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fix(lidar_centerpoint): add param file for centerpoint_tiny #976

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Apr 26, 2024
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fix(lidar_centerpoint): add param file for centerpoint_tiny #976

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20 changes: 20 additions & 0 deletions ...ch/config/perception/object_recognition/detection/lidar_model/centerpoint_tiny.param.yaml
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Original file line number Diff line number Diff line change
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/**:
ros__parameters:

# weight files
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"
trt_precision: fp16
post_process_params:
# 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]
score_threshold: 0.35
densification_params:
world_frame_id: map
num_past_frames: 1
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