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feat(autoware_lidar_apollo_instance_segmentation): Created the schema file, updated the readme file and deleted the default parameter in node files #10097

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feat(autoware_lidar_apollo_instance_segmentation): Created the schema file, updated the readme file and deleted the default parameter in node files #10097

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feat(autoware_lidar_apollo_instance_segmentation): Created the schema…
vish0012 Feb 12, 2025
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style(pre-commit): autofix
pre-commit-ci[bot] Feb 12, 2025
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25 changes: 5 additions & 20 deletions perception/autoware_lidar_apollo_instance_segmentation/README.md
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Expand Up @@ -28,26 +28,11 @@ See the [original design](https://github.com/ApolloAuto/apollo/blob/r6.0.0/docs/

## Parameters

### Node Parameters

None

### Core Parameters

| Name | Type | Default Value | Description |
| ----------------------- | ------ | -------------------- | ---------------------------------------------------------------------------------- |
| `score_threshold` | double | 0.8 | If the score of a detected object is lower than this value, the object is ignored. |
| `range` | int | 60 | Half of the length of feature map sides. [m] |
| `width` | int | 640 | The grid width of feature map. |
| `height` | int | 640 | The grid height of feature map. |
| `engine_file` | string | "vls-128.engine" | The name of TensorRT engine file for CNN model. |
| `prototxt_file` | string | "vls-128.prototxt" | The name of prototxt file for CNN model. |
| `caffemodel_file` | string | "vls-128.caffemodel" | The name of caffemodel file for CNN model. |
| `use_intensity_feature` | bool | true | The flag to use intensity feature of pointcloud. |
| `use_constant_feature` | bool | false | The flag to use direction and distance feature of pointcloud. |
| `target_frame` | string | "base_link" | Pointcloud data is transformed into this frame. |
| `z_offset` | int | 2 | z offset from target frame. [m] |
| `build_only` | bool | `false` | shutdown the node after TensorRT engine file is built |
{{ json_to_markdown("perception/autoware_lidar_apollo_instance_segmentation/schema/hdl-64.schema.json") }}

{{ json_to_markdown("perception/autoware_lidar_apollo_instance_segmentation/schema/vlp-16.schema.json") }}

{{ json_to_markdown("perception/autoware_lidar_apollo_instance_segmentation/schema/vls-128.schema.json") }}

## Assumptions / Known limits

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72 changes: 72 additions & 0 deletions perception/autoware_lidar_apollo_instance_segmentation/schema/hdl-64.schema.json
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@@ -0,0 +1,72 @@
{
"$schema": "http://json-schema.org/draft-07/schema#",
"title": "autoware_lidar_apollo_instance_segmentation parameters",
"type": "object",
"definitions": {
"hdl-64": {
"type": "object",
"properties": {
"score_threshold": {
"type": "number",
"description": "If the score of a detected object is lower than this value, the object is ignored.",
"default": 0.1
},
"range": {
"type": "integer",
"description": "Half of the length of feature map sides. [m]",
"default": 70
},
"width": {
"type": "integer",
"description": "The grid width of the feature map.",
"default": 672
},
"height": {
"type": "integer",
"description": "The grid height of the feature map.",
"default": 672
},
"use_intensity_feature": {
"type": "boolean",
"description": "The flag to use intensity feature of pointcloud.",
"default": true
},
"use_constant_feature": {
"type": "boolean",
"description": "The flag to use direction and distance feature of pointcloud.",
"default": false
}
},
"required": [
"score_threshold",
"range",
"width",
"height",
"use_intensity_feature",
"use_constant_feature"
],
"additionalProperties": false
}
},
"properties": {
"/**": {
"type": "object",
"properties": {
"ros__parameters": {
"type": "object",
"properties": {
"lidar_instance_segmentation": {
"$ref": "#/definitions/hdl-64"
}
},
"required": ["lidar_instance_segmentation"],
"additionalProperties": false
}
},
"required": ["ros__parameters"],
"additionalProperties": false
}
},
"required": ["/**"],
"additionalProperties": false
}
72 changes: 72 additions & 0 deletions perception/autoware_lidar_apollo_instance_segmentation/schema/vlp-16.schema.json
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@@ -0,0 +1,72 @@
{
"$schema": "http://json-schema.org/draft-07/schema#",
"title": "autoware_lidar_apollo_instance_segmentation paramters",
"type": "object",
"definitions": {
"vlp-16": {
"type": "object",
"properties": {
"score_threshold": {
"type": "number",
"description": "If the score of a detected object is lower than this value, the object is ignored.",
"default": 0.1
},
"range": {
"type": "integer",
"description": "Half of the length of feature map sides. [m]",
"default": 70
},
"width": {
"type": "integer",
"description": "The grid width of the feature map.",
"default": 672
},
"height": {
"type": "integer",
"description": "The grid height of the feature map.",
"default": 672
},
"use_intensity_feature": {
"type": "boolean",
"description": "The flag to use intensity feature of pointcloud.",
"default": true
},
"use_constant_feature": {
"type": "boolean",
"description": "The flag to use direction and distance feature of pointcloud.",
"default": false
}
},
"required": [
"score_threshold",
"range",
"width",
"height",
"use_intensity_feature",
"use_constant_feature"
],
"additionalProperties": false
}
},
"properties": {
"/**": {
"type": "object",
"properties": {
"ros__parameters": {
"type": "object",
"properties": {
"lidar_instance_segmentation": {
"$ref": "#/definitions/vlp-16"
}
},
"required": ["lidar_instance_segmentation"],
"additionalProperties": false
}
},
"required": ["ros__parameters"],
"additionalProperties": false
}
},
"required": ["/**"],
"additionalProperties": false
}
Empty file added perception/autoware_lidar_apollo_instance_segmentation/schema/vls-128.schema.json
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Empty file.
14 changes: 7 additions & 7 deletions perception/autoware_lidar_apollo_instance_segmentation/src/detector.cpp
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Expand Up @@ -39,15 +39,15 @@ LidarApolloInstanceSegmentation::LidarApolloInstanceSegmentation(rclcpp::Node *
int range, width, height;
bool use_intensity_feature, use_constant_feature;
std::string onnx_file;
score_threshold_ = node_->declare_parameter("score_threshold", 0.8);
range = node_->declare_parameter("range", 60);
width = node_->declare_parameter("width", 640);
height = node_->declare_parameter("height", 640);
score_threshold_ = node_->declare_parameter("score_threshold");
range = node_->declare_parameter("range");
width = node_->declare_parameter("width");
height = node_->declare_parameter("height");
onnx_file = node_->declare_parameter("onnx_file", "vls-128.onnx");
use_intensity_feature = node_->declare_parameter("use_intensity_feature", true);
use_constant_feature = node_->declare_parameter("use_constant_feature", true);
use_intensity_feature = node_->declare_parameter("use_intensity_feature");
use_constant_feature = node_->declare_parameter("use_constant_feature");
target_frame_ = node_->declare_parameter("target_frame", "base_link");
z_offset_ = node_->declare_parameter<float>("z_offset", -2.0);
z_offset_ = node_->declare_parameter<float>("z_offset");
const auto precision = node_->declare_parameter("precision", "fp32");

trt_common_ = std::make_unique<autoware::tensorrt_common::TrtCommon>(
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