}
5 changes: 2 additions & 3 deletions perception/lidar_centerpoint_tvm/src/node.cpp
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Expand Up @@ -42,8 +42,8 @@ LidarCenterPointTVMNode::LidarCenterPointTVMNode(const rclcpp::NodeOptions & nod
{
const float score_threshold =
static_cast<float>(this->declare_parameter<double>("post_process_params.score_threshold"));
const float circle_nms_dist_threshold =
static_cast<float>(this->declare_parameter<double>("post_process_params.circle_nms_dist_threshold"));
const float circle_nms_dist_threshold = static_cast<float>(
this->declare_parameter<double>("post_process_params.circle_nms_dist_threshold"));
const float yaw_norm_threshold =
static_cast<float>(this->declare_parameter<double>("post_process_params.yaw_norm_threshold"));
const std::string densification_world_frame_id =
Expand All @@ -55,7 +55,6 @@ LidarCenterPointTVMNode::LidarCenterPointTVMNode(const rclcpp::NodeOptions & nod
rename_car_to_truck_and_bus_ = this->declare_parameter<bool>("rename_car_to_truck_and_bus");
has_twist_ = this->declare_parameter<bool>("has_twist");


class_names_ = this->declare_parameter<std::vector<std::string>>("class_names");
rename_car_to_truck_and_bus_ = this->declare_parameter("rename_car_to_truck_and_bus", false);
has_twist_ = this->declare_parameter("has_twist", false);
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4 changes: 2 additions & 2 deletions perception/lidar_centerpoint_tvm/src/single_inference_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -47,8 +47,8 @@ SingleInferenceLidarCenterPointNode::SingleInferenceLidarCenterPointNode(
{
const float score_threshold =
static_cast<float>(this->declare_parameter<double>("post_process_params.score_threshold"));
const float circle_nms_dist_threshold =
static_cast<float>(this->declare_parameter<double>("post_process_params.circle_nms_dist_threshold"));
const float circle_nms_dist_threshold = static_cast<float>(
this->declare_parameter<double>("post_process_params.circle_nms_dist_threshold"));
const float yaw_norm_threshold =
static_cast<float>(this->declare_parameter<double>("post_process_params.yaw_norm_threshold"));
const std::string densification_world_frame_id =
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