From 8ce9156e63ad156c71285c5d1b0fb36b9e0a42d2 Mon Sep 17 00:00:00 2001 From: Kenzo Lobos Tsunekawa Date: Fri, 17 Mar 2023 10:02:59 +0900 Subject: [PATCH] fix(lidar_centerpoint): updated the config file for the centerpoint tiny v2 (#3096) Fixed the cfg file regarding centerpoint tiny Signed-off-by: Kenzo Lobos-Tsunekawa --- .../lidar_centerpoint/config/centerpoint_tiny.param.yaml | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/perception/lidar_centerpoint/config/centerpoint_tiny.param.yaml b/perception/lidar_centerpoint/config/centerpoint_tiny.param.yaml index b7c2faf89c0b6..92db4cd0b853e 100644 --- a/perception/lidar_centerpoint/config/centerpoint_tiny.param.yaml +++ b/perception/lidar_centerpoint/config/centerpoint_tiny.param.yaml @@ -1,10 +1,10 @@ /**: ros__parameters: - class_names: ["CAR", "PEDESTRIAN", "BICYCLE"] + class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"] point_feature_size: 4 max_voxel_size: 40000 - point_cloud_range: [-89.6, -89.6, -3.0, 89.6, 89.6, 5.0] - voxel_size: [0.32, 0.32, 8.0] + point_cloud_range: [-76.8, -76.8, -2.0, 76.8, 76.8, 4.0] + voxel_size: [0.32, 0.32, 6.0] downsample_factor: 2 encoder_in_feature_size: 9 # post-process params @@ -12,4 +12,4 @@ iou_nms_target_class_names: ["CAR"] iou_nms_search_distance_2d: 10.0 iou_nms_threshold: 0.1 - yaw_norm_thresholds: [0.3, 0.0, 0.3] + yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]