fix(pointpainting): fix param path declaration (autowarefoundation#6106)

* fix(pointpainting): fix param path declaration Signed-off-by: kminoda <[email protected]> * remove pointpainting_model_name Signed-off-by: kminoda <[email protected]> * revert: revert unnecessary change Signed-off-by: kminoda <[email protected]> --------- Signed-off-by: kminoda <[email protected]>
tier4 · Jan 18, 2024 · fa0b084 · fa0b084
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commit fa0b084
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diff --git a/...launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml b/...launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
@@ -271,6 +271,8 @@
       <arg name="input/image7" value="$(var image_raw7)"/>
       <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
       <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"/>
     </include>

diff --git a/.../launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml b/.../launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
@@ -297,6 +297,8 @@
       <arg name="input/image7" value="$(var image_raw7)"/>
       <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
       <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"/>
     </include>

diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml
@@ -31,6 +31,9 @@
   <arg name="centerpoint_model_name" default="centerpoint_tiny" description="options: `centerpoint` or `centerpoint_tiny`"/>
   <arg name="centerpoint_model_path" default="$(var data_path)/lidar_centerpoint"/>
 
+  <!-- PointPainting model parameters -->
+  <arg name="pointpainting_model_path" default="$(var data_path)/image_projection_based_fusion"/>
+
   <!-- Common parameters -->
   <arg name="input/pointcloud" default="/sensing/lidar/concatenated/pointcloud" description="The topic will be used in the detection module"/>
   <arg name="mode" default="camera_lidar_fusion" description="options: `camera_lidar_radar_fusion`, `camera_lidar_fusion`, `lidar_radar_fusion`, `lidar` or `radar`"/>