Add/update pointpainting

pointpainting/deploy_metadata.yaml

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+version: v5.0

pointpainting/detection_class_remapper.param.yaml

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+/**:
+  ros__parameters:
+    allow_remapping_by_area_matrix:
+      # NOTE(kl): We turn all vehicles into trailers if they go over 3x12 [m^2].
+      # NOTE(kl): We turn cars into trucks if they have an area between 2.2 x 5.5 and 3.0 * 12.0 [m^2]
+      # row: original class. column: class to remap to
+      #UNKNOWN, CAR, TRUCK, BUS,  TRAILER, MOTORBIKE, BICYCLE,PEDESTRIAN
+      [0,       0,   0,     0,    0,       0,         0,      0,         #UNKNOWN
+       0,       0,   1,     0,    1,       0,         0,      0,         #CAR
+       0,       0,   0,     0,    1,       0,         0,      0,         #TRUCK
+       0,       0,   0,     0,    1,       0,         0,      0,         #BUS
+       0,       0,   0,     0,    0,       0,         0,      0,         #TRAILER
+       0,       0,   0,     0,    0,       0,         0,      0,         #MOTORBIKE
+       0,       0,   0,     0,    0,       0,         0,      0,         #BICYCLE
+       0,       0,   0,     0,    0,       0,         0,      0]         #PEDESTRIAN
+
+    min_area_matrix:
+      #UNKNOWN, CAR,   TRUCK,   BUS,   TRAILER,  MOTORBIKE, BICYCLE, PEDESTRIAN
+      [ 0.000,  0.000,  0.000,  0.000,  0.000,   0.000,     0.000,   0.000,      #UNKNOWN
+        0.000,  0.000, 12.100,  0.000, 36.000,   0.000,     0.000,   0.000,      #CAR
+        0.000,  0.000,  0.000,  0.000, 36.000,   0.000,     0.000,   0.000,      #TRUCK
+        0.000,  0.000,  0.000,  0.000, 36.000,   0.000,     0.000,   0.000,      #BUS
+        0.000,  0.000,  0.000,  0.000,  0.000,   0.000,     0.000,   0.000,      #TRAILER
+        0.000,  0.000,  0.000,  0.000,  0.000,   0.000,     0.000,   0.000,      #MOTORBIKE
+        0.000,  0.000,  0.000,  0.000,  0.000,   0.000,     0.000,   0.000,      #BICYCLE
+        0.000,  0.000,  0.000,  0.000,  0.000,   0.000,     0.000,   0.000]      #PEDESTRIAN
+
+
+    max_area_matrix:
+      #UNKNOWN, CAR,   TRUCK,  BUS,    TRAILER,   MOTORBIKE, BICYCLE, PEDESTRIAN
+      [ 0.000,  0.000,  0.000,  0.000,   0.000,   0.000,     0.000,   0.000,      #UNKNOWN
+        0.000,  0.000, 36.000,  0.000, 999.999,   0.000,     0.000,   0.000,      #CAR
+        0.000,  0.000,  0.000,  0.000, 999.999,   0.000,     0.000,   0.000,      #TRUCK
+        0.000,  0.000,  0.000,  0.000, 999.999,   0.000,     0.000,   0.000,      #BUS
+        0.000,  0.000,  0.000,  0.000,   0.000,   0.000,     0.000,   0.000,      #TRAILER
+        0.000,  0.000,  0.000,  0.000,   0.000,   0.000,     0.000,   0.000,      #MOTORBIKE
+        0.000,  0.000,  0.000,  0.000,   0.000,   0.000,     0.000,   0.000,      #BICYCLE
+        0.000,  0.000,  0.000,  0.000,   0.000,   0.000,     0.000,   0.000]      #PEDESTRIAN

pointpainting/meta.json

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+{
+  "name": "pointpainting",
+  "source": "AutowareFoundation/image_projection_based_fusion",
+  "method": "prebuilt",
+  "note": null,
+  "revision": "33119d71afd53fbc3994dcffc71e6247b76cdd5a",
+  "validation": "prebuilt, not re-validated",
+  "opset_requested": 17,
+  "files": {
+    "pts_backbone_neck_head_pointpainting.onnx": {
+      "sha256": "7fe62fcebe0e0f62a000d06aa94d779feb444d933671a4a3189fe01be8c19a00",
+      "bytes": 20140082,
+      "inputs": {
+        "spatial_features": [
+          "batch_size",
+          32,
+          "H",
+          "W"
+        ]
+      },
+      "outputs": {
+        "heatmap": [
+          "batch_size",
+          5,
+          "H",
+          "W"
+        ],
+        "reg": [
+          "batch_size",
+          2,
+          "H",
+          "W"
+        ],
+        "height": [
+          "batch_size",
+          1,
+          "H",
+          "W"
+        ],
+        "dim": [
+          "batch_size",
+          3,
+          "H",
+          "W"
+        ],
+        "rot": [
+          "batch_size",
+          2,
+          "H",
+          "W"
+        ],
+        "vel": [
+          "batch_size",
+          2,
+          "H",
+          "W"
+        ]
+      },
+      "opset": 11
+    },
+    "pts_voxel_encoder_pointpainting.onnx": {
+      "sha256": "3ca452ea5ca9467bf782955f75704ba8466841e275e8b8acd991b9911d53249e",
+      "bytes": 7621,
+      "inputs": {
+        "input_features": [
+          "num_voxels",
+          "num_max_points",
+          12
+        ]
+      },
+      "outputs": {
+        "pillar_features": [
+          "num_voxels",
+          1,
+          32
+        ]
+      },
+      "opset": 11
+    }
+  },
+  "exported_at": "2026-10-19T18:45:37.492531+00:00"
+}

pointpainting/pointpainting_ml_package.param.yaml

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+/**:
+  ros__parameters:
+    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
+      has_twist: false
+      has_variance: false
+      detection_score_thresholds:
+        # Upper bound of radial distance of 3d center_x and center_y in bounding boxes, and starting from 0
+        # [0-50m), [50.0-90m), [90.0-121.0m), [121.0-200.0m), set a very high number for the last one to be safe
+        distance_bin_upper_limits: [50.0, 90.0, 121.0, 200.0]
+        # Each list of thresholds must match with the number of upper_bounds, and each threshold corresponds to a distance bucket in the order of the upper bounds
+        min_confidence_scores:
+          CAR: [0.35, 0.35, 0.35, 0.35]
+          TRUCK: [0.35, 0.35, 0.35, 0.35]
+          BUS: [0.35, 0.35, 0.35, 0.35]
+          BICYCLE: [0.35, 0.35, 0.35, 0.35]
+          PEDESTRIAN: [0.35, 0.35, 0.35, 0.35]

pointpainting/pts_backbone_neck_head_pointpainting.onnx

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+version https://git-lfs.github.com/spec/v1
+oid sha256:7fe62fcebe0e0f62a000d06aa94d779feb444d933671a4a3189fe01be8c19a00
+size 20140082

pointpainting/pts_voxel_encoder_pointpainting.onnx

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+version https://git-lfs.github.com/spec/v1
+oid sha256:3ca452ea5ca9467bf782955f75704ba8466841e275e8b8acd991b9911d53249e
+size 7621