chore(lidar_centerpoint): updated centerpoint models and documentation (

#2553) * Added documentation for the new models Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * Changed the model links' in the CMakeList Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * Update perception/lidar_centerpoint/README.md Co-authored-by: Yusuke Muramatsu <yukke42@users.noreply.github.com> * Added the raw links in the README Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> Co-authored-by: Yusuke Muramatsu <yukke42@users.noreply.github.com>
autowarefoundation · Dec 22, 2022 · 98b1cf3 · 98b1cf3
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diff --git 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
@@ -52,6 +52,12 @@ We trained the models using <https://github.com/open-mmlab/mmdetection3d>.
 
 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] <https://github.com/NVIDIA-AI-IOT/CUDA-PointPillars>
 
+[8] <https://www.nuscenes.org/nuscenes>
+
+[9] <https://www.argoverse.org/av2.html>
+
 ## (Optional) Future extensions / Unimplemented parts
 
 <!-- Write future extensions of this package.