From 98b1cf3a18cdf3c02ae6a0c6e431a706448a026c Mon Sep 17 00:00:00 2001 From: Kenzo Lobos Tsunekawa Date: Thu, 22 Dec 2022 17:46:20 +0900 Subject: [PATCH] chore(lidar_centerpoint): updated centerpoint models and documentation (#2553) * Added documentation for the new models Signed-off-by: Kenzo Lobos-Tsunekawa * Changed the model links' in the CMakeList Signed-off-by: Kenzo Lobos-Tsunekawa * Update perception/lidar_centerpoint/README.md Co-authored-by: Yusuke Muramatsu * Added the raw links in the README Signed-off-by: Kenzo Lobos-Tsunekawa Signed-off-by: Kenzo Lobos-Tsunekawa Co-authored-by: Yusuke Muramatsu --- perception/lidar_centerpoint/CMakeLists.txt | 8 ++++---- perception/lidar_centerpoint/README.md | 10 ++++++++++ 2 files changed, 14 insertions(+), 4 deletions(-) diff --git a/perception/lidar_centerpoint/CMakeLists.txt b/perception/lidar_centerpoint/CMakeLists.txt index 2591266652827..a3938423d6612 100644 --- a/perception/lidar_centerpoint/CMakeLists.txt +++ b/perception/lidar_centerpoint/CMakeLists.txt @@ -107,12 +107,12 @@ if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL) endfunction() # centerpoint - download(v1 pts_voxel_encoder_centerpoint.onnx 94dcf01ccd53ef14a79787afaada63b4) - download(v1 pts_backbone_neck_head_centerpoint.onnx 7046995e502e11f35c9459668d8afde3) + download(v2 pts_voxel_encoder_centerpoint.onnx e8369d7e0f59951cf87c0274830de1fe) + download(v2 pts_backbone_neck_head_centerpoint.onnx 44e44d26781a69c741bf9bddde57fbb3) # centerpoint_tiny - download(v1 pts_voxel_encoder_centerpoint_tiny.onnx 410f730c537968cb27fbd70c941849a8) - download(v1 pts_backbone_neck_head_centerpoint_tiny.onnx e97c165c7877222c0e27e44409a07517) + download(v2 pts_voxel_encoder_centerpoint_tiny.onnx 5fb774fac44dc83949d05eb3ba077309) + download(v2 pts_backbone_neck_head_centerpoint_tiny.onnx e4658325b70222f7c3637fe00e586b82) 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 index 777b3fc191111..baaea06e59346 100644 --- a/perception/lidar_centerpoint/README.md +++ b/perception/lidar_centerpoint/README.md @@ -52,6 +52,12 @@ We trained the models using . You can download the onnx format of trained models by clicking on the links below. +- Centerpoint : [pts_voxel_encoder_centerpoint.onnx](https://awf.ml.dev.web.auto/perception/models/centerpoint/v2/pts_voxel_encoder_centerpoint.onnx), [pts_backbone_neck_head_centerpoint.onnx](https://awf.ml.dev.web.auto/perception/models/centerpoint/v2/pts_backbone_neck_head_centerpoint.onnx) +- Centerpoint tiny: [pts_voxel_encoder_centerpoint_tiny.onnx](https://awf.ml.dev.web.auto/perception/models/centerpoint/v2/pts_voxel_encoder_centerpoint_tiny.onnx), [pts_backbone_neck_head_centerpoint_tiny.onnx](https://awf.ml.dev.web.auto/perception/models/centerpoint/v2/pts_backbone_neck_head_centerpoint_tiny.onnx) + +`Centerpoint` was trained in `nuScenes` (~110k lidar frames) [8] and TIER IV's internal database (~11k lidar frames) for 60 epochs. +`Centerpoint tiny` was trained in `Argoverse 2` (~28k lidar frames) [9] and TIER IV's internal database (~11k lidar frames) for 20 epochs. + ## Standalone inference and visualization In addition to its use as a standard ROS node, `lidar_centerpoint` can also be used to perform inferences in an isolated manner. @@ -119,6 +125,10 @@ Example: [7] +[8] + +[9] + ## (Optional) Future extensions / Unimplemented parts