feat(autoware_launch): add centerpoint_sigma param (autowarefoundatio…

…n#945) add: centerpoint_sigma.param Signed-off-by: tzhong518 <[email protected]>
tier4 · Apr 4, 2024 · f563ff7 · f563ff7
1 parent d475f03
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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
@@ -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

diff --git a/...h/config/perception/object_recognition/detection/lidar_model/centerpoint_sigma.param.yaml b/...h/config/perception/object_recognition/detection/lidar_model/centerpoint_sigma.param.yaml
@@ -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"
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
@@ -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