chore: rearrange params

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

Author: badai-nguyen

perception/image_projection_based_fusion/config/pointpainting.param.yaml

@@ -1,6 +1,5 @@
 /**:
   ros__parameters:
-    trt_precision: fp16
     model_params:
       class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"]
       paint_class_names: ["CAR", "BICYCLE", "PEDESTRIAN"]
@@ -10,8 +9,9 @@
       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_twist: false
     densification_params:
       world_frame_id: "map"
       num_past_frames: 0
+    omp_params:
+      # omp params
+      num_threads: 1

perception/image_projection_based_fusion/config/pointpainting_ml_package.param.yaml

@@ -5,13 +5,13 @@
     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"
     build_only: false
+    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
-    omp_params:
-      # omp params
-      num_threads: 1
+      yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
+      has_twist: false

perception/image_projection_based_fusion/src/pointpainting_fusion/node.cpp

@@ -102,7 +102,7 @@ PointPaintingFusionNode::PointPaintingFusionNode(const rclcpp::NodeOptions & opt
   const float circle_nms_dist_threshold = static_cast<float>(
     this->declare_parameter<double>("post_process_params.circle_nms_dist_threshold"));
   const auto yaw_norm_thresholds =
-    this->declare_parameter<std::vector<double>>("model_params.yaw_norm_thresholds");
+    this->declare_parameter<std::vector<double>>("post_process_params.yaw_norm_thresholds");
   // densification param
   const std::string densification_world_frame_id =
     this->declare_parameter<std::string>("densification_params.world_frame_id");
@@ -140,7 +140,7 @@ PointPaintingFusionNode::PointPaintingFusionNode(const rclcpp::NodeOptions & opt
       isClassTable_.erase(cls);
     }
   }
-  has_twist_ = this->declare_parameter<bool>("model_params.has_twist");
+  has_twist_ = this->declare_parameter<bool>("post_process_params.has_twist");
   const std::size_t point_feature_size = static_cast<std::size_t>(
     this->declare_parameter<std::int64_t>("model_params.point_feature_size"));
   const std::size_t max_voxel_size =

perception/lidar_centerpoint/config/centerpoint.param.yaml

@@ -7,12 +7,5 @@
     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]
-    trt_precision: fp16
     densification_num_past_frames: 1
     densification_world_frame_id: map

perception/lidar_centerpoint/config/centerpoint_tiny.param.yaml

@@ -7,12 +7,5 @@
     voxel_size: [0.32, 0.32, 10.0]
     downsample_factor: 2
     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]
-    trt_precision: fp16
     densification_num_past_frames: 1
     densification_world_frame_id: map

perception/lidar_centerpoint/config/lidar_centerpoint_ml_package.param.yaml

@@ -9,3 +9,11 @@
     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"
+
+    # 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]
+    trt_precision: fp16