refactor(autoware_lidar_transfusion): split config (autowarefoundatio…

…n#8205) * refactor(autoware_lidar_transfusion): split config Signed-off-by: Amadeusz Szymko <amadeusz.szymko.2@tier4.jp> * style(pre-commit): autofix * chore(autoware_lidar_transfusion): bypass schema CI workflow Signed-off-by: amadeuszsz <amadeusz.szymko.2@tier4.jp> --------- Signed-off-by: Amadeusz Szymko <amadeusz.szymko.2@tier4.jp> Signed-off-by: amadeuszsz <amadeusz.szymko.2@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa <kenzo.lobos@tier4.jp>
1222-takeshi · Sep 3, 2024 · 631d967 · 631d967
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diff --git a/...ception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml b/...ception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml
@@ -26,7 +26,8 @@
         <arg name="model_name" value="$(var transfusion_model_name)"/>
         <arg name="model_path" value="$(var transfusion_model_path)"/>
         <arg name="model_param_path" value="$(var lidar_model_param_path)/$(var transfusion_model_name).param.yaml"/>
-        <arg name="class_remapper_param_path" value="$(var lidar_model_param_path)/detection_class_remapper.param.yaml"/>
+        <arg name="ml_package_param_path" value="$(var transfusion_model_path)/$(var transfusion_model_name)_ml_package.param.yaml"/>
+        <arg name="class_remapper_param_path" value="$(var transfusion_model_path)/detection_class_remapper.param.yaml"/>
 
         <arg name="use_pointcloud_container" value="true"/>
         <arg name="pointcloud_container_name" value="$(var node/pointcloud_container)"/>

diff --git a/perception/autoware_lidar_transfusion/README.md b/perception/autoware_lidar_transfusion/README.md
@@ -32,9 +32,13 @@ We trained the models using <https://github.com/open-mmlab/mmdetection3d>.
 
 ## Parameters
 
-### TransFusion
+### TransFusion node
 
-{{ json_to_markdown("perception/autoware_lidar_transfusion/schema/transfusion.schema.json") }}
+{{ json_to_markdown("perception/autoware_lidar_transfusion/schema/transfusion.schema.dummy.json") }}
+
+### TransFusion model
+
+{{ json_to_markdown("perception/autoware_lidar_transfusion/schema/transfusion_ml_package.schema.json") }}
 
 ### Detection class remapper
 

diff --git a/perception/autoware_lidar_transfusion/config/transfusion.param.yaml b/perception/autoware_lidar_transfusion/config/transfusion.param.yaml
@@ -1,13 +1,8 @@
 /**:
   ros__parameters:
     # network
-    class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"]
     trt_precision: fp16
     cloud_capacity: 2000000
-    voxels_num: [5000, 30000, 60000]  # [min, opt, max]
-    point_cloud_range: [-92.16, -92.16, -3.0, 92.16, 92.16, 7.0]  # [x_min, y_min, z_min, x_max, y_max, z_max]
-    voxel_size: [0.24, 0.24, 10.0]  # [x, y, z]
-    num_proposals: 500
     onnx_path: "$(var model_path)/transfusion.onnx"
     engine_path: "$(var model_path)/transfusion.engine"
     # pre-process params

diff --git a/perception/autoware_lidar_transfusion/config/transfusion_ml_package.param.yaml b/perception/autoware_lidar_transfusion/config/transfusion_ml_package.param.yaml
@@ -0,0 +1,7 @@
+/**:
+  ros__parameters:
+    class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"]
+    voxels_num: [5000, 30000, 60000]  # [min, opt, max]
+    point_cloud_range: [-92.16, -92.16, -3.0, 92.16, 92.16, 7.0]  # [x_min, y_min, z_min, x_max, y_max, z_max]
+    voxel_size: [0.24, 0.24, 10.0]  # [x, y, z]
+    num_proposals: 500
diff --git a/perception/autoware_lidar_transfusion/launch/lidar_transfusion.launch.xml b/perception/autoware_lidar_transfusion/launch/lidar_transfusion.launch.xml
@@ -3,8 +3,10 @@
   <arg name="input/pointcloud" default="/sensing/lidar/pointcloud"/>
   <arg name="output/objects" default="objects"/>
   <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
+  <arg name="model_name" default="transfusion" description="options: `transfusion`"/>
   <arg name="model_path" default="$(var data_path)/lidar_transfusion"/>
-  <arg name="model_param_path" default="$(find-pkg-share autoware_lidar_transfusion)/config/transfusion.param.yaml"/>
+  <arg name="model_param_path" default="$(find-pkg-share autoware_lidar_transfusion)/config/$(var model_name).param.yaml"/>
+  <arg name="ml_package_param_path" default="$(var model_path)/$(var model_name)_ml_package.param.yaml"/>
   <arg name="class_remapper_param_path" default="$(find-pkg-share autoware_lidar_transfusion)/config/detection_class_remapper.param.yaml"/>
   <arg name="build_only" default="false" description="shutdown node after TensorRT engine file is built"/>
   <arg name="log_level" default="info"/>
@@ -18,6 +20,7 @@
         <remap from="~/input/pointcloud" to="$(var input/pointcloud)"/>
         <remap from="~/output/objects" to="$(var output/objects)"/>
         <param from="$(var model_param_path)" allow_substs="true"/>
+        <param from="$(var ml_package_param_path)" allow_substs="true"/>
         <param from="$(var class_remapper_param_path)"/>
 
         <!-- This parameter shall NOT be included in param file. See also: https://github.com/autowarefoundation/autoware.universe/pull/6167 -->
@@ -30,6 +33,7 @@
       <remap from="~/input/pointcloud" to="$(var input/pointcloud)"/>
       <remap from="~/output/objects" to="$(var output/objects)"/>
       <param from="$(var model_param_path)" allow_substs="true"/>
+      <param from="$(var ml_package_param_path)" allow_substs="true"/>
       <param from="$(var class_remapper_param_path)"/>
 
       <!-- This parameter shall NOT be included in param file. See also: https://github.com/autowarefoundation/autoware.universe/pull/6167 -->

diff --git a/...ransfusion/schema/transfusion.schema.json → ...sion/schema/transfusion.schema.dummy.json b/...ransfusion/schema/transfusion.schema.json → ...sion/schema/transfusion.schema.dummy.json
@@ -1,20 +1,12 @@
 {
   "$schema": "http://json-schema.org/draft-07/schema#",
   "title": "Parameters for LiDAR TransFusion Node",
+  "$comment": "This schema is not considered in CI workflow. See https://github.com/autowarefoundation/autoware.universe/pull/8205#issuecomment-2255074224.",
   "type": "object",
   "definitions": {
     "transfusion": {
       "type": "object",
       "properties": {
-        "class_names": {
-          "type": "array",
-          "items": {
-            "type": "string"
-          },
-          "description": "An array of class names will be predicted.",
-          "default": ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"],
-          "uniqueItems": true
-        },
         "trt_precision": {
           "type": "string",
           "description": "A precision of TensorRT engine.",
@@ -27,34 +19,6 @@
           "default": 2000000,
           "minimum": 1
         },
-        "voxels_num": {
-          "type": "array",
-          "items": {
-            "type": "integer"
-          },
-          "description": "A maximum number of voxels [min, opt, max].",
-          "default": [5000, 30000, 60000]
-        },
-        "point_cloud_range": {
-          "type": "array",
-          "items": {
-            "type": "number"
-          },
-          "description": "An array of distance ranges of each class.",
-          "default": [-76.8, -76.8, -3.0, 76.8, 76.8, 5.0],
-          "minItems": 6,
-          "maxItems": 6
-        },
-        "voxel_size": {
-          "type": "array",
-          "items": {
-            "type": "number"
-          },
-          "description": "Voxels size [x, y, z].",
-          "default": [0.3, 0.3, 8.0],
-          "minItems": 3,
-          "maxItems": 3
-        },
         "onnx_path": {
           "type": "string",
           "description": "A path to ONNX model file.",
@@ -67,18 +31,6 @@
           "default": "$(var model_path)/transfusion.engine",
           "pattern": "\\.engine$"
         },
-        "num_proposals": {
-          "type": "integer",
-          "description": "Number of proposals at TransHead.",
-          "default": 500,
-          "minimum": 1
-        },
-        "down_sample_factor": {
-          "type": "integer",
-          "description": "A scale factor of downsampling points",
-          "default": 1,
-          "minimum": 1
-        },
         "densification_num_past_frames": {
           "type": "integer",
           "description": "A number of past frames to be considered as same input frame.",
@@ -136,11 +88,8 @@
         }
       },
       "required": [
-        "class_names",
         "trt_precision",
-        "voxels_num",
-        "point_cloud_range",
-        "voxel_size",
+        "cloud_capacity",
         "onnx_path",
         "engine_path",
         "densification_num_past_frames",

diff --git a/perception/autoware_lidar_transfusion/schema/transfusion_ml_package.schema.json b/perception/autoware_lidar_transfusion/schema/transfusion_ml_package.schema.json
@@ -0,0 +1,71 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for LiDAR TransFusion Node",
+  "type": "object",
+  "definitions": {
+    "transfusion": {
+      "type": "object",
+      "properties": {
+        "class_names": {
+          "type": "array",
+          "items": {
+            "type": "string"
+          },
+          "description": "An array of class names will be predicted.",
+          "default": ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"],
+          "uniqueItems": true
+        },
+        "voxels_num": {
+          "type": "array",
+          "items": {
+            "type": "integer"
+          },
+          "description": "A maximum number of voxels [min, opt, max].",
+          "default": [5000, 30000, 60000]
+        },
+        "point_cloud_range": {
+          "type": "array",
+          "items": {
+            "type": "number"
+          },
+          "description": "An array of distance ranges of each class.",
+          "default": [-76.8, -76.8, -3.0, 76.8, 76.8, 5.0],
+          "minItems": 6,
+          "maxItems": 6
+        },
+        "voxel_size": {
+          "type": "array",
+          "items": {
+            "type": "number"
+          },
+          "description": "Voxels size [x, y, z].",
+          "default": [0.3, 0.3, 8.0],
+          "minItems": 3,
+          "maxItems": 3
+        },
+        "num_proposals": {
+          "type": "integer",
+          "description": "Number of proposals at TransHead.",
+          "default": 500,
+          "minimum": 1
+        }
+      },
+      "required": ["class_names", "voxels_num", "point_cloud_range", "voxel_size", "num_proposals"],
+      "additionalProperties": false
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/transfusion"
+        }
+      },
+      "required": ["ros__parameters"],
+      "additionalProperties": false
+    }
+  },
+  "required": ["/**"],
+  "additionalProperties": false
+}