fix(lidar_centerpoint): add param file for centerpoint_tiny (#6901)

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

Author: badai-nguyen

launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml

@@ -18,7 +18,7 @@
         <arg name="output/objects" value="objects"/>
         <arg name="model_name" value="$(var centerpoint_model_name)"/>
         <arg name="model_path" value="$(var centerpoint_model_path)"/>
-        <arg name="model_param_path" value="$(var lidar_model_param_path)/centerpoint.param.yaml"/>
+        <arg name="model_param_path" value="$(var lidar_model_param_path)/$(var centerpoint_model_name).param.yaml"/>
         <arg name="ml_package_param_path" value="$(var centerpoint_model_path)/$(var centerpoint_model_name)_ml_package.param.yaml"/>
         <arg name="class_remapper_param_path" value="$(var centerpoint_model_path)/detection_class_remapper.param.yaml"/>
 

perception/lidar_centerpoint/config/centerpoint_tiny.param.yaml

@@ -0,0 +1,19 @@
+/**:
+  ros__parameters:
+    # 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
+      score_threshold: 0.35
+      yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
+    densification_params:
+      world_frame_id: map
+      num_past_frames: 1

perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml

@@ -5,7 +5,7 @@
   <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
   <arg name="model_name" default="centerpoint_tiny" description="options: `centerpoint` or `centerpoint_tiny`"/>
   <arg name="model_path" default="$(var data_path)/lidar_centerpoint"/>
-  <arg name="model_param_path" default="$(find-pkg-share lidar_centerpoint)/config/centerpoint.param.yaml"/>
+  <arg name="model_param_path" default="$(find-pkg-share lidar_centerpoint)/config/$(var model_name).param.yaml"/>
   <arg name="ml_package_param_path" default="$(var model_path)/$(var model_name)_ml_package.param.yaml"/>
   <arg name="class_remapper_param_path" default="$(var model_path)/detection_class_remapper.param.yaml"/>
   <arg name="build_only" default="false" description="shutdown node after TensorRT engine file is built"/>