refactor(lidar_centerpoint): rework parameters #7421
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
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|
@@ -3,9 +3,29 @@ | |
| "title": "Parameters for Lidar Centerpoint Node", | ||
|
There was a problem hiding this comment. Would you fix the name of this file? ( There was a problem hiding this comment. @kminoda I have fixed the name of the file. |
||
| "type": "object", | ||
| "definitions": { | ||
| "centerpoint_base": { | ||
| "type": "object", | ||
| "properties": { | ||
| "encoder_onnx_path": { | ||
| "type": "string", | ||
| "description": "Path to VoxelFeatureEncoder ONNX file.", | ||
| "default": "" | ||
| }, | ||
| "encoder_engine_path": { | ||
| "type": "string", | ||
| "description": "Path to VoxelFeatureEncoder TensorRT Engine file.", | ||
| "default": "" | ||
| }, | ||
| "head_onnx_path": { | ||
| "type": "string", | ||
| "description": "Path to DetectionHead ONNX file.", | ||
| "default": "" | ||
| }, | ||
| "head_engine_path": { | ||
| "type": "string", | ||
| "description": "Path to DetectionHead TensorRT Engine file.", | ||
| "default": "" | ||
| }, | ||
| "trt_precision": { | ||
| "type": "string", | ||
| "description": "TensorRT inference precision.", | ||
|
|
@@ -54,11 +74,6 @@ | |
| "default": 0.1, | ||
| "minimum": 0.0, | ||
| "maximum": 1.0 | ||
| } | ||
| } | ||
| }, | ||
|
|
||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +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 | ||
| }, | ||
| "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 | ||
| } | ||
| }, | ||
| "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": ["/**"] | ||
| } |
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Sorry, this lacks a little in both writing and content.
The idea of the section is to describe the process of creating the files for a new model. In addition to some grammatical errors, instead of giving examples of parameters of the config file explain what kind of parameters they have. This links to the the ml config file, which is not mentioned here
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@knzo25 Thank you for your instructions, I have updated the README.md file, please check if this meets your expectation. If you can give proposal for me to accept, it would be of great help for me. I will click the button commit suggestion afterwards. I really learned a lot with your help for this PR, thank you so much.