chore(image_projection_based_fusion): rework parameters

perception/image_projection_based_fusion/config/pointpainting.param.yaml

@@ -1,5 +1,12 @@
 /**:
   ros__parameters:
+    trt_precision: fp16
+    build_only: false
+    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"]

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

perception/image_projection_based_fusion/launch/pointpainting_fusion.launch.xml

@@ -42,16 +42,10 @@
     <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="$(var input/rois_number)"/>
-      <param name="build_only" value="$(var build_only)"/>
 
       <!-- rois, camera and info -->
       <param name="input/rois0" value="$(var input/rois0)"/>

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>