docs(centerpoint): add description for ml package params (autowarefou…

…ndation#8187)

perception/autoware_lidar_centerpoint/README.md

@@ -28,6 +28,22 @@ We trained the models using <https://github.com/open-mmlab/mmdetection3d>.
 
 ## Parameters
 
+### ML Model Parameters
+
+Note that these parameters are associated with ONNX file, predefined during the training phase. Be careful to change ONNX file as well when changing this parameter. Also, whenever you update the ONNX file, do NOT forget to check these values.
+
+| Name                                   | Type         | Default Value                                    | Description                                                           |
+| -------------------------------------- | ------------ | ------------------------------------------------ | --------------------------------------------------------------------- |
+| `model_params.class_names`             | list[string] | ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"] | list of class names for model outputs                                 |
+| `model_params.point_feature_size`      | int          | `4`                                              | number of features per point in the point cloud                       |
+| `model_params.max_voxel_size`          | int          | `40000`                                          | maximum number of voxels                                              |
+| `model_params.point_cloud_range`       | list[double] | [-76.8, -76.8, -4.0, 76.8, 76.8, 6.0]            | detection range [min_x, min_y, min_z, max_x, max_y, max_z] [m]        |
+| `model_params.voxel_size`              | list[double] | [0.32, 0.32, 10.0]                               | size of each voxel [x, y, z] [m]                                      |
+| `model_params.downsample_factor`       | int          | `1`                                              | downsample factor for coordinates                                     |
+| `model_params.encoder_in_feature_size` | int          | `9`                                              | number of input features to the encoder                               |
+| `model_params.has_variance`            | bool         | `false`                                          | true if the model outputs pose variance as well as pose for each bbox |
+| `model_params.has_twist`               | bool         | `false`                                          | true if the model outputs velocity as well as pose for each bbox      |
+
 ### Core Parameters
 
 | Name                                             | Type         | Default Value             | Description                                                   |