refactor(lidar_centerpoint): change default threshold params (autowar…

…efoundation#1874) Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp> Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp>
tier4 · Oct 17, 2022 · f08fc30 · f08fc30
1 parent 1a05cbe
commit f08fc30
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Showing 5 changed files with 8 additions and 6 deletions.
diff --git a/...launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml b/...launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
@@ -25,6 +25,7 @@
   <arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
   <arg name="container_name" default=""/>
   <arg name="use_validator" default="true" description="use obstacle_pointcloud based validator"/>
+  <arg name="score_threshold" default="0.35"/>
 
   <!-- Jetson AGX -->
   <!-- <include file="$(find-pkg-share tensorrt_yolo)/launch/yolo.launch.xml">

diff --git a/...r4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml b/...r4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
@@ -8,6 +8,7 @@
   <arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
   <arg name="container_name" default=""/>
   <arg name="use_validator" default="true" description="use obstacle_pointcloud based validator"/>
+  <arg name="score_threshold" default="0.35"/>
 
   <!-- Pointcloud map filter -->
   <group>

diff --git a/perception/lidar_centerpoint/include/lidar_centerpoint/centerpoint_config.hpp b/perception/lidar_centerpoint/include/lidar_centerpoint/centerpoint_config.hpp
@@ -100,9 +100,9 @@ class CenterPointConfig
   const std::size_t head_out_vel_size_{2};
 
   // post-process params
-  float score_threshold_{0.4f};
+  float score_threshold_{0.35f};
   float circle_nms_dist_threshold_{1.5f};
-  float yaw_norm_threshold_{0.5f};
+  float yaw_norm_threshold_{0.0f};
 
   // calculated params
   std::size_t grid_size_x_ = (range_max_x_ - range_min_x_) / voxel_size_x_;

diff --git a/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml b/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml
@@ -5,8 +5,8 @@
   <arg name="model_name" default="centerpoint_tiny" description="options: `centerpoint` or `centerpoint_tiny`"/>
   <arg name="model_path" default="$(find-pkg-share lidar_centerpoint)/data"/>
   <arg name="model_param_path" default="$(find-pkg-share lidar_centerpoint)/config/$(var model_name).param.yaml"/>
-  <arg name="score_threshold" default="0.45"/>
-  <arg name="yaw_norm_threshold" default="0.5"/>
+  <arg name="score_threshold" default="0.35"/>
+  <arg name="yaw_norm_threshold" default="0.0"/>
   <arg name="has_twist" default="false"/>
 
   <node pkg="lidar_centerpoint" exec="lidar_centerpoint_node" name="lidar_centerpoint" output="screen">

diff --git a/perception/lidar_centerpoint/src/node.cpp b/perception/lidar_centerpoint/src/node.cpp
@@ -36,11 +36,11 @@ LidarCenterPointNode::LidarCenterPointNode(const rclcpp::NodeOptions & node_opti
 : Node("lidar_center_point", node_options), tf_buffer_(this->get_clock())
 {
   const float score_threshold =
-    static_cast<float>(this->declare_parameter<double>("score_threshold", 0.4));
+    static_cast<float>(this->declare_parameter<double>("score_threshold", 0.35));
   const float circle_nms_dist_threshold =
     static_cast<float>(this->declare_parameter<double>("circle_nms_dist_threshold", 1.5));
   const float yaw_norm_threshold =
-    static_cast<float>(this->declare_parameter<double>("yaw_norm_threshold", 0.5));
+    static_cast<float>(this->declare_parameter<double>("yaw_norm_threshold", 0.0));
   const std::string densification_world_frame_id =
     this->declare_parameter("densification_world_frame_id", "map");
   const int densification_num_past_frames =