chore(lidar_centerpoint): use config

Signed-off-by: kminoda <[email protected]>
autowarefoundation · Jan 25, 2024 · 46fc6f7 · 46fc6f7
1 parent 8b818d4
commit 46fc6f7
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diff --git a/..._launch/config/perception/object_recognition/detection/lidar_model/centerpoint.param.yaml b/..._launch/config/perception/object_recognition/detection/lidar_model/centerpoint.param.yaml
@@ -13,3 +13,15 @@
     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
+    build_only: false # shutdown node after TensorRT engine file is built
+    has_twist: false
+    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"
diff --git a/...ch/config/perception/object_recognition/detection/lidar_model/centerpoint_tiny.param.yaml b/...ch/config/perception/object_recognition/detection/lidar_model/centerpoint_tiny.param.yaml
@@ -13,3 +13,15 @@
     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
+    build_only: false # shutdown node after TensorRT engine file is built
+    has_twist: false
+    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"