Merge pull request #395 from tier4/sync-awf-latest

chore: sync awf-latest

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

@@ -1,27 +1,20 @@
 /**:
   ros__parameters:
-    class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"]
-    point_feature_size: 4
-    max_voxel_size: 40000
-    point_cloud_range: [-76.8, -76.8, -4.0, 76.8, 76.8, 6.0]
-    voxel_size: [0.32, 0.32, 10.0]
-    downsample_factor: 1
-    encoder_in_feature_size: 9
-    # 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
-    yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
-    score_threshold: 0.35
-    has_variance: false
-    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"
+    trt_precision: fp16
+    post_process_params:
+      # 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
+      yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
+      score_threshold: 0.35
+    densification_params:
+      world_frame_id: map
+      num_past_frames: 1

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

@@ -1,33 +1,21 @@
 /**:
   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"]
-      point_feature_size: 7 # x, y, z, time-lag and car, pedestrian, bicycle
-      max_voxel_size: 40000
-      point_cloud_range: [-121.6, -76.8, -3.0, 121.6, 76.8, 5.0]
-      voxel_size: [0.32, 0.32, 8.0]
-      downsample_factor: 1
-      encoder_in_feature_size: 12
-      yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
-      has_variance: false
-      has_twist: false
-    densification_params:
-      world_frame_id: "map"
-      num_past_frames: 0
+    trt_precision: fp16
     post_process_params:
       # post-process params
       circle_nms_dist_threshold: 0.3
       iou_nms_target_class_names: ["CAR"]
       iou_nms_search_distance_2d: 10.0
       iou_nms_threshold: 0.1
-      score_threshold: 0.35
+      score_threshold: 0.45
+      yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
+    densification_params:
+      world_frame_id: "map"
+      num_past_frames: 1
     omp_params:
       # omp params
       num_threads: 1

autoware_launch/config/perception/occupancy_grid_map/multi_lidar_pointcloud_based_occupancy_grid_map.param.yaml

@@ -12,6 +12,10 @@
         map_length_x: 150.0 # [m]
         map_length_y: 150.0 # [m]
 
+      # downsample input pointcloud
+      downsample_input_pointcloud: true
+      downsample_voxel_size: 0.25 # [m]
+
       # each grid map parameters
       ogm_creation_config:
         height_filter:
@@ -20,7 +24,7 @@
           max_height: 2.0
         enable_single_frame_mode: true
         # use sensor pointcloud to filter obstacle pointcloud
-        filter_obstacle_pointcloud_by_raw_pointcloud: true
+        filter_obstacle_pointcloud_by_raw_pointcloud: false
 
         grid_map_type: "OccupancyGridMapFixedBlindSpot"
         OccupancyGridMapFixedBlindSpot:

autoware_launch/config/perception/occupancy_grid_map/pointcloud_based_occupancy_grid_map.param.yaml

@@ -8,6 +8,10 @@
       min_height: -1.0
       max_height: 2.0
 
+    # downsample input pointcloud
+    downsample_input_pointcloud: true
+    downsample_voxel_size: 0.125 # [m]
+
     enable_single_frame_mode: false
     # use sensor pointcloud to filter obstacle pointcloud
     filter_obstacle_pointcloud_by_raw_pointcloud: false