feat(perception_launch): change centerpoint model (autowarefoundation…

…#334) Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp> Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp>
soblin · Oct 14, 2022 · 6d1b706 · 6d1b706
1 parent b56ced9
commit 6d1b706
Show file tree

Hide file tree

Showing 2 changed files with 6 additions and 0 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
@@ -151,6 +151,9 @@
     <include file="$(find-pkg-share lidar_centerpoint)/launch/lidar_centerpoint.launch.xml">
       <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
       <arg name="output/objects" value="objects"/>
+      <arg name="model_name" value="aip_xx1"/>
+      <arg name="model_path" value="$(find-pkg-share ml_model_provider)/data/lidar_centerpoint"/>
+      <arg name="model_param_path" value="$(find-pkg-share ml_model_provider)/config/lidar_centerpoint/aip_xx1.param.yaml"/>
     </include>
   </group>
 

diff --git a/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml b/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
@@ -61,6 +61,9 @@
     <group>
       <include file="$(find-pkg-share lidar_centerpoint)/launch/lidar_centerpoint.launch.xml">
         <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
+        <arg name="model_name" value="aip_xx1"/>
+        <arg name="model_path" value="$(find-pkg-share ml_model_provider)/data/lidar_centerpoint"/>
+        <arg name="model_param_path" value="$(find-pkg-share ml_model_provider)/config/lidar_centerpoint/aip_xx1.param.yaml"/>
       </include>
     </group>
   </group>