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feat(lidar_centerpoint): output the covariance of pose and twist (aut…
…owarefoundation#6573) * feat: postprocess variance Signed-off-by: tzhong518 <[email protected]> * feat: output variance Signed-off-by: tzhong518 <[email protected]> * feat: add has_variance to config Signed-off-by: tzhong518 <[email protected]> * fix: single_inference node Signed-off-by: tzhong518 <[email protected]> * style(pre-commit): autofix * fix: add to pointpainting param Signed-off-by: tzhong518 <[email protected]> * Update perception/lidar_centerpoint/src/node.cpp Co-authored-by: Yoshi Ri <[email protected]> * Update perception/image_projection_based_fusion/src/pointpainting_fusion/node.cpp Co-authored-by: Yoshi Ri <[email protected]> * Update perception/lidar_centerpoint/src/node.cpp Co-authored-by: Yoshi Ri <[email protected]> * fix: add options Signed-off-by: tzhong518 <[email protected]> * fix: avoid powf Signed-off-by: tzhong518 <[email protected]> * Update launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml Co-authored-by: Taekjin LEE <[email protected]> --------- Signed-off-by: tzhong518 <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Yoshi Ri <[email protected]> Co-authored-by: Taekjin LEE <[email protected]>
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perception/lidar_centerpoint/config/centerpoint_sigma.param.yaml
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/**: | ||
ros__parameters: | ||
class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"] | ||
point_feature_size: 4 | ||
max_voxel_size: 40000 | ||
point_cloud_range: [-76.8, -76.8, -4.0, 76.8, 76.8, 6.0] | ||
voxel_size: [0.32, 0.32, 10.0] | ||
downsample_factor: 1 | ||
encoder_in_feature_size: 9 | ||
# 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 | ||
yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0] | ||
score_threshold: 0.35 | ||
has_variance: true | ||
has_twist: true | ||
trt_precision: fp16 | ||
densification_num_past_frames: 1 | ||
densification_world_frame_id: map | ||
|
||
# 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" |
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