From 5b820f72c07d2d847cf7ba7eff831e3322efe9c6 Mon Sep 17 00:00:00 2001 From: Yusuke Muramatsu Date: Mon, 24 Jul 2023 22:28:04 +0900 Subject: [PATCH] feat(autoware_launch): update pointpainting param (#473) Signed-off-by: yukke42 --- .../lidar_model/pointpainting.param.yaml | 19 +++++++++++++------ 1 file changed, 13 insertions(+), 6 deletions(-) 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 700724a817..56346b5a3e 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 @@ -1,10 +1,17 @@ /**: ros__parameters: - class_names: ["CAR", "PEDESTRIAN", "BICYCLE"] - point_feature_size: 7 # x, y, z, time-lag and car, pedestrian, bicycle + class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"] + point_feature_size: 9 # 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] + point_cloud_range: [-102.4, -102.4, -4.0, 102.4, 102.4, 6.0] + voxel_size: [0.32, 0.32, 10.0] downsample_factor: 1 - encoder_in_feature_size: 12 - yaw_norm_thresholds: [0.3, 0.0, 0.3] + encoder_in_feature_size: 14 + yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0] + # 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 + # omp params + omp_num_threads: 1