From fa0b084de6d52727a55f4798abce93a9a072a381 Mon Sep 17 00:00:00 2001
From: kminoda <44218668+kminoda@users.noreply.github.com>
Date: Thu, 18 Jan 2024 14:28:40 +0900
Subject: [PATCH] fix(pointpainting): fix param path declaration (#6106)

* fix(pointpainting): fix param path declaration

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* remove pointpainting_model_name

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* revert: revert unnecessary change

Signed-off-by: kminoda <koji.minoda@tier4.jp>

---------

Signed-off-by: kminoda <koji.minoda@tier4.jp>
---
 .../detection/camera_lidar_fusion_based_detection.launch.xml   | 2 ++
 .../camera_lidar_radar_fusion_based_detection.launch.xml       | 2 ++
 launch/tier4_perception_launch/launch/perception.launch.xml    | 3 +++
 3 files changed, 7 insertions(+)

diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
index 227aac50d6d90..cdd9af179433a 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
+++ b/launch/tier4_perception_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="$(var lidar_model_param_path)/detection_class_remapper.param.yaml"/>
     </include>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
index 65caad54876ff..b708533ef3af8 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
@@ -297,6 +297,8 @@
       <arg name="input/image7" value="$(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
index 1b5753fb4d5c4..65d8ac99d93e6 100644
--- 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`"/>