refactor(centerpoint, pointpainting): rearrange parameters for ML models and packages

launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml

@@ -82,8 +82,9 @@
       <arg name="output/objects" value="objects"/>
       <arg name="model_name" value="$(var lidar_detection_model)"/>
       <arg name="model_path" value="$(var pointpainting_model_path)"/>
-      <arg name="model_param_path" value="$(var lidar_model_param_path)/$(var lidar_detection_model).param.yaml"/>
-      <arg name="class_remapper_param_path" value="$(var lidar_model_param_path)/detection_class_remapper.param.yaml"/>
+      <arg name="model_param_path" value="$(var model_path)/$(var lidar_detection_model).param.yaml"/>
+      <arg name="ml_package_param_path" value="$(var ml_package_param_path)/pointpainting_ml_package.param.yaml"/>
+      <arg name="class_remapper_param_path" value="$(var model_path)/detection_class_remapper.param.yaml"/>
 
       <arg name="use_pointcloud_container" value="true"/>
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>

launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml

@@ -6,8 +6,6 @@
 
   <!-- Lidar detector centerpoint parameters -->
   <arg name="centerpoint_model_name" default="centerpoint_tiny"/>
-  <arg name="centerpoint_model_path" default="$(var data_path)/lidar_centerpoint"/>
-  <arg name="lidar_model_param_path" default="$(find-pkg-share lidar_centerpoint)/config"/>
 
   <!-- CenterPoint -->
   <group if="$(eval &quot;'$(var lidar_detection_model)'=='centerpoint'&quot;)">
@@ -18,8 +16,9 @@
         <arg name="output/objects" value="objects"/>
         <arg name="model_name" value="$(var centerpoint_model_name)"/>
         <arg name="model_path" value="$(var centerpoint_model_path)"/>
-        <arg name="model_param_path" value="$(var lidar_model_param_path)/$(var centerpoint_model_name).param.yaml"/>
-        <arg name="class_remapper_param_path" value="$(var lidar_model_param_path)/detection_class_remapper.param.yaml"/>
+        <arg name="model_param_path" value="$(var model_path)/$(var centerpoint_model_name).param.yaml"/>
+        <arg name="ml_package_param_path" value="$(var ml_package_param_path)/lidar_centerpoint_ml_package.param.yaml"/>
+        <arg name="class_remapper_param_path" value="$(var centerpoint_model_path)/detection_class_remapper.param.yaml"/>
 
         <arg name="use_pointcloud_container" value="true"/>
         <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>

launch/tier4_perception_launch/launch/perception.launch.xml

@@ -13,7 +13,7 @@
   <arg name="object_recognition_detection_roi_cluster_fusion_param_path"/>
   <arg name="object_recognition_detection_roi_pointcloud_fusion_param_path"/>
   <arg name="object_recognition_detection_roi_detected_object_fusion_param_path"/>
-  <arg name="object_recognition_detection_lidar_model_param_path"/>
+  <arg name="object_recognition_detection_ml_package_param_path"/>
   <arg name="object_recognition_detection_radar_lanelet_filtering_range_param_path"/>
   <arg name="object_recognition_detection_radar_crossing_objects_noise_filter_param_path"/>
   <arg name="object_recognition_detection_radar_object_clustering_param_path"/>
@@ -183,7 +183,7 @@
           <arg name="roi_cluster_fusion_param_path" value="$(var object_recognition_detection_roi_cluster_fusion_param_path)"/>
           <arg name="roi_pointcloud_fusion_param_path" value="$(var object_recognition_detection_roi_pointcloud_fusion_param_path)"/>
           <arg name="roi_detected_object_fusion_param_path" value="$(var object_recognition_detection_roi_detected_object_fusion_param_path)"/>
-          <arg name="lidar_model_param_path" value="$(var object_recognition_detection_lidar_model_param_path)"/>
+          <arg name="ml_package_param_path" value="$(var object_recognition_detection_ml_package_param_path)"/>
           <arg name="euclidean_param_path" value="$(var object_recognition_detection_euclidean_cluster_param_path)"/>
           <arg name="outlier_param_path" value="$(var object_recognition_detection_outlier_param_path)"/>
           <arg name="voxel_grid_based_euclidean_param_path" value="$(var object_recognition_detection_voxel_grid_based_euclidean_cluster_param_path)"/>

perception/image_projection_based_fusion/config/pointpainting.param.yaml

@@ -1,11 +1,6 @@
 /**:
   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"]
@@ -20,13 +15,3 @@
     densification_params:
       world_frame_id: "map"
       num_past_frames: 0
-    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
-    omp_params:
-      # omp params
-      num_threads: 1

perception/image_projection_based_fusion/config/pointpainting_ml_package.param.yaml

@@ -0,0 +1,17 @@
+/**:
+  ros__parameters:
+    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"
+    build_only: false
+    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
+    omp_params:
+      # omp params
+      num_threads: 1

perception/image_projection_based_fusion/launch/pointpainting_fusion.launch.xml

@@ -21,10 +21,10 @@
   <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
   <arg name="model_name" default="pointpainting" description="options: `pointpainting`"/>
   <arg name="model_path" default="$(var data_path)/image_projection_based_fusion"/>
-  <arg name="model_param_path" default="$(find-pkg-share image_projection_based_fusion)/config/$(var model_name).param.yaml"/>
-  <arg name="class_remapper_param_path" default="$(find-pkg-share lidar_centerpoint)/config/detection_class_remapper.param.yaml"/>
+  <arg name="model_param_path" default="$(find-pkg-share model_path)/$(var model_name).param.yaml"/>
+  <arg name="ml_package_param_path" default="$(find-pkg-share image_projection_based_fusion)/config/pointpainting_ml_package.param.yaml"/>
+  <arg name="class_remapper_param_path" default="$(var model_path)/detection_class_remapper.param.yaml"/>
   <arg name="sync_param_path" default="$(find-pkg-share image_projection_based_fusion)/config/roi_sync.param.yaml"/>
-  <arg name="build_only" default="false" description="shutdown node after TensorRT engine file is built"/>
 
   <arg name="use_pointcloud_container" default="false" description="use pointcloud_container"/>
   <arg name="pointcloud_container_name" default="pointcloud_container" description="pointcloud_container name"/>
@@ -48,13 +48,10 @@
         <remap from="~/input/pointcloud" to="$(var input/pointcloud)"/>
         <remap from="~/output/objects" to="$(var output/objects)"/>
         <param from="$(var model_param_path)" allow_substs="true"/>
+        <param from="$(var ml_package_param_path)" allow_substs="true"/>
         <param from="$(var sync_param_path)"/>
         <param from="$(var class_remapper_param_path)"/>
         <param name="rois_number" value="$(var input/rois_number)"/>
-
-        <!-- This parameter shall NOT be included in param file. See also: https://github.com/autowarefoundation/autoware.universe/pull/6169 -->
-        <param name="build_only" value="$(var build_only)"/>
-
         <!-- rois, camera and info -->
         <param name="input/rois0" value="$(var input/rois0)"/>
         <param name="input/camera_info0" value="$(var input/camera_info0)"/>
@@ -89,13 +86,10 @@
       <remap from="~/input/pointcloud" to="$(var input/pointcloud)"/>
       <remap from="~/output/objects" to="$(var output/objects)"/>
       <param from="$(var model_param_path)" allow_substs="true"/>
+      <param from="$(var ml_package_param_path)" allow_substs="true"/>
       <param from="$(var sync_param_path)"/>
       <param from="$(var class_remapper_param_path)"/>
       <param name="rois_number" value="$(var input/rois_number)"/>
-
-      <!-- This parameter shall NOT be included in param file. See also: https://github.com/autowarefoundation/autoware.universe/pull/6169 -->
-      <param name="build_only" value="$(var build_only)"/>
-
       <!-- rois, camera and info -->
       <param name="input/rois0" value="$(var input/rois0)"/>
       <param name="input/camera_info0" value="$(var input/camera_info0)"/>

perception/lidar_centerpoint/config/centerpoint.param.yaml

@@ -13,14 +13,6 @@
     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_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"

perception/lidar_centerpoint/config/centerpoint_tiny.param.yaml

@@ -13,14 +13,6 @@
     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_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"

perception/lidar_centerpoint/config/lidar_centerpoint_ml_package.param.yaml

@@ -0,0 +1,11 @@
+/**:
+  ros__parameters:
+    score_threshold: 0.35
+    has_twist: false
+    build_only: false
+
+    # 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"

perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml

@@ -5,9 +5,9 @@
   <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
   <arg name="model_name" default="centerpoint_tiny" description="options: `centerpoint` or `centerpoint_tiny`"/>
   <arg name="model_path" default="$(var data_path)/lidar_centerpoint"/>
-  <arg name="model_param_path" default="$(find-pkg-share lidar_centerpoint)/config/$(var model_name).param.yaml"/>
-  <arg name="class_remapper_param_path" default="$(find-pkg-share lidar_centerpoint)/config/detection_class_remapper.param.yaml"/>
-  <arg name="build_only" default="false" description="shutdown node after TensorRT engine file is built"/>
+  <arg name="model_param_path" default="$(var model_path)/$(var model_name).param.yaml"/>
+  <arg name="ml_package_param_path" default="$(find-pkg-share lidar_centerpoint)/config/lidar_centerpoint_ml_package.param.yaml"/>
+  <arg name="class_remapper_param_path" default="$(var model_path)/detection_class_remapper.param.yaml"/>
 
   <arg name="use_pointcloud_container" default="false" description="use pointcloud_container"/>
   <arg name="pointcloud_container_name" default="pointcloud_container" description="pointcloud_container name"/>
@@ -18,10 +18,8 @@
         <remap from="~/input/pointcloud" to="$(var input/pointcloud)"/>
         <remap from="~/output/objects" to="$(var output/objects)"/>
         <param from="$(var model_param_path)" allow_substs="true"/>
+        <param from="$(var ml_package_param_path)" allow_substs="true"/>
         <param from="$(var class_remapper_param_path)"/>
-
-        <!-- This parameter shall NOT be included in param file. See also: https://github.com/autowarefoundation/autoware.universe/pull/6167 -->
-        <param name="build_only" value="$(var build_only)"/>
       </composable_node>
     </load_composable_node>
   </group>
@@ -30,10 +28,8 @@
       <remap from="~/input/pointcloud" to="$(var input/pointcloud)"/>
       <remap from="~/output/objects" to="$(var output/objects)"/>
       <param from="$(var model_param_path)" allow_substs="true"/>
+      <param from="$(var ml_package_param_path)" allow_substs="true"/>
       <param from="$(var class_remapper_param_path)"/>
-
-      <!-- This parameter shall NOT be included in param file. See also: https://github.com/autowarefoundation/autoware.universe/pull/6167 -->
-      <param name="build_only" value="$(var build_only)"/>
     </node>
   </group>
 </launch>

perception/lidar_centerpoint/src/node.cpp

@@ -39,23 +39,23 @@ 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", 0.35));
+    static_cast<float>(this->declare_parameter<double>("score_threshold"));
   const float circle_nms_dist_threshold =
     static_cast<float>(this->declare_parameter<double>("circle_nms_dist_threshold"));
   const auto yaw_norm_thresholds =
     this->declare_parameter<std::vector<double>>("yaw_norm_thresholds");
   const std::string densification_world_frame_id =
-    this->declare_parameter("densification_world_frame_id", "map");
+    this->declare_parameter<std::string>("densification_world_frame_id");
   const int densification_num_past_frames =
-    this->declare_parameter("densification_num_past_frames", 1);
-  const std::string trt_precision = this->declare_parameter("trt_precision", "fp16");
+    this->declare_parameter<int>("densification_num_past_frames");
+  const std::string trt_precision = this->declare_parameter<std::string>("trt_precision");
   const std::string encoder_onnx_path = this->declare_parameter<std::string>("encoder_onnx_path");
   const std::string encoder_engine_path =
     this->declare_parameter<std::string>("encoder_engine_path");
   const std::string head_onnx_path = this->declare_parameter<std::string>("head_onnx_path");
   const std::string head_engine_path = this->declare_parameter<std::string>("head_engine_path");
   class_names_ = this->declare_parameter<std::vector<std::string>>("class_names");
-  has_twist_ = this->declare_parameter("has_twist", false);
+  has_twist_ = this->declare_parameter<bool>("has_twist");
   const std::size_t point_feature_size =
     static_cast<std::size_t>(this->declare_parameter<std::int64_t>("point_feature_size"));
   const std::size_t max_voxel_size =