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@@ -33,3 +33,5 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 *.zip filter=lfs diff=lfs merge=lfs -text
 *.zst filter=lfs diff=lfs merge=lfs -text
 *tfevents* filter=lfs diff=lfs merge=lfs -text
+pts_backbone_neck_head_centerpoint_tiny.engine filter=lfs diff=lfs merge=lfs -text
+pts_voxel_encoder_centerpoint_tiny.engine filter=lfs diff=lfs merge=lfs -text

centerpoint_ml_package.param.yaml

@@ -0,0 +1,23 @@
+/**:
+  ros__parameters:
+    model_params:
+      class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"]
+      point_feature_size: 4
+      max_voxel_size: 40000
+      point_cloud_range: [-76.8, -76.8, -4.0, 76.8, 76.8, 6.0]
+      voxel_size: [0.32, 0.32, 10.0]
+      downsample_factor: 1
+      encoder_in_feature_size: 9
+      has_variance: false
+      has_twist: false
+      detection_score_thresholds:
+        # Upper bound of radial distance of 3d center_x and center_y in bounding boxes, and starting from 0
+        # [0-50m), [50.0-90m), [90.0-121.0m), [121.0-200.0m), set a very high number for the last one to be safe
+        distance_bin_upper_limits: [50.0, 90.0, 121.0, 200.0]
+        # Each list of thresholds must match with the number of upper_bounds, and each threshold corresponds to a distance bucket in the order of the upper bounds
+        min_confidence_scores:
+          CAR: [0.35, 0.35, 0.35, 0.35]
+          TRUCK: [0.35, 0.35, 0.35, 0.35]
+          BUS: [0.35, 0.35, 0.35, 0.35]
+          BICYCLE: [0.35, 0.35, 0.35, 0.35]
+          PEDESTRIAN: [0.35, 0.35, 0.35, 0.35]

centerpoint_sigma_ml_package.param.yaml

@@ -0,0 +1,23 @@
+/**:
+  ros__parameters:
+    model_params:
+      class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"]
+      point_feature_size: 4
+      max_voxel_size: 40000
+      point_cloud_range: [-76.8, -76.8, -4.0, 76.8, 76.8, 6.0]
+      voxel_size: [0.32, 0.32, 10.0]
+      downsample_factor: 1
+      encoder_in_feature_size: 9
+      has_variance: false
+      has_twist: false
+      detection_score_thresholds:
+        # Upper bound of radial distance of 3d center_x and center_y in bounding boxes, and starting from 0
+        # [0-50m), [50.0-90m), [90.0-121.0m), [121.0-200.0m), set a very high number for the last one to be safe
+        distance_bin_upper_limits: [50.0, 90.0, 121.0, 200.0]
+        # Each list of thresholds must match with the number of upper_bounds, and each threshold corresponds to a distance bucket in the order of the upper bounds
+        min_confidence_scores:
+          CAR: [0.35, 0.35, 0.35, 0.35]
+          TRUCK: [0.35, 0.35, 0.35, 0.35]
+          BUS: [0.35, 0.35, 0.35, 0.35]
+          BICYCLE: [0.35, 0.35, 0.35, 0.35]
+          PEDESTRIAN: [0.35, 0.35, 0.35, 0.35]

centerpoint_tiny_ml_package.param.yaml

@@ -0,0 +1,23 @@
+/**:
+  ros__parameters:
+    model_params:
+      class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"]
+      point_feature_size: 4
+      max_voxel_size: 40000
+      point_cloud_range: [-76.8, -76.8, -4.0, 76.8, 76.8, 6.0]
+      voxel_size: [0.32, 0.32, 10.0]
+      downsample_factor: 2
+      encoder_in_feature_size: 9
+      has_variance: false
+      has_twist: false
+      detection_score_thresholds:
+        # Upper bound of radial distance of 3d center_x and center_y in bounding boxes, and starting from 0
+        # [0-50m), [50.0-90m), [90.0-121.0m), [121.0-200.0m), set a very high number for the last one to be safe
+        distance_bin_upper_limits: [50.0, 90.0, 121.0, 200.0]
+        # Each list of thresholds must match with the number of upper_bounds, and each threshold corresponds to a distance bucket in the order of the upper bounds
+        min_confidence_scores:
+          CAR: [0.35, 0.35, 0.35, 0.35]
+          TRUCK: [0.35, 0.35, 0.35, 0.35]
+          BUS: [0.35, 0.35, 0.35, 0.35]
+          BICYCLE: [0.35, 0.35, 0.35, 0.35]
+          PEDESTRIAN: [0.35, 0.35, 0.35, 0.35]

deploy_metadata.yaml

@@ -0,0 +1 @@
+num_checkpoint: 9

detection_class_remapper.param.yaml

@@ -0,0 +1,38 @@
+/**:
+  ros__parameters:
+    allow_remapping_by_area_matrix:
+      # NOTE(kl): We turn all vehicles into trailers if they go over 3x12 [m^2].
+      # NOTE(kl): We turn cars into trucks if they have an area between 2.2 x 5.5 and 3.0 * 12.0 [m^2]
+      # row: original class. column: class to remap to
+      #UNKNOWN, CAR, TRUCK, BUS,  TRAILER, MOTORBIKE, BICYCLE,PEDESTRIAN
+      [0,       0,   0,     0,    0,       0,         0,      0,         #UNKNOWN
+       0,       0,   1,     0,    1,       0,         0,      0,         #CAR
+       0,       0,   0,     0,    1,       0,         0,      0,         #TRUCK
+       0,       0,   0,     0,    1,       0,         0,      0,         #BUS
+       0,       0,   0,     0,    0,       0,         0,      0,         #TRAILER
+       0,       0,   0,     0,    0,       0,         0,      0,         #MOTORBIKE
+       0,       0,   0,     0,    0,       0,         0,      0,         #BICYCLE
+       0,       0,   0,     0,    0,       0,         0,      0]         #PEDESTRIAN
+
+    min_area_matrix:
+      #UNKNOWN, CAR,   TRUCK,   BUS,   TRAILER,  MOTORBIKE, BICYCLE, PEDESTRIAN
+      [ 0.000,  0.000,  0.000,  0.000,  0.000,   0.000,     0.000,   0.000,      #UNKNOWN
+        0.000,  0.000, 12.100,  0.000, 36.000,   0.000,     0.000,   0.000,      #CAR
+        0.000,  0.000,  0.000,  0.000, 36.000,   0.000,     0.000,   0.000,      #TRUCK
+        0.000,  0.000,  0.000,  0.000, 36.000,   0.000,     0.000,   0.000,      #BUS
+        0.000,  0.000,  0.000,  0.000,  0.000,   0.000,     0.000,   0.000,      #TRAILER
+        0.000,  0.000,  0.000,  0.000,  0.000,   0.000,     0.000,   0.000,      #MOTORBIKE
+        0.000,  0.000,  0.000,  0.000,  0.000,   0.000,     0.000,   0.000,      #BICYCLE
+        0.000,  0.000,  0.000,  0.000,  0.000,   0.000,     0.000,   0.000]      #PEDESTRIAN
+
+
+    max_area_matrix:
+      #UNKNOWN, CAR,   TRUCK,  BUS,    TRAILER,   MOTORBIKE, BICYCLE, PEDESTRIAN
+      [ 0.000,  0.000,  0.000,  0.000,   0.000,   0.000,     0.000,   0.000,      #UNKNOWN
+        0.000,  0.000, 36.000,  0.000, 999.999,   0.000,     0.000,   0.000,      #CAR
+        0.000,  0.000,  0.000,  0.000, 999.999,   0.000,     0.000,   0.000,      #TRUCK
+        0.000,  0.000,  0.000,  0.000, 999.999,   0.000,     0.000,   0.000,      #BUS
+        0.000,  0.000,  0.000,  0.000,   0.000,   0.000,     0.000,   0.000,      #TRAILER
+        0.000,  0.000,  0.000,  0.000,   0.000,   0.000,     0.000,   0.000,      #MOTORBIKE
+        0.000,  0.000,  0.000,  0.000,   0.000,   0.000,     0.000,   0.000,      #BICYCLE
+        0.000,  0.000,  0.000,  0.000,   0.000,   0.000,     0.000,   0.000]      #PEDESTRIAN

pts_backbone_neck_head_centerpoint.onnx

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3fe7e128955646740c41a25be0c8f141d5a94594fe79d7405fe2a859e391542e
+size 20140082

pts_backbone_neck_head_centerpoint_tiny.engine

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b92ee03f59e0f79f23962e4f837cdfe0a939ba6e475cb13589ab919a71faedf
+size 11959444

pts_backbone_neck_head_centerpoint_tiny.json

@@ -0,0 +1,43 @@
+{"Layers": ["Reformatting CopyNode for Input Tensor 0 to Conv_0 + Relu_1"
+,"Conv_0 + Relu_1"
+,"Conv_2 + Relu_3"
+,"Conv_4 + Relu_5"
+,"Conv_6 + Relu_7"
+,"Conv_8 + Relu_9"
+,"Conv_10 + Relu_11"
+,"Conv_12 + Relu_13"
+,"Conv_14 + Relu_15"
+,"Conv_16 + Relu_17"
+,"Conv_18 + Relu_19"
+,"Conv_20 + Relu_21"
+,"Conv_22 + Relu_23"
+,"Conv_24 + Relu_25"
+,"Conv_26 + Relu_27"
+,"Conv_28 + Relu_29"
+,"Conv_30 + Relu_31"
+,"Conv_32 + Relu_33"
+,"ConvTranspose_34 + BatchNormalization_35 + Relu_36"
+,"ConvTranspose_37 + BatchNormalization_38 + Relu_39"
+,"Conv_41 + Relu_42"
+,"Conv_43 + Relu_44 || Conv_46 + Relu_47 || Conv_49 + Relu_50 || Conv_52 + Relu_53 || Conv_55 + Relu_56 || Conv_58 + Relu_59"
+,"Conv_45"
+,"Reformatting CopyNode for Output Tensor 0 to Conv_45"
+,"Conv_48"
+,"Reformatting CopyNode for Output Tensor 0 to Conv_48"
+,"Conv_51"
+,"Reformatting CopyNode for Output Tensor 0 to Conv_51"
+,"Conv_54"
+,"Reformatting CopyNode for Output Tensor 0 to Conv_54"
+,"Conv_57"
+,"Reformatting CopyNode for Output Tensor 0 to Conv_57"
+,"Conv_60"
+,"Reformatting CopyNode for Output Tensor 0 to Conv_60"
+],
+"Bindings": ["spatial_features"
+,"heatmap"
+,"reg"
+,"height"
+,"dim"
+,"rot"
+,"vel"
+]}

pts_backbone_neck_head_centerpoint_tiny.onnx

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9bb0b634f3664bd098ce7d6a3d8a9fb7cc8d9b8252b27f302c71e43316bab551
+size 20140082

pts_voxel_encoder_centerpoint.onnx

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc1a876580d86ee7a341d543f8ade2ede7f43bd032dc5b44155b1f0175405764
+size 7429

pts_voxel_encoder_centerpoint_tiny.engine

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ad4303b2a180ab79c1e86653f70487d2c1cff1b2a71c08c8648c907d6810318
+size 18127764

pts_voxel_encoder_centerpoint_tiny.json

@@ -0,0 +1,13 @@
+{"Layers": ["Reformatting CopyNode for Input Tensor 0 to {ForeignNode[45 + ONNXTRT_Broadcast...ReduceMax_23]}"
+,"dummy_shape_call__mye9612_0_myl1_0"
+,"__myl_MovCon_myl1_1"
+,"MatMul_0_myl1_2"
+,"__myl_TraResMulAddResMovTraRelMax_myl1_3"
+,"__myl_RepCon_myl1_4"
+,"MatMul_18_myl1_5"
+,"__myl_TraResMulAddResMovTraRelMax_myl1_6"
+,"Reformatting CopyNode for Output Tensor 0 to {ForeignNode[45 + ONNXTRT_Broadcast...ReduceMax_23]}"
+],
+"Bindings": ["input_features"
+,"pillar_features"
+]}

pts_voxel_encoder_centerpoint_tiny.onnx

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c53465715c1fd2e9dc5727ef3fca74f4cdf0538f74286b0946e219d0ca5693b
+size 7429