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lidar_centerpoint_collect package from autodrrt repo

autonomous_emergency_braking control_performance_analysis control_validator external_cmd_selector joy_controller lane_departure_checker mpc_lateral_controller obstacle_collision_checker operation_mode_transition_manager pid_longitudinal_controller predicted_path_checker pure_pursuit shift_decider trajectory_follower_base trajectory_follower_node vehicle_cmd_gate diagnostic_converter kinematic_evaluator localization_evaluator planning_evaluator ekf_localizer geo_pose_projector gyro_odometer ar_tag_based_localizer landmark_manager localization_error_monitor localization_gnss localization_util ndt_scan_matcher pose2twist pose_initializer pose_instability_detector stop_filter tree_structured_parzen_estimator twist2accel yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer map_height_fitter map_loader map_projection_loader map_tf_generator lanelet2_map_preprocessor ros2_bevdet bytetrack cluster_merger compare_map_segmentation crosswalk_traffic_light_estimator detected_object_feature_remover detected_object_validation detection_by_tracker elevation_map_loader euclidean_cluster front_vehicle_velocity_estimator ground_segmentation heatmap_visualizer image_projection_based_fusion lidar_apollo_instance_segmentation lidar_apollo_segmentation_tvm lidar_apollo_segmentation_tvm_nodes lidar_centerpoint lidar_centerpoint_tvm map_based_prediction multi_object_tracker object_merger object_range_splitter object_velocity_splitter occupancy_grid_map_outlier_filter probabilistic_occupancy_grid_map radar_crossing_objects_noise_filter radar_fusion_to_detected_object radar_object_clustering radar_object_tracker radar_tracks_msgs_converter shape_estimation simple_object_merger tensorrt_classifier tensorrt_yolo tensorrt_yolox tracking_object_merger traffic_light_arbiter traffic_light_classifier traffic_light_fine_detector traffic_light_map_based_detector traffic_light_multi_camera_fusion traffic_light_occlusion_predictor traffic_light_ssd_fine_detector traffic_light_visualization behavior_path_avoidance_by_lane_change_module behavior_path_avoidance_module behavior_path_external_request_lane_change_module behavior_path_goal_planner_module behavior_path_lane_change_module behavior_path_planner behavior_path_planner_common behavior_path_side_shift_module behavior_path_start_planner_module behavior_velocity_blind_spot_module behavior_velocity_crosswalk_module behavior_velocity_detection_area_module behavior_velocity_intersection_module behavior_velocity_no_drivable_lane_module behavior_velocity_no_stopping_area_module behavior_velocity_occlusion_spot_module behavior_velocity_out_of_lane_module behavior_velocity_planner behavior_velocity_planner_common behavior_velocity_run_out_module behavior_velocity_speed_bump_module behavior_velocity_stop_line_module behavior_velocity_template_module behavior_velocity_traffic_light_module behavior_velocity_virtual_traffic_light_module behavior_velocity_walkway_module costmap_generator external_velocity_limit_selector freespace_planner freespace_planning_algorithms mission_planner motion_velocity_smoother objects_of_interest_marker_interface obstacle_avoidance_planner obstacle_cruise_planner obstacle_stop_planner obstacle_velocity_limiter path_smoother planning_debug_tools planning_test_utils planning_topic_converter planning_validator route_handler rtc_interface rtc_replayer bezier_sampler frenet_planner path_sampler sampler_common scenario_selector static_centerline_optimizer surround_obstacle_checker gnss_poser image_diagnostics image_transport_decompressor imu_corrector livox_tag_filter pointcloud_preprocessor radar_scan_to_pointcloud2 radar_static_pointcloud_filter radar_threshold_filter radar_tracks_noise_filter tier4_pcl_extensions vehicle_velocity_converter autoware_auto_msgs_adapter bluetooth_monitor component_state_monitor default_ad_api ad_api_adaptors ad_api_visualizers automatic_pose_initializer diagnostic_graph_aggregator dummy_diag_publisher dummy_infrastructure duplicated_node_checker emergency_handler mrm_comfortable_stop_operator mrm_emergency_stop_operator system_error_monitor system_monitor topic_state_monitor velodyne_monitor accel_brake_map_calibrator external_cmd_converter raw_vehicle_cmd_converter steer_offset_estimator vehicle_info_util launch loop_sim ssh_machine gpudirect-dds autoware_ad_api_specs autoware_adapi_v1_msgs autoware_adapi_version_msgs autoware_auto_common autoware_auto_geometry autoware_auto_control_msgs autoware_auto_geometry_msgs autoware_auto_mapping_msgs autoware_auto_msgs autoware_auto_perception_msgs autoware_auto_planning_msgs autoware_auto_system_msgs autoware_auto_vehicle_msgs autoware_auto_perception_rviz_plugin autoware_auto_tf2 autoware_cmake autoware_lint_common autoware_utils lanelet2_extension autoware_common_msgs autoware_control_msgs autoware_localization_msgs autoware_map_msgs autoware_perception_msgs autoware_planning_msgs autoware_sensing_msgs autoware_system_msgs autoware_vehicle_msgs autoware_point_types autoware_testing bag_time_manager_rviz_plugin component_interface_specs component_interface_tools component_interface_utils cuda_utils fake_test_node geography_utils global_parameter_loader glog_component goal_distance_calculator grid_map_utils interpolation kalman_filter motion_utils object_recognition_utils osqp_interface path_distance_calculator perception_utils polar_grid qp_interface rtc_manager_rviz_plugin signal_processing tensorrt_common tier4_adapi_rviz_plugin tier4_api_utils tier4_automatic_goal_rviz_plugin tier4_autoware_utils tier4_calibration_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_rviz_plugin tier4_datetime_rviz_plugin tier4_debug_rviz_plugin tier4_debug_tools tier4_localization_rviz_plugin tier4_perception_rviz_plugin tier4_planning_rviz_plugin tier4_screen_capture_rviz_plugin tier4_simulated_clock_rviz_plugin tier4_state_rviz_plugin tier4_system_rviz_plugin tier4_target_object_type_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin time_utils simulator_compatibility_test traffic_light_recognition_marker_publisher traffic_light_utils tvm_utility dma_customer_msg dma_transfer eagleye_coordinate eagleye_navigation eagleye_msgs eagleye_rt eagleye_can_velocity_converter eagleye_fix2kml eagleye_geo_pose_converter eagleye_geo_pose_fusion eagleye_gnss_converter eagleye_tf llh_converter morai_msgs mussp ndt_omp orocos_kdl python_orocos_kdl pointcloud_to_laserscan rtklib_bridge rtklib_msgs autoware_external_api_msgs autoware_iv_external_api_adaptor autoware_iv_internal_api_adaptor awapi_awiv_adapter tier4_api_msgs tier4_auto_msgs_converter tier4_control_msgs tier4_debug_msgs tier4_external_api_msgs tier4_hmi_msgs tier4_localization_msgs tier4_map_msgs tier4_perception_msgs tier4_planning_msgs tier4_rtc_msgs tier4_simulation_msgs tier4_system_msgs tier4_v2x_msgs tier4_vehicle_msgs tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch fastrtps cyclonedds lanelet2 lanelet2_core lanelet2_examples lanelet2_io lanelet2_maps lanelet2_matching lanelet2_projection lanelet2_python lanelet2_routing lanelet2_traffic_rules lanelet2_validation sophus angles behaviortree_cpp_v3 bond bond_core bondcpp bondpy smclib test_bond cudnn_cmake_module diagnostic_aggregator diagnostic_common_diagnostics diagnostic_updater diagnostics self_test filters geodesy geographic_info geographic_msgs grid_map grid_map_cmake_helpers grid_map_core grid_map_costmap_2d grid_map_cv grid_map_demos grid_map_filters grid_map_loader grid_map_msgs grid_map_octomap grid_map_pcl grid_map_ros grid_map_rviz_plugin grid_map_sdf grid_map_visualization mrt_cmake_modules nav2_amcl nav2_behavior_tree nav2_behaviors nav2_bringup nav2_bt_navigator nav2_collision_monitor nav2_common nav2_controller nav2_core nav2_costmap_2d costmap_queue dwb_core dwb_critics dwb_msgs dwb_plugins nav2_dwb_controller nav_2d_msgs nav_2d_utils nav2_lifecycle_manager nav2_map_server nav2_msgs nav2_navfn_planner nav2_planner nav2_regulated_pure_pursuit_controller nav2_rotation_shim_controller nav2_rviz_plugins nav2_simple_commander nav2_smac_planner nav2_smoother nav2_system_tests nav2_theta_star_planner nav2_util nav2_velocity_smoother nav2_voxel_grid nav2_waypoint_follower navigation2 dynamic_edt_3d octomap octovis octomap_msgs osqp_vendor pacmod3_msgs pcl_msgs pcl_conversions pcl_ros perception_pcl point_cloud_msg_wrapper radar_msgs can_msgs rqt_tf_tree tensorrt_cmake_module topic_tools topic_tools_interfaces tvm_vendor cv_bridge image_geometry opencv_tests vision_opencv xacro rviz2 rviz_assimp_vendor rviz_common rviz_default_plugins rviz_ogre_vendor rviz_rendering rviz_rendering_tests rviz_visual_testing_framework dummy_perception_publisher fault_injection simple_planning_simulator image_view v4l2_camera aion_interface carla_vehicle_can cgi430_can_driver cgi610_driver ARS408_driver common_sensor_launch kunyi_sensor_kit_description kunyi_sensor_kit_launch classformsg node_v2x data_format_dump data_preprocess_launch lidar_centerpoint_collect lidar_saver message_sync time_cal camera_calibration direct_visual_lidar_calibration multi_lidar_calibration

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Package Summary

Tags	No category tags.
Version	1.0.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/ieiauto/autodrrt.git
VCS Type	git
VCS Version	main
Last Updated	2025-05-30
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The lidar_centerpoint package

Additional Links

No additional links.

Maintainers

Yusuke Muramatsu

Authors

No additional authors.

src/autodrrt.tools/auto_annotation/src/lidar_centerpoint/README.md

lidar_centerpoint

Purpose

lidar_centerpoint is a package for detecting dynamic 3D objects.

Inner-workings / Algorithms

In this implementation, CenterPoint [1] uses a PointPillars-based [2] network to inference with TensorRT.

We trained the models using https://github.com/open-mmlab/mmdetection3d.

Inputs / Outputs

Input

Name	Type	Description
`~/input/pointcloud`	`sensor_msgs::msg::PointCloud2`	input pointcloud

Output

Name	Type	Description
`~/output/objects`	`autoware_auto_perception_msgs::msg::DetectedObjects`	detected objects
`debug/cyclic_time_ms`	`tier4_debug_msgs::msg::Float64Stamped`	cyclic time (msg)
`debug/processing_time_ms`	`tier4_debug_msgs::msg::Float64Stamped`	processing time (ms)

Parameters

Core Parameters

Name	Type	Default Value	Description
`score_threshold`	float	`0.4`	detected objects with score less than threshold are ignored
`densification_world_frame_id`	string	`map`	the world frame id to fuse multi-frame pointcloud
`densification_num_past_frames`	int	`1`	the number of past frames to fuse with the current frame
`trt_precision`	string	`fp16`	TensorRT inference precision: `fp32` or `fp16`
`encoder_onnx_path`	string	`""`	path to VoxelFeatureEncoder ONNX file
`encoder_engine_path`	string	`""`	path to VoxelFeatureEncoder TensorRT Engine file
`head_onnx_path`	string	`""`	path to DetectionHead ONNX file
`head_engine_path`	string	`""`	path to DetectionHead TensorRT Engine file
`nms_iou_target_class_names`	list[string]	-	target classes for IoU-based Non Maximum Suppression
`nms_iou_search_distance_2d`	double	-	If two objects are farther than the value, NMS isn’t applied.
`nms_iou_threshold`	double	-	IoU threshold for the IoU-based Non Maximum Suppression

Assumptions / Known limits

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.

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. To do so, execute the following launcher, where pcd_path is the path of the pointcloud to be used for inference.

ros2 launch lidar_centerpoint single_inference_lidar_centerpoint.launch.xml pcd_path:=test_pointcloud.pcd detections_path:=test_detections.ply

lidar_centerpoint generates a ply file in the provided detections_path, which contains the detections as triangle meshes. These detections can be visualized by most 3D tools, but we also integrate a visualization UI using Open3D which is launched alongside lidar_centerpoint.

Changelog

v1 (2022/07/06)

Name	URLs	Description
`centerpoint`	[pts_voxel_encoder][v1-encoder-centerpoint] [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] [pts_backbone_neck_head][v1-head-centerpoint-tiny]	The same model as `default` of `v0`.

These changes are compared with this configuration.

v0 (2021/12/03)

Name	URLs	Description
`default`	[pts_voxel_encoder][v0-encoder-default] [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

(Optional) Performance characterization

<!– Write performance information like complexity. If it wouldn’t be the bottleneck, not necessary.

Example: ### Complexity

This algorithm is O(N).

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	autoware_cmake
	ament_cmake_auto
	ament_cmake_python
	ament_lint_auto
	autoware_lint_common
	autoware_auto_perception_msgs
	pcl_ros
	perception_utils
	rclcpp
	rclcpp_components
	tf2_eigen
	tf2_geometry_msgs
	tier4_autoware_utils

System Dependencies

Name
python3-open3d-pip

Dependant Packages

Name	Deps
data_preprocess_launch

Launch files

launch/centerpoint_vs_centerpoint-tiny/centerpoint_vs_centerpoint-tiny.launch.xml
- - rviz_path [default: $(find-pkg-share lidar_centerpoint)/launch/centerpoint_vs_centerpoint-tiny/rviz]
  - input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
  - score_threshold [default: 0.35]
  - rviz_config1 [default: $(var rviz_path)/centerpoint_tiny.rviz]
  - rviz_config2 [default: $(var rviz_path)/centerpoint.rviz]
launch/lidar_centerpoint.launch.xml
- - input/pointcloud [default: /sensing/lidar/top/outlier_filtered/pointcloud]
  - output/objects [default: objects]
  - model_name [default: centerpoint_tiny]
  - model_path [default: $(find-pkg-share lidar_centerpoint_collect)/data]
  - model_param_path [default: $(find-pkg-share lidar_centerpoint_collect)/config/$(var model_name).param.yaml]
  - class_remapper_param_path [default: $(find-pkg-share lidar_centerpoint_collect)/config/detection_class_remapper.param.yaml]
  - score_threshold [default: 0.35]
  - has_twist [default: false]
launch/single_inference_lidar_centerpoint.launch.xml
- - model_name [default: centerpoint_tiny]
  - model_path [default: $(find-pkg-share lidar_centerpoint)/data]
  - model_param_path [default: $(find-pkg-share lidar_centerpoint)/config/$(var model_name).param.yaml]
  - class_remapper_param_path [default: $(find-pkg-share lidar_centerpoint)/config/detection_class_remapper.param.yaml]
  - score_threshold [default: 0.35]
  - yaw_norm_threshold [default: 0.0]
  - has_twist [default: false]
  - pcd_path [default: test.pcd]
  - detections_path [default: test.ply]

Messages

No message files found.

Services

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Plugins

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