update

Signed-off-by: kminoda <koji.minoda@tier4.jp>
autowarefoundation · Jul 25, 2024 · 455583b · 455583b
1 parent effa7f6
commit 455583b
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/perception/autoware_lidar_centerpoint/README.md b/perception/autoware_lidar_centerpoint/README.md
@@ -30,14 +30,14 @@ We trained the models using <https://github.com/open-mmlab/mmdetection3d>.
 
 ### ML Model Parameters
 
-Note that these parameters are associated with ONNX file. Be careful to change ONNX file as well when changing this parameter.
+Note that these parameters are associated with ONNX file, predefined during the training phase. Be careful to change ONNX file as well when changing this parameter. Also, whenever you update the ONNX file, do NOT forget to check these values.
 
 | Name                                             | Type         | Default Value             | Description                                                   |
 | ------------------------------------------------ | ------------ | ------------------------- | ------------------------------------------------------------- |
 | `model_params.class_names`                       | list[string] | ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"] | list of class names for model outputs  |
 | `model_params.point_feature_size`                | int          | `4`                       | number of features per point in the point cloud               |
 | `model_params.max_voxel_size`                    | int          | `40000`                   | maximum number of voxels                                      |
-| `model_params.point_cloud_range`                 | list[double] | [-76.8, -76.8, -4.0, 76.8, 76.8, 6.0] | range of the input point cloud for ML inference [min_x, min_y, min_z, max_x, max_y, max_z] |
+| `model_params.point_cloud_range`                 | list[double] | [-76.8, -76.8, -4.0, 76.8, 76.8, 6.0] | detection range [min_x, min_y, min_z, max_x, max_y, max_z] |
 | `model_params.voxel_size`                        | list[double] | [0.32, 0.32, 10.0]        | size of each voxel for voxelization [x, y, z]                    |
 | `model_params.downsample_factor`                 | int          | `1`                       | downsample factor for coordinates      |
 | `model_params.encoder_in_feature_size`           | int          | `9`                       | number of input features to the encoder                       |