From bdd6e5c90302bb81e019f7a0cdf60a5012fdc113 Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Fri, 6 Dec 2024 11:13:33 +0900 Subject: [PATCH] feat: add noise to extend detection area in low-score area Signed-off-by: Taekjin LEE --- perception/lidar_centerpoint/lib/centerpoint_trt.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/perception/lidar_centerpoint/lib/centerpoint_trt.cpp b/perception/lidar_centerpoint/lib/centerpoint_trt.cpp index cc07ba7fb8c67..3b1f928af485b 100644 --- a/perception/lidar_centerpoint/lib/centerpoint_trt.cpp +++ b/perception/lidar_centerpoint/lib/centerpoint_trt.cpp @@ -87,6 +87,7 @@ void CenterPointTRT::initPriorityMap() const float score_b = sqrt((pos_x - 150) * (pos_x - 150) + pos_y * pos_y) + sqrt((pos_x - 10) * (pos_x - 10) + pos_y * pos_y) - 140; // total score with weight + // add noise to extend detection area in low-score area const float score = sqrt(score_a * 0.1 + score_b * 2.5) + normal_distribution(generator) * score_b * 0.01;