From e613b74a1dd026b33d6275a7eb995d83f26ea941 Mon Sep 17 00:00:00 2001 From: yukke42 Date: Sat, 26 Feb 2022 21:49:07 +0900 Subject: [PATCH] docs: change ros params and references Signed-off-by: yukke42 --- perception/lidar_centerpoint/README.md | 31 +++++--------------------- 1 file changed, 5 insertions(+), 26 deletions(-) diff --git a/perception/lidar_centerpoint/README.md b/perception/lidar_centerpoint/README.md index 99acf6399d118..193ffa801659a 100644 --- a/perception/lidar_centerpoint/README.md +++ b/perception/lidar_centerpoint/README.md @@ -20,10 +20,9 @@ We trained the models using . ### Output -| Name | Type | Description | -| ---------------------------------- | ----------------------------------------------------- | ------------------------ | -| `~/output/objects` | `autoware_auto_perception_msgs::msg::DetectedObjects` | detected objects | -| `~/debug/pointcloud_densification` | `sensor_msgs::msg::PointCloud2` | densification pointcloud | +| Name | Type | Description | +| ------------------ | ----------------------------------------------------- | ---------------- | +| `~/output/objects` | `autoware_auto_perception_msgs::msg::DetectedObjects` | detected objects | ## Parameters @@ -34,30 +33,16 @@ We trained the models using . | `score_threshold` | float | `0.4` | detected objects with score less than threshold are ignored | | `densification_world_frame_id` | string | `map` | the world frame id to fuse multi-frame pointcloud | | `densification_num_past_frames` | int | `1` | the number of past frames to fuse with the current frame | -| `use_encoder_trt` | bool | `false` | use TensorRT VoxelFeatureEncoder | -| `use_head_trt` | bool | `true` | use TensorRT DetectionHead | | `trt_precision` | string | `fp16` | TensorRT inference precision: `fp32` or `fp16` | | `encoder_onnx_path` | string | `""` | path to VoxelFeatureEncoder ONNX file | | `encoder_engine_path` | string | `""` | path to VoxelFeatureEncoder TensorRT Engine file | -| `encoder_pt_path` | string | `""` | path to VoxelFeatureEncoder TorchScript file | | `head_onnx_path` | string | `""` | path to DetectionHead ONNX file | | `head_engine_path` | string | `""` | path to DetectionHead TensorRT Engine file | -| `head_pt_path` | string | `""` | path to DetectionHead TorchScript file | ## Assumptions / Known limits - The `object.existence_probability` is stored the value of classification confidence of a DNN, not probability. -- If you have an error like `'GOMP_4.5' not found`, replace the OpenMP library in libtorch. - - ```bash - sudo apt install libgomp1 -y - sudo rm /usr/local/libtorch/lib/libgomp-75eea7e8.so.1 - sudo ln -s /usr/lib/x86_64-linux-gnu/libgomp.so.1 /usr/local/libtorch/lib/libgomp-75eea7e8.so.1 - ``` - -- if `use_encoder_trt` is set `use_encoder_trt`, more GPU memory is allocated. - ## (Optional) Error detection and handling