fix: update params for point paintings

Signed-off-by: N-Eiki <eiki.nagata.2@tier4.jp>

Author: N-Eiki

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

@@ -1,21 +1,32 @@
 /**:
   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"
-    trt_precision: fp16
+
+    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_twist: false
+    densification_params:
+      world_frame_id: "map"
+      num_past_frames: 0
     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: 0.45
-      yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
-    densification_params:
-      world_frame_id: "map"
-      num_past_frames: 1
+      score_threshold: 0.35
     omp_params:
       # omp params
       num_threads: 1