From 0dfb6fa3abf681ddc08a42817d544387815a0b3d Mon Sep 17 00:00:00 2001
From: kminoda <koji.minoda@tier4.jp>
Date: Thu, 25 Jan 2024 11:53:42 +0900
Subject: [PATCH 1/6] chore(lidar_centerpoint): use config

Signed-off-by: kminoda <koji.minoda@tier4.jp>
---
 .../detector/lidar_dnn_detector.launch.xml        |  2 --
 .../config/centerpoint.param.yaml                 | 12 ++++++++++++
 .../config/centerpoint_tiny.param.yaml            | 12 ++++++++++++
 .../launch/lidar_centerpoint.launch.xml           | 15 +--------------
 .../scripts/lidar_centerpoint_visualizer.py       |  2 +-
 5 files changed, 26 insertions(+), 17 deletions(-)

diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml
index 1a97659b357d8..0590fc33e80f6 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml
@@ -3,7 +3,6 @@
   <!-- Lidar parameters -->
   <arg name="input/pointcloud"/>
   <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `clustering`"/>
-  <arg name="lidar_detection_score_threshold" default="0.35"/>
 
   <!-- Lidar detector centerpoint parameters -->
   <arg name="centerpoint_model_name" default="centerpoint_tiny"/>
@@ -17,7 +16,6 @@
       <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="score_threshold" value="$(var lidar_detection_score_threshold)"/>
         <arg name="model_name" value="$(var centerpoint_model_name)"/>
         <arg name="model_path" value="$(var centerpoint_model_path)"/>
         <arg name="model_param_path" value="$(var lidar_model_param_path)/$(var centerpoint_model_name).param.yaml"/>
diff --git a/perception/lidar_centerpoint/config/centerpoint.param.yaml b/perception/lidar_centerpoint/config/centerpoint.param.yaml
index 0b29a87965b42..d8684f3e2b58f 100644
--- a/perception/lidar_centerpoint/config/centerpoint.param.yaml
+++ b/perception/lidar_centerpoint/config/centerpoint.param.yaml
@@ -13,3 +13,15 @@
     iou_nms_search_distance_2d: 10.0
     iou_nms_threshold: 0.1
     yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
+    score_threshold: 0.35
+    build_only: false # shutdown node after TensorRT engine file is built
+    has_twist: false
+    trt_precision: fp16
+    densification_num_past_frames: 1
+    densification_world_frame_id: map
+
+    # weight files
+    encoder_onnx_path: "$(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_$(var model_name).engine"
diff --git a/perception/lidar_centerpoint/config/centerpoint_tiny.param.yaml b/perception/lidar_centerpoint/config/centerpoint_tiny.param.yaml
index 8252fde8273d8..5eb560dd7be35 100644
--- a/perception/lidar_centerpoint/config/centerpoint_tiny.param.yaml
+++ b/perception/lidar_centerpoint/config/centerpoint_tiny.param.yaml
@@ -13,3 +13,15 @@
     iou_nms_search_distance_2d: 10.0
     iou_nms_threshold: 0.1
     yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
+    score_threshold: 0.35
+    build_only: false # shutdown node after TensorRT engine file is built
+    has_twist: false
+    trt_precision: fp16
+    densification_num_past_frames: 1
+    densification_world_frame_id: map
+
+    # weight files
+    encoder_onnx_path: "$(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_$(var model_name).engine"
diff --git a/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml b/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml
index a7f181ab78ac6..1d0faf2367e9f 100644
--- a/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml
+++ b/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml
@@ -7,24 +7,11 @@
   <arg name="model_path" default="$(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="score_threshold" default="0.35"/>
-  <arg name="has_twist" default="false"/>
-  <arg name="build_only" default="false" description="shutdown node after TensorRT engine file is built"/>
 
   <node pkg="lidar_centerpoint" exec="lidar_centerpoint_node" name="lidar_centerpoint" output="screen">
     <remap from="~/input/pointcloud" to="$(var input/pointcloud)"/>
     <remap from="~/output/objects" to="$(var output/objects)"/>
-    <param name="score_threshold" value="$(var score_threshold)"/>
-    <param name="densification_world_frame_id" value="map"/>
-    <param name="densification_num_past_frames" value="1"/>
-    <param name="trt_precision" value="fp16"/>
-    <param name="has_twist" value="$(var has_twist)"/>
-    <param name="encoder_onnx_path" value="$(var model_path)/pts_voxel_encoder_$(var model_name).onnx"/>
-    <param name="encoder_engine_path" value="$(var model_path)/pts_voxel_encoder_$(var model_name).engine"/>
-    <param name="head_onnx_path" value="$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx"/>
-    <param name="head_engine_path" value="$(var model_path)/pts_backbone_neck_head_$(var model_name).engine"/>
-    <param name="build_only" value="$(var build_only)"/>
-    <param from="$(var model_param_path)"/>
+    <param from="$(var model_param_path)" allow_substs="true"/>
     <param from="$(var class_remapper_param_path)"/>
   </node>
 </launch>
diff --git a/perception/lidar_centerpoint/scripts/lidar_centerpoint_visualizer.py b/perception/lidar_centerpoint/scripts/lidar_centerpoint_visualizer.py
index 5a1135379615f..177ea050109f1 100755
--- a/perception/lidar_centerpoint/scripts/lidar_centerpoint_visualizer.py
+++ b/perception/lidar_centerpoint/scripts/lidar_centerpoint_visualizer.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 # Copyright 2022 TIER IV, Inc. All rights reserved.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");

From d2747e2603b5648412b66a63fa3387800c820c14 Mon Sep 17 00:00:00 2001
From: kminoda <koji.minoda@tier4.jp>
Date: Thu, 25 Jan 2024 14:02:54 +0900
Subject: [PATCH 2/6] revert unnecessary fix

Signed-off-by: kminoda <koji.minoda@tier4.jp>
---
 .../lidar_centerpoint/scripts/lidar_centerpoint_visualizer.py   | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/perception/lidar_centerpoint/scripts/lidar_centerpoint_visualizer.py b/perception/lidar_centerpoint/scripts/lidar_centerpoint_visualizer.py
index 177ea050109f1..5a1135379615f 100755
--- a/perception/lidar_centerpoint/scripts/lidar_centerpoint_visualizer.py
+++ b/perception/lidar_centerpoint/scripts/lidar_centerpoint_visualizer.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python3
+#!/usr/bin/env python
 # Copyright 2022 TIER IV, Inc. All rights reserved.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");

From 1c74fe4c0e973ce7ffc252e319ddbc992aa6ef00 Mon Sep 17 00:00:00 2001
From: kminoda <koji.minoda@tier4.jp>
Date: Wed, 31 Jan 2024 09:12:49 +0900
Subject: [PATCH 3/6] fix: revert build_only option

Signed-off-by: kminoda <koji.minoda@tier4.jp>
---
 perception/lidar_centerpoint/config/centerpoint.param.yaml    | 1 -
 .../lidar_centerpoint/config/centerpoint_tiny.param.yaml      | 1 -
 .../lidar_centerpoint/launch/lidar_centerpoint.launch.xml     | 4 ++++
 3 files changed, 4 insertions(+), 2 deletions(-)

diff --git a/perception/lidar_centerpoint/config/centerpoint.param.yaml b/perception/lidar_centerpoint/config/centerpoint.param.yaml
index d8684f3e2b58f..a9c3174846d0d 100644
--- a/perception/lidar_centerpoint/config/centerpoint.param.yaml
+++ b/perception/lidar_centerpoint/config/centerpoint.param.yaml
@@ -14,7 +14,6 @@
     iou_nms_threshold: 0.1
     yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
     score_threshold: 0.35
-    build_only: false # shutdown node after TensorRT engine file is built
     has_twist: false
     trt_precision: fp16
     densification_num_past_frames: 1
diff --git a/perception/lidar_centerpoint/config/centerpoint_tiny.param.yaml b/perception/lidar_centerpoint/config/centerpoint_tiny.param.yaml
index 5eb560dd7be35..474d0e2b695ac 100644
--- a/perception/lidar_centerpoint/config/centerpoint_tiny.param.yaml
+++ b/perception/lidar_centerpoint/config/centerpoint_tiny.param.yaml
@@ -14,7 +14,6 @@
     iou_nms_threshold: 0.1
     yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
     score_threshold: 0.35
-    build_only: false # shutdown node after TensorRT engine file is built
     has_twist: false
     trt_precision: fp16
     densification_num_past_frames: 1
diff --git a/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml b/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml
index 1d0faf2367e9f..eccf8f4a1a882 100644
--- a/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml
+++ b/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml
@@ -7,11 +7,15 @@
   <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"/>
 
   <node pkg="lidar_centerpoint" exec="lidar_centerpoint_node" name="lidar_centerpoint" output="screen">
     <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 class_remapper_param_path)"/>
+
+    <!-- This parameter shall NOT be included in param file. See the PR from the git blame for details. -->
+    <param name="build_only" value="$(var build_only)"/>
   </node>
 </launch>

From b028c8ad909d6ee49a7a27260e3727e6de9f5abd Mon Sep 17 00:00:00 2001
From: kminoda <koji.minoda@tier4.jp>
Date: Wed, 31 Jan 2024 09:21:31 +0900
Subject: [PATCH 4/6] docs: update readme

Signed-off-by: kminoda <koji.minoda@tier4.jp>
---
 perception/lidar_centerpoint/README.md | 9 +++++++++
 1 file changed, 9 insertions(+)

diff --git a/perception/lidar_centerpoint/README.md b/perception/lidar_centerpoint/README.md
index f5a15916f31a9..d2cde7ce63fc5 100644
--- a/perception/lidar_centerpoint/README.md
+++ b/perception/lidar_centerpoint/README.md
@@ -45,6 +45,15 @@ We trained the models using <https://github.com/open-mmlab/mmdetection3d>.
 | `nms_iou_threshold`             | double       | -             | IoU threshold for the IoU-based Non Maximum Suppression       |
 | `build_only`                    | bool         | `false`       | shutdown the node after TensorRT engine file is built         |
 
+
+### The `build_only` option
+
+The `lidar_centerpoint` node has `build_only` option to build the TensorRT engine file from the ONNX file.
+Although it is preferred to move all the ROS parameters in `.param.yaml` file in Autoware Universe, the `build_only` option is not moved to the `.param.yaml` file for now, because it may be used as a flag to execute the build as a pre-task. You can execute with the following command:
+```bash
+ros2 launch lidar_centerpoint lidar_centerpoint.launch.xml model_name:=centerpoint_tiny model_path:=/home/autoware/autoware_data/lidar_centerpoint model_param_path:=$(ros2 pkg prefix lidar_centerpoint --share)/config/centerpoint_tiny.param.yaml build_only:=true
+```
+
 ## Assumptions / Known limits
 
 - The `object.existence_probability` is stored the value of classification confidence of a DNN, not probability.

From 01ebca203c1e62a1d04fa8682a15edf97e7d31aa Mon Sep 17 00:00:00 2001
From: "pre-commit-ci[bot]"
 <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Date: Wed, 31 Jan 2024 00:26:47 +0000
Subject: [PATCH 5/6] style(pre-commit): autofix

---
 perception/lidar_centerpoint/README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/perception/lidar_centerpoint/README.md b/perception/lidar_centerpoint/README.md
index d2cde7ce63fc5..2a9adedad9074 100644
--- a/perception/lidar_centerpoint/README.md
+++ b/perception/lidar_centerpoint/README.md
@@ -45,11 +45,11 @@ We trained the models using <https://github.com/open-mmlab/mmdetection3d>.
 | `nms_iou_threshold`             | double       | -             | IoU threshold for the IoU-based Non Maximum Suppression       |
 | `build_only`                    | bool         | `false`       | shutdown the node after TensorRT engine file is built         |
 
-
 ### The `build_only` option
 
 The `lidar_centerpoint` node has `build_only` option to build the TensorRT engine file from the ONNX file.
 Although it is preferred to move all the ROS parameters in `.param.yaml` file in Autoware Universe, the `build_only` option is not moved to the `.param.yaml` file for now, because it may be used as a flag to execute the build as a pre-task. You can execute with the following command:
+
 ```bash
 ros2 launch lidar_centerpoint lidar_centerpoint.launch.xml model_name:=centerpoint_tiny model_path:=/home/autoware/autoware_data/lidar_centerpoint model_param_path:=$(ros2 pkg prefix lidar_centerpoint --share)/config/centerpoint_tiny.param.yaml build_only:=true
 ```

From 118728088dcb810e6ced9d9c896dcbf4af409d6e Mon Sep 17 00:00:00 2001
From: kminoda <koji.minoda@tier4.jp>
Date: Tue, 6 Feb 2024 09:27:28 +0900
Subject: [PATCH 6/6] fix: add pr url

Signed-off-by: kminoda <koji.minoda@tier4.jp>
---
 .../lidar_centerpoint/launch/lidar_centerpoint.launch.xml     | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml b/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml
index 06263dd626c89..5489af2c8fb60 100644
--- a/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml
+++ b/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml
@@ -20,7 +20,7 @@
         <param from="$(var model_param_path)" allow_substs="true"/>
         <param from="$(var class_remapper_param_path)"/>
 
-        <!-- This parameter shall NOT be included in param file. See the PR from the git blame for details. -->
+        <!-- This parameter shall NOT be included in param file. See also: https://github.com/autowarefoundation/autoware.universe/pull/6167 -->
         <param name="build_only" value="$(var build_only)"/>
       </composable_node>
     </load_composable_node>
@@ -32,7 +32,7 @@
       <param from="$(var model_param_path)" allow_substs="true"/>
       <param from="$(var class_remapper_param_path)"/>
 
-      <!-- This parameter shall NOT be included in param file. See the PR from the git blame for details. -->
+      <!-- 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>