Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

fix(pointpainting): update parameter structure (#778) #265

Merged
merged 1 commit into from
Jan 10, 2024
Merged

fix(pointpainting): update parameter structure (#778) #265

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 2 additions & 0 deletions ...perception/object_recognition/detection/image_projection_based_fusion/roi_sync.param.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -3,6 +3,8 @@
input_offset_ms: [61.67, 111.67, 45.0, 28.33, 78.33, 95.0]
timeout_ms: 70.0
match_threshold_ms: 50.0
image_buffer_size: 15
debug_mode: false
filter_scope_min_x: -100.0
filter_scope_min_y: -100.0
filter_scope_min_z: -100.0
Expand Down
40 changes: 24 additions & 16 deletions ...aunch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,18 +1,26 @@
/**:
ros__parameters:
class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"]
paint_class_names: ["CAR", "BICYCLE", "PEDESTRIAN"]
point_feature_size: 7 # x, y, z, time-lag and car, pedestrian, bicycle
max_voxel_size: 40000
point_cloud_range: [-121.6, -76.8, -3.0, 121.6, 76.8, 5.0]
voxel_size: [0.32, 0.32, 8.0]
downsample_factor: 1
encoder_in_feature_size: 12
yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
# post-process params
circle_nms_dist_threshold: 0.3
iou_nms_target_class_names: ["CAR"]
iou_nms_search_distance_2d: 10.0
iou_nms_threshold: 0.1
# omp params
omp_num_threads: 1
model_params:
class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"]
paint_class_names: ["CAR", "BICYCLE", "PEDESTRIAN"]
point_feature_size: 7 # x, y, z, time-lag and car, pedestrian, bicycle
max_voxel_size: 40000
point_cloud_range: [-121.6, -76.8, -3.0, 121.6, 76.8, 5.0]
voxel_size: [0.32, 0.32, 8.0]
downsample_factor: 1
encoder_in_feature_size: 12
yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
has_twist: false
densification_params:
world_frame_id: "map"
num_past_frames: 0
post_process_params:
# post-process params
circle_nms_dist_threshold: 0.3
iou_nms_target_class_names: ["CAR"]
iou_nms_search_distance_2d: 10.0
iou_nms_threshold: 0.1
score_threshold: 0.4
omp_params:
# omp params
num_threads: 1
Loading