refactor(lidar_centerpoint): change default threshold params

[yukke42]

Signed-off-by: yukke42 yusuke.muramatsu@tier4.jp

Description

Change the default params for these reason

• score_threshold: the existence_probability has changed by fix(lidar_centerpoint): fix function sigmoid()  #1555 and the output value is bigger than before
• yaw_norm_threshold: the new function to filter objects by the norm value is added in feat(lidar_centerpoint): yaw norm filter #1728. but it's filtering all class objects

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[codecov]

Codecov Report

Base: 10.35% // Head: 10.43% // Increases project coverage by +0.08% 🎉

Coverage data is based on head (337c616) compared to base (7e2370d).
Patch coverage: 20.00% of modified lines in pull request are covered.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #1874      +/-   ##
==========================================
+ Coverage   10.35%   10.43%   +0.08%     
==========================================
  Files        1159     1232      +73     
  Lines       76241    87941   +11700     
  Branches    18730    20429    +1699     
==========================================
+ Hits         7895     9178    +1283     
- Misses      59481    69304    +9823     
- Partials     8865     9459     +594     

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	10.42% <20.00%> (+0.06%)	⬆️	Carriedforward from 31e63b7

*This pull request uses carry forward flags. Click here to find out more.

Impacted Files	Coverage Δ
...tion_utils/test/src/trajectory/test_trajectory.cpp	26.26% <ø> (+3.75%)	⬆️
...t/include/lidar_centerpoint/centerpoint_config.hpp	0.00% <ø> (ø)
perception/lidar_centerpoint/src/node.cpp	0.00% <0.00%> (ø)
...ning/obstacle_cruise_planner/src/polygon_utils.cpp	0.00% <ø> (ø)
...ils/include/motion_utils/trajectory/trajectory.hpp	78.81% <33.33%> (+0.26%)	⬆️
...lude/freespace_planning_algorithms/reeds_shepp.hpp	50.00% <0.00%> (-50.00%)	⬇️
...tic_evaluator/include/kinematic_evaluator/stat.hpp	62.50% <0.00%> (-19.32%)	⬇️
..._evaluator/include/localization_evaluator/stat.hpp	56.25% <0.00%> (-16.48%)	⬇️
.../src/vehicle/test_vehicle_state_checker_helper.hpp	70.58% <0.00%> (-9.42%)	⬇️
planning/behavior_path_planner/test/input.cpp	60.00% <0.00%> (-7.86%)	⬇️
... and 856 more

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[miursh]

I confirmed the parameters have surely changed.

$ ros2  param dump --print /perception/object_recognition/detection/centerpoint/lidar_centerpoint
/perception/object_recognition/detection/centerpoint/lidar_centerpoint:
  ros__parameters:
    circle_nms_dist_threshold: 1.5
    class_names:
    - CAR
    - PEDESTRIAN
    - BICYCLE
    densification_num_past_frames: 1
    densification_world_frame_id: map
    downsample_factor: 2
    encoder_engine_path: /media/miura/WDB4T/workspace/autoware/autoware/install/lidar_centerpoint/share/lidar_centerpoint/data/pts_voxel_encoder_centerpoint_tiny.engine
    encoder_in_feature_size: 9
    encoder_onnx_path: /media/miura/WDB4T/workspace/autoware/autoware/install/lidar_centerpoint/share/lidar_centerpoint/data/pts_voxel_encoder_centerpoint_tiny.onnx
    has_twist: false
    head_engine_path: /media/miura/WDB4T/workspace/autoware/autoware/install/lidar_centerpoint/share/lidar_centerpoint/data/pts_backbone_neck_head_centerpoint_tiny.engine
    head_onnx_path: /media/miura/WDB4T/workspace/autoware/autoware/install/lidar_centerpoint/share/lidar_centerpoint/data/pts_backbone_neck_head_centerpoint_tiny.onnx
    max_voxel_size: 40000
    point_cloud_range:
    - -89.6
    - -89.6
    - -3.0
    - 89.6
    - 89.6
    - 5.0
    point_feature_size: 4
    qos_overrides:
      /clock:
        subscription:
          depth: 1
          durability: volatile
          history: keep_last
          reliability: best_effort
      /parameter_events:
        publisher:
          depth: 1000
          durability: volatile
          history: keep_last
          reliability: reliable
    rename_car_to_truck_and_bus: true
    score_threshold: 0.35
    trt_precision: fp16
    use_sim_time: true
    voxel_size:
    - 0.32
    - 0.32
    - 8.0
    yaw_norm_threshold: 0.0

[miursh]

LGTM

[yukkysaito]

LGTM