add centerpoint detector

ApolloAuto · Jul 22, 2022 · 986fe47 · 986fe47
1 parent 484c449
commit 986fe47
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Showing 11 changed files with 805 additions and 5 deletions.
diff --git a/modules/perception/common/perception_gflags.cc b/modules/perception/common/perception_gflags.cc
@@ -115,6 +115,32 @@ DEFINE_string(mask_bbox_head_torch_file,
               "models/detection/mask_pillars/pts_bbox_head.zip",
               "The path of pillars bbox head torch file.");
 
+// lidar_center_point
+DEFINE_string(center_point_model_file,
+              "/apollo/modules/perception/production/data/perception/lidar/"
+              "models/detection/center_point/centerpoint.pdmodel",
+              "The path of center point model file.");
+DEFINE_string(center_point_params_file,
+              "/apollo/modules/perception/production/data/perception/lidar/"
+              "models/detection/center_point/centerpoint.pdiparams",
+              "The path of center point params file.");
+DEFINE_bool(use_trt, true, "True if preprocess in CPU mode.");
+DEFINE_int32(trt_precision, 1,
+             "Precision type of tensorrt, 0: kFloat32, 1: kHalf");
+DEFINE_int32(
+    trt_use_static, 0,
+    "Whether to load the tensorrt graph optimization from a disk path");
+DEFINE_string(
+    trt_static_dir,
+    "/apollo/modules/perception/lidar/lib/detector/center_point_detection/",
+    "Path of a tensorrt graph optimization directory");
+DEFINE_int32(collect_shape_info, 1,
+             "Whether to collect dynamic shape before using tensorrt");
+DEFINE_string(dynamic_shape_file,
+              "/apollo/modules/perception/production/data/perception/lidar/"
+              "models/detection/center_point/collect_shape_info.pbtxt",
+              "Path of a dynamic shape file for tensorrt");
+
 // emergency detection onnx
 DEFINE_string(onnx_obstacle_detector_model,
               "/apollo/modules/perception/camera"
@@ -141,7 +167,6 @@ DEFINE_string(torch_detector_model,
               "The torch model file for emergency detection");
 
 // lidar sensor name
-DEFINE_string(lidar_sensor_name, "velodyne128",
-              "lidar sensor name");
+DEFINE_string(lidar_sensor_name, "velodyne128", "lidar sensor name");
 }  // namespace perception
 }  // namespace apollo
diff --git a/modules/perception/common/perception_gflags.h b/modules/perception/common/perception_gflags.h
@@ -65,6 +65,16 @@ DECLARE_string(mask_backbone_torch_file);
 DECLARE_string(mask_fpn_torch_file);
 DECLARE_string(mask_bbox_head_torch_file);
 
+// lidar_center_point
+DECLARE_string(center_point_model_file);
+DECLARE_string(center_point_params_file);
+DECLARE_bool(use_trt);
+DECLARE_int32(trt_precision);
+DECLARE_int32(trt_use_static);
+DECLARE_string(trt_static_dir);
+DECLARE_int32(collect_shape_info);
+DECLARE_string(dynamic_shape_file);
+
 // emergency detection onnx
 DECLARE_string(onnx_obstacle_detector_model);
 DECLARE_string(onnx_test_input_path);

diff --git a/modules/perception/lidar/app/BUILD b/modules/perception/lidar/app/BUILD
@@ -29,6 +29,7 @@ cc_library(
         "//modules/perception/lidar/lib/interface:base_lidar_obstacle_detection",
         "//modules/perception/lidar/lib/pointcloud_preprocessor:pointcloud_preprocessor",
         "//modules/perception/lidar/lib/detector/point_pillars_detection:point_pillars_detection",
+        "//modules/perception/lidar/lib/detector/center_point_detection:center_point_detection",
         "//modules/perception/lidar/lib/detector/cnn_segmentation:cnn_segmentation",
         "//modules/perception/lidar/lib/detector/mask_pillars_detection:mask_pillars_detection",
         "//modules/perception/lidar/lib/detector/ncut_segmentation:ncut_segmentation",

diff --git a/modules/perception/lidar/app/lidar_obstacle_detection.cc b/modules/perception/lidar/app/lidar_obstacle_detection.cc
@@ -47,7 +47,8 @@ bool LidarObstacleDetection::Init(
   use_map_manager_ = config.use_map_manager();
   use_object_filter_bank_ = config.use_object_filter_bank();
   use_object_builder_ = ("PointPillarsDetection" != config.detector() ||
-                         "MaskPillarsDetection" != config.detector());
+                         "MaskPillarsDetection" != config.detector()  ||
+                          "CenterPointDetection" != config.detector());
 
   use_map_manager_ = use_map_manager_ && options.enable_hdmap_input;
 

diff --git a/modules/perception/lidar/lib/detector/center_point_detection/BUILD b/modules/perception/lidar/lib/detector/center_point_detection/BUILD
@@ -0,0 +1,42 @@
+load("@rules_cc//cc:defs.bzl", "cc_library", "cc_test")
+load("@local_config_cuda//cuda:build_defs.bzl", "cuda_library")
+load("//tools:cpplint.bzl", "cpplint")
+
+package(default_visibility = ["//visibility:public"])
+
+cc_library(
+    name = "center_point_detection",
+    srcs = [
+        "center_point_detection.cc",
+    ],
+    hdrs = [
+        "center_point_detection.h",
+    ],
+    deps = [
+        ":params",
+        "//cyber/common",
+        "//modules/perception/base",
+        "//modules/perception/common:perception_gflags",
+        "//modules/perception/lidar/common",
+        "//modules/perception/lidar/lib/interface:base_lidar_detector",
+        "//modules/perception/lib/thread",
+        "@centerpoint_infer_op//:centerpoint_infer_op",
+        "@eigen",
+        "@local_config_pcl//:pcl",
+        "@local_config_tensorrt//:tensorrt",
+        "@paddleinference//:paddleinference_lib",
+    ],
+    alwayslink = True,
+)
+
+cc_library(
+    name = "common",
+    hdrs = ["common.h"],
+)
+
+cc_library(
+    name = "params",
+    hdrs = ["params.h"],
+)
+
+cpplint()