Skip to content

Commit

Permalink
feat(autoware_launch): add centerpoint_sigma param (#945)
Browse files Browse the repository at this point in the history
add: centerpoint_sigma.param

Signed-off-by: tzhong518 <[email protected]>
  • Loading branch information
tzhong518 authored Apr 4, 2024
1 parent d475f03 commit f563ff7
Show file tree
Hide file tree
Showing 3 changed files with 29 additions and 0 deletions.
Original file line number Diff line number Diff line change
Expand Up @@ -14,6 +14,7 @@
iou_nms_threshold: 0.1
yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
score_threshold: 0.35
has_variance: false
has_twist: false
trt_precision: fp16
densification_num_past_frames: 1
Expand Down
Original file line number Diff line number Diff line change
@@ -0,0 +1,27 @@
/**:
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"
Original file line number Diff line number Diff line change
Expand Up @@ -14,6 +14,7 @@
iou_nms_threshold: 0.1
yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
score_threshold: 0.35
has_variance: false
has_twist: false
trt_precision: fp16
densification_num_past_frames: 1
Expand Down

0 comments on commit f563ff7

Please sign in to comment.