How to deploy my own training centerpoint model with autoware inference architecture

[ryanyej]

I had trained a pth model with my own data in openpcdet project.
What need to be modified to fit current autoware centerpoint inference project?
Really looking forward for your reply~

[maxime-clem]

Do you want to to replace the lidar_centerpoint_tvm node ?
If so, you just need to write a new node (you can probably copy the node code from the lidar_centerpoint_tvm) which receives the pointcloud and outputs the detected objects.