提价yaml文件

config/7-1.yaml

+CAMERA_LAYOUT: [0,1,2]
+CAMERA_LAYOUT: [0, 1, 2] #-1代表没有此方向相机
+X_ROT_ANGLE: 1 # 0代表x轴不旋转，仅微调；1代表x轴顺时针旋转90度；2代表顺时针旋转180度
+POLICY_MASK: [1, 1, 1]    # 1代表这个方向加远处策略，-1代表不加策略
+CAMERA_SERIAL_NO: [21185406, 21185390, 21177824] #相机序列号，-1代表没有
+DRIVE_DIRECTION: [0, 0, 0] # 0为双向，1为单向朝左，2为单向朝右，-1代表没有
+USE_BLIND: 1 # -1 means no blind area is used
+
+POINTPILLARS:
+    MAX_NUM_PILLARS: 20000
+    MAX_NUM_POINTS_PER_PILLAR: 32
+    NUM_CLASS: 5
+    SCORE_THRESHOLD: 0.3
+    NMS_OVERLAP_THRESHOLD: 0.5
+    PFE_OUT_SIZE: 64
+    NUM_THREADS: 64
+    BATCH_SIZE: 1
+
+    PILLAR_SIZES: [0.16, 0.16, 6]
+    GRID_SIZES: [512, 1024, 1]
+    PC_T_RANGE: [11.0,-7.0,150.0,26.0,14.0,26.0,-20.0,150.0,-150.0]
+    PC_RANGE: [0, -81.92, -7.0, 81.92, 81.92, -1.0]
+
+    PFE_ONNX_FILE: /home/nvidia/catkin_ws/src/jfxrosperceiver/pointpillars/build/models/4.0_N7_2/PillarVFE_JF_ep100_20000_4.0_N7_2.onnx
+    RPN_ONNX_FILE: /home/nvidia/catkin_ws/src/jfxrosperceiver/pointpillars/build/models/4.0_N7_2/RPNWithHead_JF_ep100_4.0_N7_2.onnx
+
+
+    IMAGE_SIZES: [[2048, 2448], 
+                  [2048, 2448],
+                  [2048, 2448]]
+
+    IMG_CONTOURS: [[[1488,305],[2184,305],[2391,545],[930,545]],
+                   [[173,563],[686,565],[1239,800],[397,795]],
+                   [[1672,471],[2339,451],[2016,695],[1158,698]]]
+        
+    PC_POLICY_ROTY: [[3.1252,-0.025],[-1.5707,1.5707],[1.5707,-1.5707]]
+    PC_POLICY_AREA: [[[930,545],[1794,545],[1842,446],[1794,368],[1827,305],[1488,305],
+                      [1794,545],[2391,545],[2184,305],[1827,305],[1794,368],[1842,446]],
+                     [[273,563],[437,565],[676,753],[731,800],[397,795],[374,748],
+                      [437,565],[686,565],[1022,719],[1239,800],[731,800],[676,753]],
+                     [[1672,471],[1947,461],[1758,620],[1665,692],[1158,698],[1332,623],
+                      [1947,461],[2139,451],[2067,599],[2016,695],[1665,692],[1758,620]]]
+
+    ORIGIN2KITTI: [[-1.42763000e-05, -9.99984084e-01,  5.64201068e-03,  0.00000000e+00],
+                   [9.99987195e-01,  1.42763000e-05,  5.06064089e-03,  0.00000000e+00 ],
+                   [-5.06064089e-03,  5.64201068e-03,  9.99971278e-01, -1.00000000e+00],
+                   [0.     ,     0.     ,     0.    ,      1  ]]
+
+    KITTI2ORIGIN:  [[-1.42763000e-05,  9.99987195e-01, -5.06064089e-03, -5.06064089e-03],
+                    [-9.99984083e-01,  1.42763000e-05,  5.64201068e-03,  5.64201068e-03],
+                    [5.64201068e-03,  5.06064089e-03,  9.99971279e-01,  9.99971279e-01],
+                    [0.        ,  0.        ,  0.        ,  1]]
+
+    GROUND_Z_VALUE: [-6.2,-6.4,-6.2]
+
+    MINMAX_DEPTH: [82.0,150.0]
+
+    LIDAR_CAM_RS_0: [[-0.995936, -0.0897805,  0.0070823, -0.0132271],
+                     [-0.0173271, 0.11385,  -0.993347, -0.239199],
+                     [0.0883769,  -0.989433,  -0.114943, 0.131749],
+                     [0,         0,           0,         1]]
+
+    LIDAR_CAM_RS_1: [[-0.155891,  -0.987287,  0.0310081, 0.0516705],
+                     [-0.0836811, -0.0180789,  -0.996329, -0.194909],
+                     [0.984223,  -0.157914, -0.0797989,  -0.0143181],
+                     [0,         0,           0,         1]]
+
+    LIDAR_CAM_RS_2: [[-0.130709,   0.990636, -0.0394256, -0.0604812],
+                     [0.11214, -0.0247386,  -0.993384, -0.199602],
+                     [-0.985058,  -0.134266,  -0.107857, 0.530719],
+                     [0,         0,           0,         1]] 
+
+    CAM_INTRINSICS_0: [[7350., 0., 1.1735000000000000e+03], 
+                       [0., 7.3648000000000002e+03,9.9913459999999998e+02], 
+                       [0., 0., 1.0]]
+
+    CAM_INTRINSICS_1: [[7.2934429305973763e+03, 0., 1.1825517251573970e+03], 
+                       [0.,7.3044951009030074e+03, 9.8152916404361952e+02], 
+                       [0., 0., 1.0]]
+
+    CAM_INTRINSICS_2: [[7.5527649384820270e+03, 0., 1.2284353420623622e+03],
+                       [0.,7.5662248499282468e+03, 1.0190673853747635e+03],
+                       [0., 0., 1.0]]
+
+
+TRACKING:
+    LOG_FOLDER: /home/nvidia/catkin_ws_N7_1/src/jfxrosperceiver/tracking_logs/
+    TIMING: True
+
+    TRANS: [[ 6.61568761e-01, -7.49847829e-01 , 7.42486399e-03 , 4.06130966e+07],
+            [ 7.49874949e-01,  6.61577821e-01 ,-1.51043758e-03 , 3.46271626e+06],
+            [-3.77952680e-03,  6.56697899e-03 , 9.99971211e-01 , 1.87295623e+01],
+            [ 0.00000000e+00,  0.00000000e+00,  0.00000000e+00 , 1.00000000e+00]]
+
+    BLIND_IN: [0.6771730200742623, 9.954512691674598, -10.771220036350993, 11.174161744271133]
+    BLIND_OUT: [1.4383846400866778, 7.686821481042271, -15.282747463293354, -9.032991078132698]
+    BLIND_OUT_2: []