chore(lidar_centerpoint): add trained model of centerpoint (#1202)

* chore(lidar_centerpoint): add trained model of centerpoint Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp> * docs: add description of models Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp>
tier4 · Oct 17, 2022 · f4c1e76 · f4c1e76
1 parent 1afcc43
commit f4c1e76
Show file tree

Hide file tree

Showing 5 changed files with 45 additions and 15 deletions.
diff --git a/perception/lidar_centerpoint/CMakeLists.txt b/perception/lidar_centerpoint/CMakeLists.txt
@@ -70,10 +70,12 @@ message(STATUS "start to download")
 if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL)
 # Download trained models
   set(DATA_PATH ${CMAKE_CURRENT_SOURCE_DIR}/data)
+  set(DONWLOAD_BASE_URL https://awf.ml.dev.web.auto/perception/models/centerpoint)
   execute_process(COMMAND mkdir -p ${DATA_PATH})
 
-  function(download FILE_NAME FILE_HASH)
-    message(STATUS "Checking and downloading ${FILE_NAME}")
+  function(download VERSION FILE_NAME FILE_HASH)
+    message(STATUS "Checking and downloading ${FILE_NAME} ")
+    set(DOWNLOAD_URL ${DONWLOAD_BASE_URL}/${VERSION}/${FILE_NAME})
     set(FILE_PATH ${DATA_PATH}/${FILE_NAME})
     set(STATUS_CODE 0)
     message(STATUS "start ${FILE_NAME}")
@@ -86,31 +88,31 @@ if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL)
       else()
         message(STATUS "diff ${FILE_NAME}")
         message(STATUS "File hash changes. Downloading now ...")
-        file(DOWNLOAD https://awf.ml.dev.web.auto/perception/models/${FILE_NAME} ${FILE_PATH} STATUS DOWNLOAD_STATUS TIMEOUT 300)
+        file(DOWNLOAD ${DOWNLOAD_URL} ${FILE_PATH} STATUS DOWNLOAD_STATUS TIMEOUT 300)
         list(GET DOWNLOAD_STATUS 0 STATUS_CODE)
         list(GET DOWNLOAD_STATUS 1 ERROR_MESSAGE)
       endif()
     else()
       message(STATUS "not found ${FILE_NAME}")
       message(STATUS "File doesn't exists. Downloading now ...")
-      file(DOWNLOAD https://awf.ml.dev.web.auto/perception/models/${FILE_NAME} ${FILE_PATH} STATUS DOWNLOAD_STATUS TIMEOUT 300)
+      file(DOWNLOAD ${DOWNLOAD_URL} ${FILE_PATH} STATUS DOWNLOAD_STATUS TIMEOUT 300)
       list(GET DOWNLOAD_STATUS 0 STATUS_CODE)
       list(GET DOWNLOAD_STATUS 1 ERROR_MESSAGE)
     endif()
     if(${STATUS_CODE} EQUAL 0)
       message(STATUS "Download completed successfully!")
     else()
-      message(FATAL_ERROR "Error occurred during download: ${ERROR_MESSAGE}")
+      message(FATAL_ERROR "Error occurred during download: ${ERROR_MESSAGE} ${DOWNLOAD_URL}")
     endif()
   endfunction()
 
-  # default model
-  download(pts_voxel_encoder_default.onnx 410f730c537968cb27fbd70c941849a8)
-  download(pts_backbone_neck_head_default.onnx e97c165c7877222c0e27e44409a07517)
+  # centerpoint
+  download(v1 pts_voxel_encoder_centerpoint.onnx 94dcf01ccd53ef14a79787afaada63b4)
+  download(v1 pts_backbone_neck_head_centerpoint.onnx 7046995e502e11f35c9459668d8afde3)
 
-  # aip_x2 model
-  download(pts_voxel_encoder_aip_x2.onnx 3ae5e9efd7b2ed12115e6f0b28cac58d)
-  download(pts_backbone_neck_head_aip_x2.onnx 6a406a19e05660677c162486ab332de8)
+  # centerpoint_tiny
+  download(v1 pts_voxel_encoder_centerpoint_tiny.onnx 410f730c537968cb27fbd70c941849a8)
+  download(v1 pts_backbone_neck_head_centerpoint_tiny.onnx e97c165c7877222c0e27e44409a07517)
 
   find_package(ament_cmake_auto REQUIRED)
   ament_auto_find_build_dependencies()

diff --git a/perception/lidar_centerpoint/README.md b/perception/lidar_centerpoint/README.md
@@ -43,6 +43,27 @@ We trained the models using <https://github.com/open-mmlab/mmdetection3d>.
 
 - The `object.existence_probability` is stored the value of classification confidence of a DNN, not probability.
 
+## Trained Models
+
+You can download the onnx format of trained models by clicking on the links below.
+
+### Changelog
+
+#### v1 (2022/07/06)
+
+| Name               | URLs                                                                                                     | Description                                                                                                                        |
+| ------------------ | -------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------- |
+| `centerpoint`      | [pts_voxel_encoder][v1-encoder-centerpoint] <br> [pts_backbone_neck_head][v1-head-centerpoint]           | There is a single change due to the limitation in the implementation of this package. `num_filters=[32, 32]` of `PillarFeatureNet` |
+| `centerpoint_tiny` | [pts_voxel_encoder][v1-encoder-centerpoint-tiny] <br> [pts_backbone_neck_head][v1-head-centerpoint-tiny] | The same model as `default` of `v0`.                                                                                               |
+
+These changes are compared with [this configuration](https://github.com/tianweiy/CenterPoint/blob/v0.2/configs/waymo/pp/waymo_centerpoint_pp_two_pfn_stride1_3x.py).
+
+#### v0 (2021/12/03)
+
+| Name      | URLs                                                                                   | Description                                                                                                                                          |
+| --------- | -------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------- |
+| `default` | [pts_voxel_encoder][v0-encoder-default] <br> [pts_backbone_neck_head][v0-head-default] | There are two changes from the original CenterPoint architecture. `num_filters=[32]` of `PillarFeatureNet` and `ds_layer_strides=[2, 2, 2]` of `RPN` |
+
 ## (Optional) Error detection and handling
 
 <!-- Write how to detect errors and how to recover from them.
@@ -89,3 +110,10 @@ Example:
   Currently, this package can't handle the chattering obstacles well. We plan to add some probabilistic filters in the perception layer to improve it.
   Also, there are some parameters that should be global(e.g. vehicle size, max steering, etc.). These will be refactored and defined as global parameters so that we can share the same parameters between different nodes.
 -->
+
+[v0-encoder-default]: https://awf.ml.dev.web.auto/perception/models/pts_voxel_encoder_default.onnx
+[v0-head-default]: https://awf.ml.dev.web.auto/perception/models/pts_backbone_neck_head_default.onnx
+[v1-encoder-centerpoint]: https://awf.ml.dev.web.auto/perception/models/centerpoint/v1/pts_voxel_encoder_centerpoint.onnx
+[v1-head-centerpoint]: https://awf.ml.dev.web.auto/perception/models/centerpoint/v1/pts_backbone_neck_head_centerpoint.onnx
+[v1-encoder-centerpoint-tiny]: https://awf.ml.dev.web.auto/perception/models/centerpoint/v1/pts_voxel_encoder_centerpoint_tiny.onnx
+[v1-head-centerpoint-tiny]: https://awf.ml.dev.web.auto/perception/models/centerpoint/v1/pts_backbone_neck_head_centerpoint_tiny.onnx
diff --git a/...idar_centerpoint/config/aip_x2.param.yaml → ...centerpoint/config/centerpoint.param.yaml b/...idar_centerpoint/config/aip_x2.param.yaml → ...centerpoint/config/centerpoint.param.yaml
@@ -1,10 +1,10 @@
 /**:
   ros__parameters:
-    class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"]
-    rename_car_to_truck_and_bus: false
+    class_names: ["CAR", "PEDESTRIAN", "BICYCLE"]
+    rename_car_to_truck_and_bus: true
     point_feature_size: 4
     max_voxel_size: 40000
     point_cloud_range: [-89.6, -89.6, -3.0, 89.6, 89.6, 5.0]
     voxel_size: [0.32, 0.32, 8.0]
-    downsample_factor: 2
+    downsample_factor: 1
     encoder_in_feature_size: 9
diff --git a/...dar_centerpoint/config/default.param.yaml → ...rpoint/config/centerpoint_tiny.param.yaml b/...dar_centerpoint/config/default.param.yaml → ...rpoint/config/centerpoint_tiny.param.yaml
diff --git a/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml b/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml
@@ -2,7 +2,7 @@
 <launch>
   <arg name="input/pointcloud" default="/sensing/lidar/pointcloud"/>
   <arg name="output/objects" default="objects"/>
-  <arg name="model_name" default="default" description="options: `default` or `aip_x2`"/>
+  <arg name="model_name" default="centerpoint_tiny" description="options: `centerpoint` or `centerpoint_tiny`"/>
   <arg name="model_path" default="$(find-pkg-share lidar_centerpoint)/data"/>
   <arg name="model_param_path" default="$(find-pkg-share lidar_centerpoint)/config/$(var model_name).param.yaml"/>