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feat(autoware_lidar_transfusion): add transfusion config #1093

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Sep 3, 2024
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feat(autoware_lidar_transfusion): add transfusion config #1093

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17 changes: 17 additions & 0 deletions ..._launch/config/perception/object_recognition/detection/lidar_model/transfusion.param.yaml
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Original file line number Diff line number Diff line change
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/**:
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
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