From 24c49c87144c8779ec3ea8a28fd41e94fdc03c5e Mon Sep 17 00:00:00 2001 From: Amadeusz Szymko Date: Fri, 26 Jul 2024 14:33:23 +0900 Subject: [PATCH] feat(autoware_lidar_transfusion): add transfusion config Signed-off-by: Amadeusz Szymko --- .../lidar_model/transfusion.param.yaml | 17 +++++++++++++++++ 1 file changed, 17 insertions(+) create mode 100644 autoware_launch/config/perception/object_recognition/detection/lidar_model/transfusion.param.yaml diff --git a/autoware_launch/config/perception/object_recognition/detection/lidar_model/transfusion.param.yaml b/autoware_launch/config/perception/object_recognition/detection/lidar_model/transfusion.param.yaml new file mode 100644 index 0000000000..47eaa800e6 --- /dev/null +++ b/autoware_launch/config/perception/object_recognition/detection/lidar_model/transfusion.param.yaml @@ -0,0 +1,17 @@ +/**: + ros__parameters: + # network + trt_precision: fp16 + cloud_capacity: 2000000 + onnx_path: "$(var model_path)/transfusion.onnx" + engine_path: "$(var model_path)/transfusion.engine" + # pre-process params + densification_num_past_frames: 1 + densification_world_frame_id: map + # 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] # refers to the class_names + score_threshold: 0.1