refactor(image_projection_based_fusion): rework param

[badai-nguyen]

Description

• Rearrange params for image_projection_based_fusion
• Should merge after refactor(image_projection_based_fusion): rework params autoware_launch#845

Related Link

TIER IV INTERNAL LINK

Tests performed

• Confirmed each Nodes executable after moving params

Not applicable.

Effects on system behavior

Not applicable.

Pre-review checklist for the PR author

The PR author must check the checkboxes below when creating the PR.

• I've confirmed the contribution guidelines.
• The PR follows the pull request guidelines.

In-review checklist for the PR reviewers

The PR reviewers must check the checkboxes below before approval.

• The PR follows the pull request guidelines.

Post-review checklist for the PR author

The PR author must check the checkboxes below before merging.

• There are no open discussions or they are tracked via tickets.

After all checkboxes are checked, anyone who has write access can merge the PR.

[Shin-kyoto]

@badai-nguyen

Please add these params to https://github.com/autowarefoundation/autoware.universe/blob/main/perception/image_projection_based_fusion/config/pointpainting.param.yaml, too

    # fusion interface common params
    debug_mode: false
    image_buffer_size: 15
    filter_scope_min_x: -100.0
    filter_scope_min_y: -100.0
    filter_scope_min_z: -100.0
    filter_scope_max_x: 100.0
    filter_scope_max_y: 100.0
    filter_scope_max_z: 100.0

That is because pointpainting uses roi_sync_param in

autoware.universe/perception/image_projection_based_fusion/launch/pointpainting_fusion.launch.xml

Line 26 in 1ed6fac

<arg name="sync_param_path" default="$(find-pkg-share image_projection_based_fusion)/config/roi_sync.param.yaml"/>

I checked this PR with evaluator, and I got the error below.

[ERROR] [launch_ros.actions.load_composable_nodes]: Failed to load node 'pointpainting' of type 'image_projection_based_fusion::PointPaintingFusionNode' in container 'pointcloud_container': Component constructor threw an exception: Statically typed parameter 'filter_scope_min_x' must be initialized.

And please run the evaluator on the condition that "perception_mode" is "camera_lidar_fusion" and "lidar_detection_model" is "pointpainting", and paste the link to the result of evaluator.
This example will be helpful for you.

[kminoda]

@badai-nguyen In addition to above, please make sure to update the parameter file in Evaluator: https://evaluation.tier4.jp/evaluation/mlpackages/5b56c824-de65-406e-b12f-d7271589cc70?project_id=zWhWRzei , communicate with System Integration team to make sure that the ML model to be deployed accordingly.

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 15.08%. Comparing base (9dcf81e) to head (496d409).
Report is 8 commits behind head on main.

❗ Current head 496d409 differs from pull request most recent head 928a216

Please upload reports for the commit 928a216 to get more accurate results.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #6289      +/-   ##
==========================================
- Coverage   15.60%   15.08%   -0.53%     
==========================================
  Files        1983     1826     -157     
  Lines      137675   126409   -11266     
  Branches    44571    38188    -6383     
==========================================
- Hits        21490    19073    -2417     
+ Misses      92747    85943    -6804     
+ Partials    23438    21393    -2045     

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <ø> (?)
total	15.11% <ø> (-0.50%)	⬇️	Carriedforward from d73d0f6

*This pull request uses carry forward flags. Click here to find out more.

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.

[badai-nguyen]

Since the policy of pointpainting/centerpoint param management is under reviewing so I will change to draft this PR and update and re-open it after the new policy is reflected.
cc @Shin-kyoto

[stale]

This pull request has been automatically marked as stale because it has not had recent activity.

[Shin-kyoto]

LGTM
I did NOT run autoware with this PR. I checked the code only. Please check this PR runs correctly.

[miursh]

@badai-nguyen
Don't we also need to change the schema file at https://github.com/autowarefoundation/autoware.universe/blob/main/perception/image_projection_based_fusion/schema/roi_sync.schema.json ?

[badai-nguyen]

@badai-nguyen Don't we also need to change the schema file at https://github.com/autowarefoundation/autoware.universe/blob/main/perception/image_projection_based_fusion/schema/roi_sync.schema.json ?

@miursh Thank you for your comment. I fixed a728e11

[miursh]

@badai-nguyen
How about this line ?

[badai-nguyen]

@badai-nguyen How about this line ?

@miursh I'm sorry, I missed that one. I fixed at 928a216

[miursh]

Thanks!