init commit

Signed-off-by: ismetatabay <ismet@leodrive.ai>
autowarefoundation · Jul 17, 2023 · 154ac27 · 154ac27
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diff --git a/...ption/object_recognition/detection/image_projection_based_fusion/pointpainting.param.yaml b/...ption/object_recognition/detection/image_projection_based_fusion/pointpainting.param.yaml
@@ -0,0 +1,10 @@
+/**:
+  ros__parameters:
+    class_names: ["CAR", "PEDESTRIAN", "BICYCLE"]
+    point_feature_size: 7  # x, y, z, time-lag and car, pedestrian, bicycle
+    max_voxel_size: 40000
+    point_cloud_range: [-76.8, -76.8, -3.0, 76.8, 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, 0.0, 0.3]
diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -43,6 +43,10 @@
       name="object_recognition_detection_fusion_sync_param_path"
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/image_projection_based_fusion/roi_sync.param.yaml"
     />
+    <arg
+      name="object_recognition_detection_pointpainting_model_param_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/image_projection_based_fusion/pointpainting.param.yaml"
+    />
     <arg
       name="object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path"
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml"