From 8eaf19175d0b001ab87601d8b2572aa930402cda Mon Sep 17 00:00:00 2001
From: Yuxuan Liu <619684051@qq.com>
Date: Fri, 5 Jul 2024 12:17:46 +0900
Subject: [PATCH] fix(pointpainting): fix pointpainting and centerpoint path in
 tier4 main (#891)

* fix_pointpainting_path

Signed-off-by: Yuxuan Liu <uken.ryu.2@tier4.jp>

* style(pre-commit): autofix

* use centerpoint instead of centerpointxx1

Signed-off-by: Yuxuan Liu <uken.ryu.2@tier4.jp>

* add centerpoint_xx1 param

Signed-off-by: Yuxuan Liu <uken.ryu.2@tier4.jp>

* style(pre-commit): autofix

---------

Signed-off-by: Yuxuan Liu <uken.ryu.2@tier4.jp>
Co-authored-by: Yuxuan Liu <uken.ryu.2@tier4.jp>
Co-authored-by: Owen-Liuyuxuan <Owen-Liuyuxuan@users.noreply.github.com>
---
 .../lidar_model/centerpoint_xx1.param.yaml    | 20 +++++++++++++++++++
 .../tier4_perception_component.launch.xml     |  4 ++--
 2 files changed, 22 insertions(+), 2 deletions(-)
 create mode 100644 autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_xx1.param.yaml

diff --git a/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_xx1.param.yaml b/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_xx1.param.yaml
new file mode 100644
index 0000000000..0777ddb92b
--- /dev/null
+++ b/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_xx1.param.yaml
@@ -0,0 +1,20 @@
+/**:
+  ros__parameters:
+
+    # 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
diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
index 753fa9c8d0..5f9f358b2c 100644
--- a/autoware_launch/launch/components/tier4_perception_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -37,7 +37,7 @@
     <arg name="input/pointcloud" value="/sensing/lidar/concatenated/pointcloud"/>
     <arg name="use_traffic_light_recognition" value="$(var use_traffic_light_recognition)"/>
     <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
-    <arg name="object_recognition_detection_lidar_model_param_path" value="/opt/autoware/mlmodels/$(var lidar_detection_model)"/>
+    <arg name="pointpainting_model_path" value="/opt/autoware/mlmodels/pointpainting"/>
     <arg name="centerpoint_model_name" value="centerpoint_xx1"/>
     <arg name="centerpoint_model_path" value="/opt/autoware/mlmodels/$(var lidar_detection_model)"/>
     <arg name="traffic_light_recognition/fusion_only" value="$(var traffic_light_recognition/fusion_only)"/>
@@ -112,7 +112,7 @@
       name="object_recognition_detection_radar_object_clustering_param_path"
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/clustering/radar_object_clustering.param.yaml"
     />
-    <!-- <arg name="object_recognition_detection_lidar_model_param_path" value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/lidar_model"/> -->
+    <arg name="object_recognition_detection_lidar_model_param_path" value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/lidar_model"/>
     <arg
       name="object_recognition_detection_object_velocity_splitter_radar_param_path"
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/object_velocity_splitter/object_velocity_splitter_radar.param.yaml"