From 562ac8220b467cb532205aa0e16050ac3103173b Mon Sep 17 00:00:00 2001 From: yukke42 Date: Wed, 9 Aug 2023 23:14:13 +0900 Subject: [PATCH] feat(tier4_perception_launch): update pointpainting param Signed-off-by: yukke42 --- .../detection/lidar_model/pointpainting.param.yaml | 11 ++++++----- 1 file changed, 6 insertions(+), 5 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 56346b5a3e..e1be5426cb 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 @@ -1,15 +1,16 @@ /**: ros__parameters: class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"] - point_feature_size: 9 # x, y, z, time-lag and car, pedestrian, bicycle + paint_class_names: ["CAR", "BICYCLE", "PEDESTRIAN"] + point_feature_size: 7 # x, y, z, time-lag and car, pedestrian, bicycle max_voxel_size: 40000 - point_cloud_range: [-102.4, -102.4, -4.0, 102.4, 102.4, 6.0] - voxel_size: [0.32, 0.32, 10.0] + point_cloud_range: [-121.6, -76.8, -3.0, 121.6, 76.8, 5.0] + voxel_size: [0.32, 0.32, 8.0] downsample_factor: 1 - encoder_in_feature_size: 14 + encoder_in_feature_size: 12 yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0] # post-process params - circle_nms_dist_threshold: 0.5 + circle_nms_dist_threshold: 0.3 iou_nms_target_class_names: ["CAR"] iou_nms_search_distance_2d: 10.0 iou_nms_threshold: 0.1