From d8c3f2acc01d1fd9b5d1bfb9119ea3c569c6fb83 Mon Sep 17 00:00:00 2001
From: kminoda <44218668+kminoda@users.noreply.github.com>
Date: Tue, 6 Feb 2024 11:06:23 +0900
Subject: [PATCH] chore(lidar_centerpoint): rework parameters (#6167)

* chore(lidar_centerpoint): use config

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

* revert unnecessary fix

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

* 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

* fix: add pr url

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>
Co-authored-by: Kenzo Lobos Tsunekawa <kenzo.lobos@tier4.jp>
---
 .../detector/lidar_dnn_detector.launch.xml    |  2 --
 perception/lidar_centerpoint/README.md        |  9 ++++++
 .../config/centerpoint.param.yaml             | 11 +++++++
 .../config/centerpoint_tiny.param.yaml        | 11 +++++++
 .../launch/lidar_centerpoint.launch.xml       | 32 +++++--------------
 5 files changed, 39 insertions(+), 26 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 5b5fabd4dd886..34f0a01d0a688 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/README.md b/perception/lidar_centerpoint/README.md
index f5a15916f31a9..2a9adedad9074 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.
diff --git a/perception/lidar_centerpoint/config/centerpoint.param.yaml b/perception/lidar_centerpoint/config/centerpoint.param.yaml
index 0b29a87965b42..a9c3174846d0d 100644
--- a/perception/lidar_centerpoint/config/centerpoint.param.yaml
+++ b/perception/lidar_centerpoint/config/centerpoint.param.yaml
@@ -13,3 +13,14 @@
     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
+    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..474d0e2b695ac 100644
--- a/perception/lidar_centerpoint/config/centerpoint_tiny.param.yaml
+++ b/perception/lidar_centerpoint/config/centerpoint_tiny.param.yaml
@@ -13,3 +13,14 @@
     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
+    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 1210875770510..5489af2c8fb60 100644
--- a/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml
+++ b/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml
@@ -7,8 +7,6 @@
   <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"/>
 
   <arg name="use_pointcloud_container" default="false" description="use pointcloud_container"/>
@@ -19,18 +17,11 @@
       <composable_node pkg="lidar_centerpoint" plugin="centerpoint::LidarCenterPointNode" name="lidar_centerpoint">
         <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)"/>
+
+        <!-- This parameter shall NOT be included in param file. See also: https://github.com/autowarefoundation/autoware.universe/pull/6167 -->
+        <param name="build_only" value="$(var build_only)"/>
       </composable_node>
     </load_composable_node>
   </group>
@@ -38,18 +29,11 @@
     <node pkg="lidar_centerpoint" exec="lidar_centerpoint_node" name="lidar_centerpoint" output="screen">
       <remap from="~/input/pointcloud" to="$(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="$(var class_remapper_param_path)"/>
+
+      <!-- This parameter shall NOT be included in param file. See also: https://github.com/autowarefoundation/autoware.universe/pull/6167 -->
+      <param name="build_only" value="$(var build_only)"/>
     </node>
   </group>
 </launch>