From 37e4fb91ddaca4ac7ee0a462c07c8351459c5d2a Mon Sep 17 00:00:00 2001 From: kminoda Date: Thu, 25 Jan 2024 13:58:36 +0900 Subject: [PATCH] chore(image_projection_based_fusion): use config Signed-off-by: kminoda --- .../detection/lidar_model/pointpainting.param.yaml | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/autoware_launch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml b/autoware_launch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml index 21d31f2163..8fb88da291 100755 --- a/autoware_launch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml @@ -1,5 +1,12 @@ /**: ros__parameters: + trt_precision: fp16 + build_only: false + 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" + model_params: class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"] paint_class_names: ["CAR", "BICYCLE", "PEDESTRIAN"]