feat(autoware_launch): update pointpainting param (autowarefoundation…

…#473)

Signed-off-by: yukke42 <[email protected]>

autoware_launch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml

@@ -1,10 +1,17 @@
 /**:
   ros__parameters:
-    class_names: ["CAR", "PEDESTRIAN", "BICYCLE"]
-    point_feature_size: 7  # x, y, z, time-lag and car, pedestrian, bicycle
+    class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"]
+    point_feature_size: 9  # x, y, z, time-lag and car, pedestrian, bicycle
     max_voxel_size: 40000
-    point_cloud_range: [-76.8, -76.8, -3.0, 76.8, 76.8, 5.0]
-    voxel_size: [0.32, 0.32, 8.0]
+    point_cloud_range: [-102.4, -102.4, -4.0, 102.4, 102.4, 6.0]
+    voxel_size: [0.32, 0.32, 10.0]
     downsample_factor: 1
-    encoder_in_feature_size: 12
-    yaw_norm_thresholds: [0.3, 0.0, 0.3]
+    encoder_in_feature_size: 14
+    yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
+    # 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
+    # omp params
+    omp_num_threads: 1