From 9e7cc692693322af2089ad987d1dbe5f12e0b4c6 Mon Sep 17 00:00:00 2001
From: badai nguyen <94814556+badai-nguyen@users.noreply.github.com>
Date: Tue, 20 Aug 2024 00:57:05 +0900
Subject: [PATCH] fix(lidar_model): add centerpoint_sigma param file (#1086)

fix: add centerpoint_sigma param file

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
---
 .../lidar_model/centerpoint_sigma.param.yaml  | 33 ++++++++-----------
 1 file changed, 13 insertions(+), 20 deletions(-)

diff --git a/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_sigma.param.yaml b/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_sigma.param.yaml
index 5c3d8645de..bd5fc5f356 100644
--- a/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_sigma.param.yaml
+++ b/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_sigma.param.yaml
@@ -1,28 +1,21 @@
 /**:
   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: true
-    has_twist: true
-    trt_precision: fp16
-    cloud_capacity: 2000000
-    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
+    cloud_capacity: 2000000
+    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