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refactor(image_projection_based_fusion): add JSON Schema and remove d…
…efault value spefications (autowarefoundation#4902) * refactor: add JSON Schema and remove default values in `declare_parameter()` Signed-off-by: ktro2828 <[email protected]> * refactor: update configuration file Signed-off-by: ktro2828 <[email protected]> * refactor: add configuration file and update launcher to load this Signed-off-by: ktro2828 <[email protected]> * refactor: update funsion node configuration Signed-off-by: ktro2828 <[email protected]> * docs: update the document for roi cluster fusion Signed-off-by: ktro2828 <[email protected]> * docs: update documents Signed-off-by: ktro2828 <[email protected]> * refactor: move `debug_mode` into `roi_sync.param.yaml` Signed-off-by: ktro2828 <[email protected]> * refactor: rework parameters for `roi_pointcloud_fusion` Signed-off-by: ktro2828 <[email protected]> * chore: update maintainers Signed-off-by: ktro2828 <[email protected]> * refactor: remove debug_mode Signed-off-by: ktro2828 <[email protected]> * refactor: rename parameter to avoid failure of spell-check Signed-off-by: ktro2828 <[email protected]> * fix: fix typo and parameters for initialization Signed-off-by: ktro2828 <[email protected]> --------- Signed-off-by: ktro2828 <[email protected]>
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40 changes: 24 additions & 16 deletions
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perception/image_projection_based_fusion/config/pointpainting.param.yaml
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|---|---|---|
| @@ -1,18 +1,26 @@ | ||
| /**: | ||
| ros__parameters: | ||
| class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"] | ||
| paint_class_names: ["CAR", "BICYCLE", "PEDESTRIAN"] | ||
| point_feature_size: 7 # x, y, z, time-lag and car, pedestrian, bicycle | ||
| max_voxel_size: 40000 | ||
| point_cloud_range: [-121.6, -76.8, -3.0, 121.6, 76.8, 5.0] | ||
| voxel_size: [0.32, 0.32, 8.0] | ||
| downsample_factor: 1 | ||
| encoder_in_feature_size: 12 | ||
| yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0] | ||
| # post-process params | ||
| circle_nms_dist_threshold: 0.3 | ||
| iou_nms_target_class_names: ["CAR"] | ||
| iou_nms_search_distance_2d: 10.0 | ||
| iou_nms_threshold: 0.1 | ||
| # omp params | ||
| omp_num_threads: 1 | ||
| model_params: | ||
| class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"] | ||
| paint_class_names: ["CAR", "BICYCLE", "PEDESTRIAN"] | ||
| point_feature_size: 7 # x, y, z, time-lag and car, pedestrian, bicycle | ||
| max_voxel_size: 40000 | ||
| point_cloud_range: [-121.6, -76.8, -3.0, 121.6, 76.8, 5.0] | ||
| voxel_size: [0.32, 0.32, 8.0] | ||
| downsample_factor: 1 | ||
| encoder_in_feature_size: 12 | ||
| yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0] | ||
| has_twist: false | ||
| densification_params: | ||
| world_frame_id: "map" | ||
| num_past_frames: 0 | ||
| post_process_params: | ||
| # post-process params | ||
| circle_nms_dist_threshold: 0.3 | ||
| iou_nms_target_class_names: ["CAR"] | ||
| iou_nms_search_distance_2d: 10.0 | ||
| iou_nms_threshold: 0.1 | ||
| score_threshold: 0.4 | ||
| omp_params: | ||
| # omp params | ||
| num_threads: 1 |
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perception/image_projection_based_fusion/config/roi_cluster_fusion.param.yaml
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|---|---|---|
| @@ -0,0 +1,12 @@ | ||
| /**: | ||
| ros__parameters: | ||
| fusion_distance: 100.0 | ||
| trust_object_distance: 100.0 | ||
| trust_object_iou_mode: "iou" | ||
| non_trust_object_iou_mode: "iou_x" | ||
| use_cluster_semantic_type: false | ||
| only_allow_inside_cluster: true | ||
| roi_scale_factor: 1.1 | ||
| iou_threshold: 0.65 | ||
| unknown_iou_threshold: 0.1 | ||
| remove_unknown: true |
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perception/image_projection_based_fusion/config/roi_pointcloud_fusion.param.yaml
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| /**: | ||
| ros__parameters: | ||
| fuse_unknown_only: true | ||
| min_cluster_size: 2 | ||
| cluster_2d_tolerance: 0.5 |
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966 changes: 966 additions & 0 deletions
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...ption/image_projection_based_fusion/docs/images/roi_cluster_fusion_pipeline.svg
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
|
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@@ -9,6 +9,8 @@ | |
| <maintainer email="[email protected]">Shunsuke Miura</maintainer> | ||
| <maintainer email="[email protected]">Yoshi Ri</maintainer> | ||
| <maintainer email="[email protected]">badai nguyen</maintainer> | ||
| <maintainer email="[email protected]">Kotaro Uetake</maintainer> | ||
| <maintainer email="[email protected]">Tao Zhong</maintainer> | ||
| <license>Apache License 2.0</license> | ||
|
|
||
| <buildtool_depend>ament_cmake_auto</buildtool_depend> | ||
|
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||
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perception/image_projection_based_fusion/schema/pointpainting.schema.json
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| { | ||
| "$schema": "http://json-schema.org/draft-07/schema#", | ||
| "title": "Parameters for Point Painting Fusion Node", | ||
| "type": "object", | ||
| "definitions": { | ||
| "pointpainting": { | ||
| "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"], | ||
| "uniqueItems": true | ||
| }, | ||
| "paint_class_names": { | ||
| "type": "array", | ||
| "description": "An array of class names will be painted by PointPainting", | ||
| "default": ["CAR", "BICYCLE", "PEDESTRIAN"], | ||
| "uniqueItems": true | ||
| }, | ||
| "point_feature_size": { | ||
| "type": "integer", | ||
| "description": "A number of channels of point feature layer.", | ||
| "default": 7 | ||
| }, | ||
| "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": [-121.6, -76.8, -3.0, 121.6, 76.8, 5.0] | ||
| }, | ||
| "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, 8.0] | ||
| }, | ||
| "down_sample_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": 12 | ||
| }, | ||
| "yaw_norm_thresholds": { | ||
| "type": "array", | ||
| "description": "An array of distance threshold values of norm of yaw [rad].", | ||
| "default": [0.3, 0.3, 0.3, 0.3, 0.0], | ||
| "minimum": 0.0, | ||
| "maximum": 1.0 | ||
| }, | ||
| "has_twist": { | ||
| "type": "boolean", | ||
| "description": "Indicates whether the model outputs twist value.", | ||
| "default": false | ||
| } | ||
| } | ||
| }, | ||
| "densification_params": { | ||
| "type": "object", | ||
| "description": "Parameters for pointcloud densification.", | ||
| "properties": { | ||
| "world_frame_id": { | ||
| "type": "string", | ||
| "description": "A name of frame id where world coordinates system is defined with respect to.", | ||
| "default": "map" | ||
| }, | ||
| "num_past_frames": { | ||
| "type": "integer", | ||
| "description": "A number of past frames to be considered as same input frame.", | ||
| "default": 0, | ||
| "minimum": 0 | ||
| } | ||
| } | ||
| }, | ||
| "post_process_params": { | ||
| "type": "object", | ||
| "properties": { | ||
| "score_threshold": { | ||
| "type": "number", | ||
| "description": "A threshold value of existence probability score, all of objects with score less than this threshold are ignored.", | ||
| "default": 0.4, | ||
| "minimum": 0.0, | ||
| "maximum": 1.0 | ||
| }, | ||
| "circle_nms_dist_threshold": { | ||
| "type": "number", | ||
| "description": "", | ||
| "default": 0.3, | ||
| "minimum": 0.0, | ||
| "maximum": 1.0 | ||
| }, | ||
| "iou_nms_target_class_names": { | ||
| "type": "array", | ||
| "description": "An array of class names to be target in NMS.", | ||
| "default": ["CAR"], | ||
| "uniqueItems": true | ||
| }, | ||
| "iou_search_distance_2d": { | ||
| "type": "number", | ||
| "description": "A maximum distance value to search the nearest objects.", | ||
| "default": 10.0, | ||
| "minimum": 0.0 | ||
| }, | ||
| "iou_nms_threshold": { | ||
| "type": "number", | ||
| "description": "A threshold value of NMS using IoU score.", | ||
| "default": 0.1, | ||
| "minimum": 0.0, | ||
| "maximum": 1.0 | ||
| } | ||
| } | ||
| }, | ||
| "omp_params": { | ||
| "type": "object", | ||
| "properties": { | ||
| "num_threads": { | ||
| "type": "integer", | ||
| "description": "The number of threads that is set to the environment variable OMP_NUM_THREADS.", | ||
| "default": 1, | ||
| "minimum": 1 | ||
| } | ||
| } | ||
| } | ||
| }, | ||
| "required": ["model_params", "densification_params", "post_process_params", "omp_params"] | ||
| } | ||
| }, | ||
| "properties": { | ||
| "/**": { | ||
| "type": "object", | ||
| "properties": { | ||
| "ros__parameters": { | ||
| "$ref": "#/definitions/pointpainting" | ||
| } | ||
| }, | ||
| "required": ["ros__parameters"] | ||
| } | ||
| }, | ||
| "required": ["/**"] | ||
| } |
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