From a5cc3bad97f54f1c72cabeb065e0c375e7638e00 Mon Sep 17 00:00:00 2001 From: Yoshi Ri Date: Tue, 3 Sep 2024 19:26:49 +0900 Subject: [PATCH] chore(autoware_lidar_centerpoint): add centerpoint sigma parameter (#8731) add centerpoint sigma parameter Signed-off-by: yoshiri --- .../config/centerpoint_sigma.param.yaml | 21 +++++++++++++++++++ 1 file changed, 21 insertions(+) create mode 100644 perception/autoware_lidar_centerpoint/config/centerpoint_sigma.param.yaml diff --git a/perception/autoware_lidar_centerpoint/config/centerpoint_sigma.param.yaml b/perception/autoware_lidar_centerpoint/config/centerpoint_sigma.param.yaml new file mode 100644 index 0000000000000..bd5fc5f3567a5 --- /dev/null +++ b/perception/autoware_lidar_centerpoint/config/centerpoint_sigma.param.yaml @@ -0,0 +1,21 @@ +/**: + ros__parameters: + + # 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" + trt_precision: fp16 + cloud_capacity: 2000000 + post_process_params: + # 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 + densification_params: + world_frame_id: map + num_past_frames: 1