refactor(centerpoint, pointpainting): rearrange ML model and package …

…params (#915)

* chore: separate param files

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

* chore: fix launch

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

* chore: rearrange param

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

* style(pre-commit): autofix

* refactor: rearrange param file

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

* chore: move densification_params

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

* style(pre-commit): autofix

* fix(centerpoint): align param namespace with pointpainting

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

* fix: param

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

* fix: remove build_only from yaml

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

---------

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint.param.yaml

@@ -1,27 +1,20 @@
 /**:
   ros__parameters:
-    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
-    # post-process params
-    circle_nms_dist_threshold: 0.5
-    iou_nms_target_class_names: ["CAR"]
-    iou_nms_search_distance_2d: 10.0
-    iou_nms_threshold: 0.1
-    yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
-    score_threshold: 0.35
-    has_variance: false
-    has_twist: false
-    trt_precision: fp16
-    densification_num_past_frames: 1
-    densification_world_frame_id: map
 
     # weight files
     encoder_onnx_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).onnx"
     encoder_engine_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).engine"
     head_onnx_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx"
     head_engine_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).engine"
+    trt_precision: fp16
+    post_process_params:
+      # post-process params
+      circle_nms_dist_threshold: 0.5
+      iou_nms_target_class_names: ["CAR"]
+      iou_nms_search_distance_2d: 10.0
+      iou_nms_threshold: 0.1
+      yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
+      score_threshold: 0.35
+    densification_params:
+      world_frame_id: map
+      num_past_frames: 1

autoware_launch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml

@@ -1,33 +1,21 @@
 /**:
   ros__parameters:
-    trt_precision: fp16
     encoder_onnx_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).onnx"
     encoder_engine_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).engine"
     head_onnx_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx"
     head_engine_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).engine"
-
-    model_params:
-      class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"]
-      paint_class_names: ["CAR", "BICYCLE", "PEDESTRIAN"]
-      point_feature_size: 7 # x, y, z, time-lag and car, pedestrian, bicycle
-      max_voxel_size: 40000
-      point_cloud_range: [-121.6, -76.8, -3.0, 121.6, 76.8, 5.0]
-      voxel_size: [0.32, 0.32, 8.0]
-      downsample_factor: 1
-      encoder_in_feature_size: 12
-      yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
-      has_variance: false
-      has_twist: false
-    densification_params:
-      world_frame_id: "map"
-      num_past_frames: 0
+    trt_precision: fp16
     post_process_params:
       # post-process params
       circle_nms_dist_threshold: 0.3
       iou_nms_target_class_names: ["CAR"]
       iou_nms_search_distance_2d: 10.0
       iou_nms_threshold: 0.1
-      score_threshold: 0.35
+      score_threshold: 0.45
+      yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
+    densification_params:
+      world_frame_id: "map"
+      num_past_frames: 1
     omp_params:
       # omp params
       num_threads: 1