From e7ae1c1f8da5695b48765c9948ed3a6442857a97 Mon Sep 17 00:00:00 2001
From: kminoda <44218668+kminoda@users.noreply.github.com>
Date: Fri, 2 Feb 2024 08:18:58 +0900
Subject: [PATCH] chore(image_projection_based_fusion): rework parameters
 (#6169)

* chore(image_projection_based_fusion): use config

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

* style(pre-commit): autofix

* fix: revert build_only option

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

* docs: update readme

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

* style(pre-commit): autofix

* update component launcher as well

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

---------

Signed-off-by: kminoda <koji.minoda@tier4.jp>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
---
 .../image_projection_based_fusion/README.md   |  9 ++++++++
 .../config/pointpainting.param.yaml           |  6 ++++++
 .../segmentation_pointcloud_fusion.param.yaml | 10 +++++++++
 .../launch/pointpainting_fusion.launch.xml    | 18 ++++++----------
 .../segmentation_pointcloud_fusion.launch.xml | 21 -------------------
 5 files changed, 31 insertions(+), 33 deletions(-)

diff --git a/perception/image_projection_based_fusion/README.md b/perception/image_projection_based_fusion/README.md
index dba64a27232b1..e83cf92400a60 100644
--- a/perception/image_projection_based_fusion/README.md
+++ b/perception/image_projection_based_fusion/README.md
@@ -53,6 +53,15 @@ The timeout threshold should be set according to the postprocessing time.
 E.g, if the postprocessing time is around 50ms, the timeout threshold should be set smaller than 50ms, so that the whole processing time could be less than 100ms.
 current default value at autoware.universe for XX1: - timeout_ms: 50.0
 
+#### The `build_only` option
+
+The `pointpainting_fusion` 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 image_projection_based_fusion pointpainting_fusion.launch.xml model_name:=pointpainting model_path:=/home/autoware/autoware_data/image_projection_based_fusion model_param_path:=$(ros2 pkg prefix image_projection_based_fusion --share)/config/pointpainting.param.yaml build_only:=true
+```
+
 #### Known Limits
 
 The rclcpp::TimerBase timer could not break a for loop, therefore even if time is out when fusing a roi msg at the middle, the program will run until all msgs are fused.
diff --git a/perception/image_projection_based_fusion/config/pointpainting.param.yaml b/perception/image_projection_based_fusion/config/pointpainting.param.yaml
index 21d31f216373b..8ccd46978630d 100755
--- a/perception/image_projection_based_fusion/config/pointpainting.param.yaml
+++ b/perception/image_projection_based_fusion/config/pointpainting.param.yaml
@@ -1,5 +1,11 @@
 /**:
   ros__parameters:
+    trt_precision: fp16
+    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"
+
     model_params:
       class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"]
       paint_class_names: ["CAR", "BICYCLE", "PEDESTRIAN"]
diff --git a/perception/image_projection_based_fusion/config/segmentation_pointcloud_fusion.param.yaml b/perception/image_projection_based_fusion/config/segmentation_pointcloud_fusion.param.yaml
index 914ad13519807..c2752710a54f1 100644
--- a/perception/image_projection_based_fusion/config/segmentation_pointcloud_fusion.param.yaml
+++ b/perception/image_projection_based_fusion/config/segmentation_pointcloud_fusion.param.yaml
@@ -28,3 +28,13 @@
     # this is selected based on semantic segmentation model accuracy,
     # calibration accuracy and unknown reaction distance
     filter_distance_threshold: 60.0
+
+    # debug
+    debug_mode: false
+    filter_scope_minx: -100
+    filter_scope_maxx: 100
+    filter_scope_miny: -100
+    filter_scope_maxy: 100
+    filter_scope_minz: -100
+    filter_scope_maxz: 100
+    image_buffer_size: 15
diff --git a/perception/image_projection_based_fusion/launch/pointpainting_fusion.launch.xml b/perception/image_projection_based_fusion/launch/pointpainting_fusion.launch.xml
index db13d73e37fa7..f336eb16e94a1 100644
--- a/perception/image_projection_based_fusion/launch/pointpainting_fusion.launch.xml
+++ b/perception/image_projection_based_fusion/launch/pointpainting_fusion.launch.xml
@@ -47,15 +47,12 @@
       <composable_node pkg="image_projection_based_fusion" plugin="image_projection_based_fusion::PointPaintingFusionNode" name="pointpainting">
         <remap from="~/input/pointcloud" to="$(var input/pointcloud)"/>
         <remap from="~/output/objects" to="$(var output/objects)"/>
-        <param name="trt_precision" value="fp16"/>
-        <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 from="$(var model_param_path)"/>
+        <param from="$(var model_param_path)" allow_substs="true"/>
         <param from="$(var sync_param_path)"/>
         <param from="$(var class_remapper_param_path)"/>
         <param name="rois_number" value="$(var input/rois_number)"/>
+
+        <!-- This parameter shall NOT be included in param file. See the PR from the git blame for details. -->
         <param name="build_only" value="$(var build_only)"/>
 
         <!-- rois, camera and info -->
@@ -91,15 +88,12 @@
     <node pkg="image_projection_based_fusion" exec="pointpainting_fusion_node" name="pointpainting" output="screen">
       <remap from="~/input/pointcloud" to="$(var input/pointcloud)"/>
       <remap from="~/output/objects" to="$(var output/objects)"/>
-      <param name="trt_precision" value="fp16"/>
-      <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 from="$(var model_param_path)"/>
+      <param from="$(var model_param_path)" allow_substs="true"/>
       <param from="$(var sync_param_path)"/>
       <param from="$(var class_remapper_param_path)"/>
       <param name="rois_number" value="$(var input/rois_number)"/>
+
+      <!-- This parameter shall NOT be included in param file. See the PR from the git blame for details. -->
       <param name="build_only" value="$(var build_only)"/>
 
       <!-- rois, camera and info -->
diff --git a/perception/image_projection_based_fusion/launch/segmentation_pointcloud_fusion.launch.xml b/perception/image_projection_based_fusion/launch/segmentation_pointcloud_fusion.launch.xml
index 96bf47594bfe8..1db2bb20793ac 100644
--- a/perception/image_projection_based_fusion/launch/segmentation_pointcloud_fusion.launch.xml
+++ b/perception/image_projection_based_fusion/launch/segmentation_pointcloud_fusion.launch.xml
@@ -20,17 +20,6 @@
   <arg name="output/pointcloud" default="output/pointcloud"/>
   <arg name="sync_param_path" default="$(find-pkg-share image_projection_based_fusion)/config/roi_sync.param.yaml"/>
   <arg name="semantic_segmentation_based_filter_param_path" default="$(find-pkg-share image_projection_based_fusion)/config/segmentation_pointcloud_fusion.param.yaml"/>
-  <!-- debug -->
-  <!-- cspell: ignore minx, maxx, miny, maxy, minz, maxz  -->
-  <arg name="debug_mode" default="false"/>
-
-  <arg name="filter_scope_minx" default="-100"/>
-  <arg name="filter_scope_maxx" default="100"/>
-  <arg name="filter_scope_miny" default="-100"/>
-  <arg name="filter_scope_maxy" default="100"/>
-  <arg name="filter_scope_minz" default="-100"/>
-  <arg name="filter_scope_maxz" default="100"/>
-  <arg name="image_buffer_size" default="15"/>
   <arg name="input/image0" default="/image_raw0"/>
   <arg name="input/image1" default="/image_raw1"/>
   <arg name="input/image2" default="/image_raw2"/>
@@ -72,16 +61,6 @@
       <param name="input/rois7" value="$(var input/mask7)"/>
       <param name="input/camera_info7" value="$(var input/camera_info7)"/>
       <param name="input/image7" value="$(var input/image7)"/>
-
-      <!-- debug -->
-      <param name="debug_mode" value="$(var debug_mode)"/>
-      <param name="filter_scope_minx" value="$(var filter_scope_minx)"/>
-      <param name="filter_scope_maxx" value="$(var filter_scope_maxx)"/>
-      <param name="filter_scope_miny" value="$(var filter_scope_miny)"/>
-      <param name="filter_scope_maxy" value="$(var filter_scope_maxy)"/>
-      <param name="filter_scope_minz" value="$(var filter_scope_minz)"/>
-      <param name="filter_scope_maxz" value="$(var filter_scope_maxz)"/>
-      <param name="image_buffer_size" value="$(var image_buffer_size)"/>
     </node>
   </group>
 </launch>