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jfxmap_python
Commit 299eae91 authored by oscar's avatar oscar
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提交yaml的配置

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script/generate/N10_1/10-1.yaml 0 → 100644
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NODE_NAME: 10-1
CAMERA_LAYOUT: [-1, 0, 1] #-1代表没有此方向相机，非-1的值按照0，1，2排序
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: [-1, 21122023, 21135334] #相机序列号，-1代表没有
DRIVE_DIRECTION: [-1, 4, -1] # 0为双向，1为单向朝左，2为单向朝右，3为单向朝上，4为单向朝下，-1代表没有
USE_BLIND: 1 # 1代表有盲区，-1代表没有盲区
POINTPILLARS:
MAX_NUM_PILLARS: 40000
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: [11.556491477551948, 9.883761477330482, 80.0, 137.0, 31.872136543806814,
37.0, -196.0, 150.0, -80.0, -10.96031098768305]
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_N19/PillarVFE_JF_ep200_40000_4.0_N19_v2.onnx
RPN_ONNX_FILE: /home/nvidia/catkin_ws/src/jfxrosperceiver/pointpillars/build/models/4.0_N19/RPNWithHead_JF_ep200_4.0_N19_v2.onnx
IMAGE_SIZES: [[2048, 2448], [2048, 2448], [2048, 2448]]
IMG_CONTOURS: [[[0, 0], [0, 0], [0, 0], [0, 0]], [[0, 0], [0, 0], [0, 0], [0, 0]],
[[0, 0], [0, 0], [0, 0], [0, 0]]]
PC_POLICY_ROTY: [[3.141593, 0.0], [-1.610724, 1.610724], [999.897731, -999.897731]]
PC_POLICY_AREA: [[[0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0],
[0, 0], [0, 0], [0, 0], [0, 0]], [[0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [
0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0]], [[0, 0], [0, 0], [
0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0,
0]]]
ORIGIN2KITTI: [[-0.10138137931389381, -0.9920819078535333, 0.07413031794148582,
0.0], [0.9946640529021992, -0.10251230933181928, -0.011603805394292926, 0.0],
[0.019111195477614955, 0.07255835269044347, 0.9971810505932539, -0.09999999999999964],
[0.0, 0.0, 0.0, 1.0]]
KITTI2ORIGIN: [[-0.10138137931389378, 0.9946640529021991, 0.019111195477614955,
0.001911119547761489], [-0.9920819078535332, -0.10251230933181928, 0.07255835269044347,
0.007255835269044322], [0.07413031794148582, -0.011603805394292928, 0.997181050593254,
0.09971810505932505], [0.0, 0.0, 0.0, 1.0]]
GROUND_Z_VALUE: [-6.0, -6.0, -6.0]
MINMAX_DEPTH: [82.0, 150.0]
LIDAR_CAM_RS_0: [[0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0],
[0.0, 0.0, 0.0, 0.0]]
LIDAR_CAM_RS_1: [[-0.22316, -0.973795, 0.0438453, 0.0111153], [-0.135668, -0.0135143,
-0.990662, -0.149604], [0.965295, -0.227024, -0.129097, 0.428767], [0, 0, 0,
1]]
LIDAR_CAM_RS_2: [[-0.396507, 0.91662, -0.0508903, -0.0982882], [0.0794613, -0.0209587,
-0.996618, -0.160311], [-0.914586, -0.39921, -0.0645255, 0.408699], [0, 0, 0,
1]]
CAM_INTRINSICS_0: [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]]
CAM_INTRINSICS_1: [[7518.2, 0.0, 1203.0], [0.0, 7531.6, 976.8907], [0.0, 0.0, 1.0]]
CAM_INTRINSICS_2: [[7458.871141759022, 0.0, 1216.3413622132766], [0.0, 7472.833945382362,
1018.8435093566536], [0.0, 0.0, 1.0]]
TRACKING:
LOG_FOLDER: /home/nvidia/catkin_ws/src/jfxrosperceiver/tracking_logs/
TIMING: true
TRANS: [[-0.008460843004, -0.997467875481, 0.070611841977, 40610488.90072781], [
0.999793052673, -0.009744453244, -0.017853787169, 3462058.5214153104], [0.018496654928,
0.070446178317, 0.997344076633, 18.9132259], [0.0, 0.0, 0.0, 1.0]]
BLIND_IN: [-9.424625973021904, 8.489083121260913, -11.480455796150341, 13.805221656080146]
BLIND_OUT: [-7.099369177162767, 10.463623303063313, -12.337564809019792, -7.367140189303392]
BLIND_OUT_2: []
script/generate/N10_2/10-2.yaml 0 → 100644
View file @ 299eae91
NODE_NAME: 10-2
CAMERA_LAYOUT: [0, -1, -1] #-1代表没有此方向相机，非-1的值按照0，1，2排序
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: [21185385, -1, -1]
DRIVE_DIRECTION: [0, -1, -1] # 0为双向，1为单向朝左，2为单向朝右，3为单向朝上，4为单向朝下，-1代表没有
USE_BLIND: [-1, -1] # -1 means no blind area is used
POINTPILLARS:
MAX_NUM_PILLARS: 40000
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: [-4.17266720465004, -4.17266720465004, 80.0, 162.0, 8.45097522783081,
37.0, -35.0, 80.0, -80.0, -7.036277140175364]
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_N19/PillarVFE_JF_ep100_40000_4.0_N19.onnx
RPN_ONNX_FILE: /home/nvidia/catkin_ws/src/jfxrosperceiver/pointpillars/build/models/4.0_N19/RPNWithHead_JF_ep100_4.0_N19.onnx
IMAGE_SIZES: [[2048, 2448], [2048, 2448], [2048, 2448]]
IMG_CONTOURS: [[[0, 0], [0, 0], [0, 0], [0, 0]], [[0, 0], [0, 0], [0, 0], [0, 0]],
[[0, 0], [0, 0], [0, 0], [0, 0]]]
PC_POLICY_ROTY: [[3.141593, 0.0], [1000.050966, -1000.050966], [1000.050966, -1000.050966]]
PC_POLICY_AREA: [[[0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0],
[0, 0], [0, 0], [0, 0], [0, 0]], [[0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [
0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0]], [[0, 0], [0, 0], [
0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0,
0]]]
ORIGIN2KITTI: [[0.051858864388487746, -0.9973430294431006, 0.05116189798663601,
0.0], [0.9980146776291314, 0.049924120800806875, -0.0383964243008054, 0.0],
[0.03574019335646457, 0.05305152008684534, 0.9979519902256409, 1.259040914953271],
[0.0, 0.0, 0.0, 1.0]]
KITTI2ORIGIN: [[0.05185886438848775, 0.9980146776291313, 0.03574019335646458, -0.04499836574412998],
[-0.9973430294431008, 0.049924120800806875, 0.053051520086845355, -0.06679403438980361],
[0.05116189798663602, -0.0383964243008054, 0.997951990225641, -1.2564623868531288],
[0.0, 0.0, 0.0, 1.0]]
GROUND_Z_VALUE: [-6.0, -6.0, -6.0]
MINMAX_DEPTH: [82.0, 150.0]
LIDAR_CAM_RS_0: [[-0.995027, -0.0995448, 0.00344511, -0.0069645], [-0.0158247, 0.123842,
-0.992176, -0.241806], [0.0983393, -0.987296, -0.124801, 0.643512], [0, 0, 0,
1]]
LIDAR_CAM_RS_1: [[0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0],
[0.0, 0.0, 0.0, 0.0]]
LIDAR_CAM_RS_2: [[0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0],
[0.0, 0.0, 0.0, 0.0]]
CAM_INTRINSICS_0: [[7558.4, 0.0, 1176.2], [0.0, 7571.0, 1069.7], [0.0, 0.0, 1.0]]
CAM_INTRINSICS_1: [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]]
CAM_INTRINSICS_2: [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]]
TRACKING:
LOG_FOLDER: /home/nvidia/catkin_ws/src/jfxrosperceiver/tracking_logs/
TIMING: true
TRANS: [[-0.089864701033, 0.994896233082, -0.045887861401, 40610586.227712005],
[-0.995313584805, -0.088059462607, 0.039956856519, 3462046.5668705194], [0.035712067038,
0.049263510853, 0.998147249222, 20.1895379], [0.0, 0.0, 0.0, 1.0]]
BLIND_IN: []
BLIND_OUT: []
script/generate/N1_1/1_1.yaml 0 → 100644
View file @ 299eae91
NODE_NAME: 1-1
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: [21179746, 21179747, 21179748] #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: 0.1
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: [3.9812899081584523, -9.403716607285592, 150.0, 26.0, 13.850070789124244,
15.0, -23.0, 80.0, -80.0, -2.790639954486022]
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_N1_1_20000/PillarVFE_JF_ep100_20000_4.0_N1_1.onnx
RPN_ONNX_FILE: /home/nvidia/catkin_ws/src/jfxrosperceiver/pointpillars/build/models/4.0_N1_1_20000/RPNWithHead_JF_ep100_4.0_N1_1.onnx
IMAGE_SIZES: [[2048, 2448], [2048, 2448], [2048, 2448]]
IMG_CONTOURS: [[[645, 839], [1842, 858], [1465, 659], [808, 648]], [[0, 0], [0,
0], [0, 0], [0, 0]], [[0, 0], [0, 0], [0, 0], [0, 0]]]
PC_POLICY_ROTY: [[3.141593, 0.0], [999.902269, -999.902269], [999.902269, -999.902269]]
PC_POLICY_AREA: [[[743, 650], [1047, 648], [1088, 757], [1137, 854], [657, 842],
[727, 719], [1042, 652], [1493, 654], [1656, 743], [1900, 854], [1141, 856],
[1077, 737]], [[0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0],
[0, 0], [0, 0], [0, 0], [0, 0]], [[0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [
0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0]]]
ORIGIN2KITTI: [[-0.0983520936644168, -0.9931814642282579, 0.06258949420820718, 0.0],
[0.9948432078839998, -0.09656107514718422, 0.031031443625662798, 0.0], [-0.024776145763589476,
0.06531874064794312, 0.9975568177909808, -1.0], [0.0, 0.0, 0.0, 1.0]]
KITTI2ORIGIN: [[-0.09835209366441677, 0.9948432078839996, -0.02477614576358947,
-0.02477614576358947], [-0.993181464228258, -0.09656107514718422, 0.06531874064794312,
0.06531874064794312], [0.06258949420820718, 0.031031443625662788, 0.9975568177909807,
0.9975568177909807], [0.0, 0.0, 0.0, 1.0]]
GROUND_Z_VALUE: [-6.0, -6.0, -6.0]
MINMAX_DEPTH: [82.0, 150.0]
LIDAR_CAM_RS_0: [[-0.991909, 0.126054, -0.0150896, 0.0289712], [0.0194155, 0.0331596,
-0.999261, -0.222423], [-0.125461, -0.991469, -0.0353386, 0.131775], [0, 0,
0, 1]]
LIDAR_CAM_RS_1: [[-0.959198, 0.0717305, 0.117019], [-0.127096, -0.0378838, -0.991167,
-0.158355], [0.953442, -0.280187, -0.111549, 0.233449], [0, 0, 0, 1]]
LIDAR_CAM_RS_2: [[0.995394, -0.0866492, 0.0876281], [0.10202, -0.0820973, -0.991389,
-0.237464], [-0.993937, -0.0494972, -0.0981837, 0.104516], [0, 0, 0, 1]]
CAM_INTRINSICS_0: [[7361.0207513293835, 0.0, 1218.2008714547742], [0.0, 7332.756556942544,
1133.7703435615113], [0.0, 0.0, 1.0]]
CAM_INTRINSICS_1: [[7409.8552814723425, 0.0, 1205.1411102265129], [0.0, 7377.640597271144,
1014.5714541568344], [0.0, 0.0, 1.0]]
CAM_INTRINSICS_2: [[7398.3682266217465, 0.0, 1255.1782028936934], [0.0, 7361.53455628136,
1082.0089215008525], [0.0, 0.0, 1.0]]
TRACKING:
LOG_FOLDER: /home/nvidia/catkin_ws/src/jfxrosperceiver/tracking_logs/
TIMING: false
SAVE_LOG: false
TRANS: [[-0.330806583166, -0.941249847412, 0.067936882377, 40610431.71157795], [
0.943696200848, -0.329787790775, 0.026026830077, 3463047.3639773275], [-0.002092991956,
0.072721630335, 0.997349977493, 19.34], [0.0, 0.0, 0.0, 1.0]]
BLIND_IN: [-0.3446721094397263, 8.37358403132681, -11.066502292895455, 9.063840191281798]
BLIND_OUT: [-0.5302635229011121, 8.403697193162364, 8.852720108186473, 16.176881434282045]
BLIND_OUT_2: []
script/generate/N2_2/2-2.yaml 0 → 100644
View file @ 299eae91
NODE_NAME: 2-2
CAMERA_LAYOUT: [-1, 0, 1] #-1代表没有此方向相机，非-1的值按照0，1，2排序
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: [-1, 21177819, 21181563]
DRIVE_DIRECTION: [-1, -1, -1] # 0为双向，1为单向朝左，2为单向朝右，3为单向朝上，4为单向朝下，-1代表没有
USE_BLIND: -1
# -1 indicates no blind area in this loc is considered;
# 1 means normal blind area (one blind in, one blind out);
# 2 means two-way lane (one blind in, two blind out: each for one direction);
POINTPILLARS:
MAX_NUM_PILLARS: 40000
MAX_NUM_POINTS_PER_PILLAR: 32
NUM_CLASS: 5
SCORE_THRESHOLD: 0.3
NMS_OVERLAP_THRESHOLD: 0.1
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: [0.5398746995444387, -16.539492086329926, 80.0, 43.0, 30.990109082118234,
7.0, -34.0, 80.0, -80.0, -4.885030022946669]
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_N19/PillarVFE_JF_ep200_40000_4.0_N19_v2.onnx
RPN_ONNX_FILE: /home/nvidia/catkin_ws/src/jfxrosperceiver/pointpillars/build/models/4.0_N19/RPNWithHead_JF_ep200_4.0_N19_v2.onnx
IMAGE_SIZES: [[2048, 2448], [2048, 2448], [2048, 2448]]
IMG_CONTOURS: [[[0, 0], [0, 0], [0, 0], [0, 0]], [[0, 0], [0, 0], [0, 0], [0, 0]],
[[0, 0], [0, 0], [0, 0], [0, 0]]]
PC_POLICY_ROTY: [[3.141593, 0.0], [1000.074298, -1000.074298], [1000.074298, -1000.074298]]
PC_POLICY_AREA: [[[0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0],
[0, 0], [0, 0], [0, 0], [0, 0]], [[0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [
0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0]], [[0, 0], [0, 0], [
0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0,
0]]]
ORIGIN2KITTI: [[0.07510626206747571, -0.9946697513726462, 0.07064796601834904, 0.0],
[0.9968676257061473, 0.07313389683723709, -0.03010597868179836, 0.0], [0.024778745271707994,
0.07268781767035316, 0.997046887034447, -0.7000000000000002], [0.0, 0.0, 0.0,
1.0]]
KITTI2ORIGIN: [[0.07510626206747571, 0.9968676257061473, 0.02477874527170799, 0.017345121690195597],
[-0.9946697513726461, 0.07313389683723706, 0.07268781767035316, 0.05088147236924722],
[0.07064796601834904, -0.03010597868179836, 0.997046887034447, 0.697932820924113],
[0.0, 0.0, 0.0, 1.0]]
GROUND_Z_VALUE: [-6.0, -6.0, -6.0]
MINMAX_DEPTH: [82.0, 150.0]
LIDAR_CAM_RS_0: [[0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0],
[0.0, 0.0, 0.0, 0.0]]
LIDAR_CAM_RS_1: [[-0.3246, -0.944108, 0.0573967, 0.0702436], [-0.209066, 0.012434,
-0.977822, -0.159138], [0.922457, -0.3294, -0.201417, -0.0986582], [0, 0, 0,
1]]
LIDAR_CAM_RS_2: [[-0.46144, 0.885939, -0.046758, -0.0649104], [0.202496, 0.0538635,
-0.977801, -0.280149], [-0.863753, -0.460664, -0.204254, -0.114623], [0, 0,
0, 1]]
CAM_INTRINSICS_0: [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]]
CAM_INTRINSICS_1: [[1449.4348900180248, 0.0, 1229.692531128259], [0.0, 1452.7544567830741,
1019.3867951562997], [0.0, 0.0, 1.0]]
CAM_INTRINSICS_2: [[1446.968375990584, 0.0, 1202.831926046013], [0.0, 1449.5425644409952,
1013.0610630349294], [0.0, 0.0, 1.0]]
TRACKING:
LOG_FOLDER: /home/nvidia/catkin_ws/src/jfxrosperceiver/tracking_logs/
TIMING: true
SAVE_LOG: true
TRANS: [[-0.058481443673, -0.996023952961, 0.067202284932, 40610795.83997884], [
0.997665405273, -0.060690425336, -0.031311497092, 3462887.6578232623], [0.035265538841,
0.065214268863, 0.997247815132, 18.43969645], [0.0, 0.0, 0.0, 1.0]]
BLIND_IN: []
BLIND_OUT: []
BLIND_OUT_2: []
script/generate/N2_4/2-4.yaml 0 → 100644
View file @ 299eae91
NODE_NAME: 2-4
CAMERA_LAYOUT: [0, -1, -1] #-1代表没有此方向相机，非-1的值按照0，1，2排序
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: [21122018, -1, -1]
DRIVE_DIRECTION: [4, -1, -1] # 0为双向，1为单向朝左，2为单向朝右，3为单向朝上，4为单向朝下，-1代表没有
USE_BLIND: -1
# -1 indicates no blind area in this loc is considered;
# 1 means normal blind area (one blind in, one blind out);
# 2 means two-way lane (one blind in, two blind out: each for one direction);
POINTPILLARS:
MAX_NUM_PILLARS: 40000
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: [9.45093218168304, -9.716805434023424, 150.0, 15.0, 9.737068604211146,
17.0, -16.0, 80.0, -80.0, -6.035782346708406]
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_N19/PillarVFE_JF_ep200_40000_4.0_N19_v2.onnx
RPN_ONNX_FILE: /home/nvidia/catkin_ws/src/jfxrosperceiver/pointpillars/build/models/4.0_N19/RPNWithHead_JF_ep200_4.0_N19_v2.onnx
IMAGE_SIZES: [[2048, 2448], [2048, 2448], [2048, 2448]]
IMG_CONTOURS: [[[452, 815], [2204, 888], [1812, 628], [849, 589]], [[0, 0], [0,
0], [0, 0], [0, 0]], [[0, 0], [0, 0], [0, 0], [0, 0]]]
PC_POLICY_ROTY: [[3.141593, 0.0], [1000.075859, -1000.075859], [1000.075859, -1000.075859]]
PC_POLICY_AREA: [[[1176, 604], [1790, 626], [1862, 751], [1944, 892], [909, 836],
[1093, 691], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0]], [[0, 0], [0, 0],
[0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0,
0]], [[0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0,
0], [0, 0], [0, 0], [0, 0]]]
ORIGIN2KITTI: [[0.07516802438907474, -0.996779910756179, 0.0279209172905782, 0.0],
[0.9961881280280445, 0.07630731297561882, 0.042265914901034, 0.0], [-0.044260385057339445,
0.024637441006419476, 0.9987161833149752, 0.09999999999999964], [0.0, 0.0, 0.0,
1.0]]
KITTI2ORIGIN: [[0.07516802438907474, 0.9961881280280445, -0.04426038505733944, 0.004426038505733928],
[-0.996779910756179, 0.07630731297561881, 0.024637441006419476, -0.0024637441006419387],
[0.0279209172905782, 0.042265914901034, 0.9987161833149752, -0.09987161833149717],
[0.0, 0.0, 0.0, 1.0]]
GROUND_Z_VALUE: [-6.0, -6.0, -6.0]
MINMAX_DEPTH: [82.0, 150.0]
LIDAR_CAM_RS_0: [[-0.99549073, -0.09484819, -0.00142288, 0.0387575], [-0.00331141,
0.04973826, -0.9987568, -0.280482], [0.09480105, -0.99424842, -0.04982806, 0.544936],
[0, 0, 0, 1]]
LIDAR_CAM_RS_1: [[0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0],
[0.0, 0.0, 0.0, 0.0]]
LIDAR_CAM_RS_2: [[0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0],
[0.0, 0.0, 0.0, 0.0]]
CAM_INTRINSICS_0: [[7571.438805598541, 0.0, 1185.7527282861668], [0.0, 7584.463167306644,
904.0266932096075], [0.0, 0.0, 1.0]]
CAM_INTRINSICS_1: [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]]
CAM_INTRINSICS_2: [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]]
TRACKING:
LOG_FOLDER: /home/nvidia/catkin_ws/src/jfxrosperceiver/tracking_logs/
TIMING: false
SAVE_LOG: true
TRANS: [[0.053272265941, 0.998155474663, -0.029111340642, 40610743.62342836], [
-0.998578250408, 0.05330279097, 0.000273752841, 3462863.768938316], [0.001824964187,
0.029055371881, 0.999576151371, 19.23989542], [0.0, 0.0, 0.0, 1.0]]
BLIND_IN: []
BLIND_OUT: []
BLIND_OUT_2: []
script/generate/N3_3/3-3.yaml 0 → 100644
View file @ 299eae91
NODE_NAME: 3-3
CAMERA_LAYOUT: [0, 1, 2] #-1代表没有此方向相机，非-1的值按照0，1，2排序
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: [21135344, 21135340, 21135346] #相机序列号，-1代表没有
DRIVE_DIRECTION: [4, -1, -1] # 0为双向，1为单向朝左，2为单向朝右，3为单向朝上，4为单向朝下，-1代表没有
USE_BLIND: 1 # 1代表有盲区，-1代表没有盲区
POINTPILLARS:
MAX_NUM_PILLARS: 40000
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: [15.078892631868698, -13.653097342577654, 150.0, 48.0, -2.4603500474819993,
122.0, -101.0, 80.0, -80.0, -17.91711501562026]
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_N19/PillarVFE_JF_ep100_40000_4.0_N19.onnx
RPN_ONNX_FILE: /home/nvidia/catkin_ws/src/jfxrosperceiver/pointpillars/build/models/4.0_N19/RPNWithHead_JF_ep100_4.0_N19.onnx
IMAGE_SIZES: [[2048, 2448], [2048, 2448], [2048, 2448]]
IMG_CONTOURS: [[[219, 442], [2447, 469], [2264, 191], [829, 179]], [[0, 0], [0,
0], [0, 0], [0, 0]], [[0, 0], [0, 0], [0, 0], [0, 0]]]
PC_POLICY_ROTY: [[3.141593, 0.0], [999.964666, -999.964666], [999.964666, -999.964666]]
PC_POLICY_AREA: [[[1056, 175], [1390, 179], [1329, 272], [1455, 461], [594, 447],
[858, 308], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0]], [[0, 0], [0, 0],
[0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0,
0]], [[0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0,
0], [0, 0], [0, 0], [0, 0]]]
ORIGIN2KITTI: [[-0.035337857194336984, -0.998492540408635, 0.041998602324638, 0.0],
[0.9993752894121967, -0.03528491485549016, 0.002001423475641178, 0.0], [-0.0005164893035519965,
0.04204309137006046, 0.9991156648290768, 0.7000000000000002], [0.0, 0.0, 0.0,
1.0]]
KITTI2ORIGIN: [[-0.03533785719433699, 0.9993752894121969, -0.0005164893035519967,
0.00036154251248639784], [-0.998492540408635, -0.035284914855490165, 0.042043091370060466,
-0.029430163959042334], [0.041998602324638, 0.0020014234756411784, 0.9991156648290769,
-0.699380965380354], [0.0, 0.0, 0.0, 1.0]]
GROUND_Z_VALUE: [-6.0, -6.0, -6.0]
MINMAX_DEPTH: [82.0, 150.0]
LIDAR_CAM_RS_0: [[-0.999865, -0.0150913, 0.00643219, -0.0251683], [-0.00794074,
0.102133, -0.994739, -0.194761], [0.0143549, -0.994656, -0.102239, 0.57659],
[0, 0, 0, 1]]
LIDAR_CAM_RS_1: [[0.0366154, -0.998029, 0.0509603, 0.00180571], [-0.145852, -0.0557855,
-0.987732, -0.266546], [0.988629, 0.0287336, -0.147607, 0.341168], [0, 0, 0,
1]]
LIDAR_CAM_RS_2: [[-0.264614, 0.962179, -0.064738, -0.223947], [0.104127, -0.038231,
-0.993829, -0.311298], [-0.958716, -0.269722, -0.090072, 0.550391], [0, 0, 0,
1]]
CAM_INTRINSICS_0: [[7476.492727660457, 0.0, 1203.610071335471], [0.0, 7491.029371416096,
940.2162982256374], [0.0, 0.0, 1.0]]
CAM_INTRINSICS_1: [[7481.8116080087375, 0.0, 1218.1824463133362], [0.0, 7495.948106181199,
1013.7766265555086], [0.0, 0.0, 1.0]]
CAM_INTRINSICS_2: [[7437.626670487507, 0.0, 1177.810142357015], [0.0, 7451.441456479668,
981.4934897741183], [0.0, 0.0, 1.0]]
TRACKING:
LOG_FOLDER: /home/nvidia/catkin_ws/src/jfxrosperceiver/tracking_logs/
TIMING: false
SAVE_LOG: false
TRANS: [[-0.994701385498, 0.102543883026, -0.007335144561, 40611500.141644806],
[-0.102750055492, -0.993978619576, 0.038062997162, 3463076.8680811683], [-0.003387849778,
0.038615006953, 0.999248325825, 19.71287744], [0.0, 0.0, 0.0, 1.0]]
BLIND_IN: [-6.265293764759874, 7.191762983384189, -14.754796700058776, 14.566180485906468]
BLIND_OUT: [-5.136592498897319, 5.596317605467134, -20.16801184426743, -11.05343919295383]
BLIND_OUT_2: []
script/generate/N4_1/4-1.yaml 0 → 100644
View file @ 299eae91
NODE_NAME: 4-1
CAMERA_LAYOUT: [0, 1, -1] #-1代表没有此方向相机，非-1的值按照0，1，2排序
X_ROT_ANGLE: 1 # 0代表x轴不旋转，仅微调；1代表 正常 kitti旋转；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: [21135339, 21177825, -1] #相机序列号，-1代表没有
DRIVE_DIRECTION: [-1, -1, -1] # 0为双向，1为单向朝左，2为单向朝右，3为单向朝上，4为单向朝下，-1代表没有
USE_BLIND: 1
# -1 indicates no blind area in this loc is considered;
# 1 means normal blind area (one blind in, one blind out);
# 2 means two-way lane (one blind in, two blind out: each for one direction);
POINTPILLARS:
MAX_NUM_PILLARS: 40000
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: [30.6166267897712, 30.291071576446697, 80.0, 140.0, 14.116001747236636,
126.0, -61.0, 80.0, -80.0, 0.48084521905891175]
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_N19/PillarVFE_JF_ep200_40000_4.0_N19_v2.onnx
RPN_ONNX_FILE: /home/nvidia/catkin_ws/src/jfxrosperceiver/pointpillars/build/models/4.0_N19/RPNWithHead_JF_ep200_4.0_N19_v2.onnx
IMAGE_SIZES: [[2048, 2448], [2048, 2448], [2048, 2448]]
IMG_CONTOURS: [[[0, 0], [0, 0], [0, 0], [0, 0]], [[0, 0], [0, 0], [0, 0], [0, 0]],
[[0, 0], [0, 0], [0, 0], [0, 0]]]
PC_POLICY_ROTY: [[3.141593, 0.0], [999.540286, -999.540286], [999.540286, -999.540286]]
PC_POLICY_AREA: [[[0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0],
[0, 0], [0, 0], [0, 0], [0, 0]], [[0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [
0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0]], [[0, 0], [0, 0], [
0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0,
0]]]
ORIGIN2KITTI: [[-0.444341735964156, -0.8947739313681952, 0.044045810518876544, 0.0],
[0.8953720752482885, -0.4419458502434798, 0.054705688169885476, 0.0], [-0.029483360492542885,
0.06374540921880009, 0.9975305781065533, -0.09999999999999964], [0.0, 0.0, 0.0,
1.0]]
KITTI2ORIGIN: [[-0.44434173596415605, 0.8953720752482887, -0.02948336049254289,
-0.0029483360492542797], [-0.8947739313681949, -0.44194585024347965, 0.06374540921880009,
0.006374540921879985], [0.04404581051887653, 0.05470568816988546, 0.9975305781065533,
0.09975305781065498], [0.0, 0.0, 0.0, 1.0]]
GROUND_Z_VALUE: [-6.0, -6.0, -6.0]
MINMAX_DEPTH: [82.0, 150.0]
LIDAR_CAM_RS_0: [[-0.999711, -0.0233004, -0.00599845, -0.00108841], [0.00617458,
-0.00749429, -0.999953, -0.122594], [0.0232543, -0.9997, 0.00763599, 0.636168],
[0, 0, 0, 1]]
LIDAR_CAM_RS_1: [[-0.571638, -0.819548, 0.0396469, 0.0292476], [-0.0525372, -0.0116615,
-0.998551, -0.18426], [0.818822, -0.572893, -0.0363906, 0.860836], [0, 0, 0,
1]]
LIDAR_CAM_RS_2: [[0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0],
[0.0, 0.0, 0.0, 0.0]]
CAM_INTRINSICS_0: [[7506.1, 0.0, 1232.3], [0.0, 7519.4, 991.7658], [0.0, 0.0, 0.0]]
CAM_INTRINSICS_1: [[7532.4280500022305, 0.0, 1191.1353933620207], [0.0, 7545.534038919982,
1006.6582516720388], [0.0, 0.0, 1.0]]
CAM_INTRINSICS_2: [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]]
TRACKING:
LOG_FOLDER: /home/nvidia/catkin_ws/src/jfxrosperceiver/tracking_logs/
TIMING: true
TRANS: [[0.895237505436, -0.44371342659, 0.040843702853, 40611468.76705702], [0.445430636406,
0.893597066402, -0.05546200648, 3463328.415752789], [-0.01188856829, 0.067844711244,
0.997625052929, 19.26080887], [0.0, 0.0, 0.0, 1.0]]
BLIND_IN: [2.6546314591579456, 10.888567447416447, -14.754143029349562, 11.197803255040617]
BLIND_OUT: [4.008066500852427, 10.95856383906796, -21.398138483701842, -7.9027689640602725]
BLIND_OUT_2: []
script/generate/N5_2/5-2.yaml 0 → 100644
View file @ 299eae91
NODE_NAME: 5-2
CAMERA_LAYOUT: [0, -1, -1]
POLICY_MASK: [-1, -1, -1]
CAMERA_SERIAL_NO: [21181568, -1, -1]
DRIVE_DIRECTION: [4, -1, -1] # 0为双向，1为单向朝左，2为单向朝右，3为单向朝上，4为单向朝下，-1代表没有
USE_BLIND: [-1, -1] # -1 means no blind area is used
POINTPILLARS:
MAX_NUM_PILLARS: 40000
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: [18.642728909858878, 14.882678463835727, 80.0, 105.0, 15.889366577182342,
28.0, -6.0, 80.0, -80.0, -0.8534760185332882]
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/5/PillarVFE_JF_ep150_40000_4.0_N5_v2.onnx
RPN_ONNX_FILE: /home/nvidia/catkin_ws/src/jfxrosperceiver/pointpillars/build/models/5/RPNWithHead_JF_ep150_4.0_N5_v2.onnx
IMAGE_SIZES: [[2048, 2448], [2048, 2448], [2048, 2448]]
IMG_CONTOURS: [[[0, 0], [0, 0], [0, 0], [0, 0]], [[0, 0], [0, 0], [0, 0], [0, 0]],
[[0, 0], [0, 0], [0, 0], [0, 0]]]
PC_POLICY_ROTY: [[3.141593, 0.0], [999.901521, -999.901521], [999.901521, -999.901521]]
PC_POLICY_AREA: [[[0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0],
[0, 0], [0, 0], [0, 0], [0, 0]], [[0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [
0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0]], [[0, 0], [0, 0], [
0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0,
0]]]
ORIGIN2KITTI: [[-0.09764111729780293, -0.9944741458664936, 0.038566636046517395,
0.0], [0.9945996324606676, -0.09887670911792698, -0.03154310547669095, 0.0],
[0.035182144930937416, 0.03527845797532399, 0.9987580523234553, 1.2727123965813156],
[0.0, 0.0, 0.0, 1.0]]
KITTI2ORIGIN: [[-0.09764111729780292, 0.9945996324606675, 0.035182144930937416,
-0.04477675199192454], [-0.9944741458664936, -0.09887670911792698, 0.035278457975323994,
-0.04489933079746782], [0.038566636046517395, -0.03154310547669095, 0.9987580523234553,
-1.2711317543774718], [0.0, 0.0, 0.0, 1.0]]
GROUND_Z_VALUE: [-6.0, -6.0, -6.0]
MINMAX_DEPTH: [82.0, 150.0]
LIDAR_CAM_RS_0: [[-0.99999, 0.00341919, -0.00292934, -0.0160382], [0.00316679, 0.0716433,
-0.997425, -0.253183], [-0.00320052, -0.997424, -0.0716534, 0.531377], [0, 0,
0, 1]]
LIDAR_CAM_RS_1: [[0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0],
[0.0, 0.0, 0.0, 0.0]]
LIDAR_CAM_RS_2: [[0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0],
[0.0, 0.0, 0.0, 0.0]]
CAM_INTRINSICS_0: [[7533.683550754114, 0.0, 1218.69821388657], [0.0, 7548.895722032284,
954.8341160451296], [0.0, 0.0, 1.0]]
CAM_INTRINSICS_1: [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]]
CAM_INTRINSICS_2: [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]]
TRACKING:
LOG_FOLDER: /home/nvidia/catkin_ws/src/jfxrosperceiver/tracking_logs/
TIMING: true
TRANS: [[-0.935990691185, 0.349801629782, 0.03950465098, 40611953.9787007], [-0.348075866699,
-0.936406373978, 0.044567715377, 3462733.683287731], [0.052582260221, 0.027964340523,
0.998224914074, 20.37671154], [0.0, 0.0, 0.0, 1.0]]
BLIND_IN: []
BLIND_OUT: []
script/generate/N5_3/5-3.yaml 0 → 100644
View file @ 299eae91
NODE_NAME: 5-3
CAMERA_LAYOUT: [0, 1, -1] #-1代表没有此方向相机，非-1的值按照0，1，2排序
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: [21177820, 21185381, -1] #相机序列号，-1代表没有
DRIVE_DIRECTION: [0, -1, -1] # 0为双向，1为单向朝左，2为单向朝右，3为单向朝上，4为单向朝下，-1代表没有
USE_BLIND: [-1, -1] # 1代表有盲区，-1代表没有盲区
POINTPILLARS:
MAX_NUM_PILLARS: 40000
MAX_NUM_POINTS_PER_PILLAR: 32
NUM_CLASS: 5
SCORE_THRESHOLD: 0.3
NMS_OVERLAP_THRESHOLD: 0.1
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: [7.7594579210795835, -20.807236180425523, 150.0, 72.0, 46.97840904016007,
# 29.0, -86.0, 80.0, -80.0, 3.026760016081908]
PC_T_RANGE: [9.510035529628874, -17.07625014793027, 150.0, 66.0, 57.37938299717604,
24.0, -34.0, 80.0, -80.0, 3.9395387769753967]
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_N19/PillarVFE_JF_ep200_40000_4.0_N19_v2.onnx
#RPN_ONNX_FILE: /home/nvidia/catkin_ws/src/jfxrosperceiver/pointpillars/build/models/4.0_N19/RPNWithHead_JF_ep200_4.0_N19_v2.onnx
PFE_ONNX_FILE: /home/nvidia/catkin_ws/src/jfxrosperceiver/pointpillars/build/models/5/PillarVFE_JF_ep150_40000_4.0_N5_v2.onnx
RPN_ONNX_FILE: /home/nvidia/catkin_ws/src/jfxrosperceiver/pointpillars/build/models/5/RPNWithHead_JF_ep150_4.0_N5_v2.onnx
IMAGE_SIZES: [[2048, 2448], [2048, 2448], [2048, 2448]]
IMG_CONTOURS: [[[0, 571], [2107, 553], [77, 332], [1418, 326]], [[0, 0], [0, 0],
[0, 0], [0, 0]], [[0, 0], [0, 0], [0, 0], [0, 0]]]
PC_POLICY_ROTY: [[3.141593, 0.0], [1000.120926, -1000.120926], [1000.120926, -1000.120926]]
PC_POLICY_AREA: [[[257, 331], [738, 331], [791, 475], [824, 561], [40, 565], [208,
413], [869, 315], [1264, 319], [1542, 434], [1848, 548], [1020, 561], [913,
417]], [[0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [
0, 0], [0, 0], [0, 0], [0, 0]], [[0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [
0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0]]]
ORIGIN2KITTI: [[0.12062893308762285, -0.9923923836070251, 0.02461742189810216, 0.0],
[0.9926976425391162, 0.12059747437013414, -0.0027639958078922076, 0.0], [-0.0002258305183411813,
0.024771074549001525, 0.9996931243467991, -0.20000000000000018], [0.0, 0.0,
0.0, 1.0]]
KITTI2ORIGIN: [[0.12062893308762282, 0.9926976425391161, -0.0002258305183411809,
-4.516610366823614e-05], [-0.9923923836070248, 0.1205974743701341, 0.024771074549001522,
0.004954214909800308], [0.024617421898102152, -0.0027639958078922067, 0.9996931243467991,
0.19993862486936], [0.0, 0.0, 0.0, 1.0]]
GROUND_Z_VALUE: [-6.0, -6.0, -6.0]
MINMAX_DEPTH: [82.0, 150.0]
LIDAR_CAM_RS_0: [[-0.999181, -0.0404436, -0.00109958, -0.097254], [-0.00264656,
0.0924559, -0.995713, -0.2228], [0.0403719, -0.994895, -0.0924873, 0.594679],
[0, 0, 0, 1]]
LIDAR_CAM_RS_1: [[-0.610363, -0.791935, 0.0171957, 0.0554452], [-0.115226, 0.0672882,
-0.991058, -0.18132], [0.783697, -0.606886, -0.132322, 0.106678], [0, 0, 0,
1]]
LIDAR_CAM_RS_2: [[0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0],
[0.0, 0.0, 0.0, 0.0]]
CAM_INTRINSICS_0: [[7559.640583674191, 0.0, 1174.7880745182063], [0.0, 7574.0029132405925,
934.6825617713538], [0.0, 0.0, 1.0]]
CAM_INTRINSICS_1: [[7331.727716763653, 0.0, 1098.5990905476692], [0.0, 7344.710877889352,
1067.332427921812], [0.0, 0.0, 1.0]]
CAM_INTRINSICS_2: [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]]
TRACKING:
LOG_FOLDER: /home/nvidia/catkin_ws/src/jfxrosperceiver/tracking_logs/
TIMING: false
SAVE_LOG: true
TRANS: [[-0.175331175327, -0.984322726727, 0.019172756001, 40611897.01459107], [
0.983607053757, -0.174303680658, 0.046207692474, 3462816.7742773816], [-0.042141415179,
0.026960110292, 0.998747706413, 19.97312127], [0.0, 0.0, 0.0, 1.0]]
BLIND_IN: []
BLIND_OUT: []
BLIND_OUT_2: []
CAM_TRANS: [[ 3.97317696e-03, 4.41804602e-02, -9.19246907e+02],
[ 1.20575929e-01, 7.16822254e-03, -7.38050487e+01],
[-1.63340601e-04, -1.97339441e-02, 1.00000000e+00]]
CAM_DIST: [-1.8274994338385275e-01, 3.5352198473656111e+00, -4.1255329793473206e-03, -1.3165956908167175e-03, 7.2832143830985094e+00]
CAM_INTRINSICS: [[7559.640583674191, 0.0, 1174.7880745182063], [0.0, 7574.0029132405925,934.6825617713538], [0.0, 0.0, 1.0]]
script/generate/N6_1/6-1.yaml 0 → 100644
View file @ 299eae91
NODE_NAME: 6-1
CAMERA_LAYOUT: [0, -1, -1] #-1代表没有此方向相机，非-1的值按照0，1，2排序
X_ROT_ANGLE: 0 # 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: [21122024, -1, -1]
DRIVE_DIRECTION: [0, -1, -1] # 0为双向，1为单向朝左，2为单向朝右，3为单向朝上，4为单向朝下，-1代表没有
USE_BLIND: 1
# -1 indicates no blind area in this loc is considered;
# 1 means normal blind area (one blind in, one blind out);
# 2 means two-way lane (one blind in, two blind out: each for one direction);
POINTPILLARS:
MAX_NUM_PILLARS: 40000
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: [-3.3681935684306903, -3.3681935684306903, 80.0, 40.0, 30.50407246201905,
16.0, -15.0, 80.0, -80.0, 6.9383890577872505]
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_N19/PillarVFE_JF_ep100_40000_4.0_N19.onnx
RPN_ONNX_FILE: /home/nvidia/catkin_ws/src/jfxrosperceiver/pointpillars/build/models/4.0_N19/RPNWithHead_JF_ep100_4.0_N19.onnx
IMAGE_SIZES: [[2048, 2448], [2048, 2448], [2048, 2448]]
IMG_CONTOURS: [[[0, 0], [0, 0], [0, 0], [0, 0]], [[0, 0], [0, 0], [0, 0], [0, 0]],
[[0, 0], [0, 0], [0, 0], [0, 0]]]
PC_POLICY_ROTY: [[3.141593, 0.0], [999.969147, -999.969147], [999.969147, -999.969147]]
PC_POLICY_AREA: [[[0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0],
[0, 0], [0, 0], [0, 0], [0, 0]], [[0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [
0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0]], [[0, 0], [0, 0], [
0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0,
0]]]
ORIGIN2KITTI: [[0.9994973004805413, -0.03086596626934255, 0.007241440351907325,
10.0], [0.03082860898771179, 0.9995110809882194, 0.0052149640117460745, 0.0],
[-0.007398864777328993, -0.004989098918726587, 0.9999601820532585, 0.9000000000000004],
[0.0, 0.0, 0.0, 1.0]]
KITTI2ORIGIN: [[0.9994973004805414, 0.030828608987711788, -0.0073988647773289935,
0.0066589782995960965], [-0.030865966269342553, 0.9995110809882194, -0.004989098918726587,
0.00449018902685393], [0.007241440351907325, 0.0052149640117460745, 0.9999601820532585,
-0.899964163847933], [0.0, 0.0, 0.0, 1.0]]
GROUND_Z_VALUE: [-6.0, -6.0, -6.0]
MINMAX_DEPTH: [82.0, 150.0]
LIDAR_CAM_RS_0: [[-0.991296, -0.131654, 0.000319333, -0.0473083], [-0.0198454, 0.147028,
-0.988933, -0.299216], [0.13015, -0.980331, -0.148361, 0.780579], [0, 0, 0,
1]]
LIDAR_CAM_RS_1: [[0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0],
[0.0, 0.0, 0.0, 0.0]]
LIDAR_CAM_RS_2: [[0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0],
[0.0, 0.0, 0.0, 0.0]]
CAM_INTRINSICS_0: [[7565.7, 0.0, 1197.0], [0.0, 7578.1, 1009.7], [0.0, 0.0, 1.0]]
CAM_INTRINSICS_1: [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]]
CAM_INTRINSICS_2: [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]]
TRACKING:
LOG_FOLDER: /home/nvidia/catkin_ws/src/jfxrosperceiver/tracking_logs/
TIMING: true
TRANS: [[-0.080272033811, 0.996761322021, 0.004844249226, 40612882.94996642], [
-0.996773004532, -0.080272853374, -2.5258005e-05, 3462229.563027135], [0.000363685453,
-0.004830643535, 0.999988257885, 20.14181848], [0.0, 0.0, 0.0, 1.0]]
BLIND_IN: [9.449561798564332, 17.79380882776791, -15.983554851952142, 14.77943370939517]
BLIND_OUT: [9.045881062231198, 18.502519187603895, 12.818565051369504, 27.509422887647773]
BLIND_OUT_2: []
script/generate/N6_2/6-2.yaml 0 → 100644
View file @ 299eae91
NODE_NAME: 6-2
CAMERA_LAYOUT: [0, -1, -1] #-1代表没有此方向相机，非-1的值按照0，1，2排序
X_ROT_ANGLE: 0 # 0代表x轴不旋转，仅微调；1代表 正常 kitti旋转；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: [21177823, -1, -1] #相机序列号，-1代表没有
DRIVE_DIRECTION: [-1, -1, -1] # 0为双向，1为单向朝左，2为单向朝右，3为单向朝上，4为单向朝下，-1代表没有
USE_BLIND: 1
# -1 indicates no blind area in this loc is considered;
# 1 means normal blind area (one blind in, one blind out);
# 2 means two-way lane (one blind in, two blind out: each for one direction);
POINTPILLARS:
MAX_NUM_PILLARS: 40000
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: [2.9691255259778395, -4.00907295788865, 80.0, 28.0, 6.841363589199805,
112.0, -144.0, 80.0, -80.0, -1.9497334386622622]
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_N19/PillarVFE_JF_ep100_40000_4.0_N19.onnx
RPN_ONNX_FILE: /home/nvidia/catkin_ws/src/jfxrosperceiver/pointpillars/build/models/4.0_N19/RPNWithHead_JF_ep100_4.0_N19.onnx
IMAGE_SIZES: [[2048, 2448], [2048, 2448], [2048, 2448]]
IMG_CONTOURS: [[[0, 0], [0, 0], [0, 0], [0, 0]], [[0, 0], [0, 0], [0, 0], [0, 0]],
[[0, 0], [0, 0], [0, 0], [0, 0]]]
PC_POLICY_ROTY: [[3.141593, 0.0], [999.958387, -999.958387], [999.958387, -999.958387]]
PC_POLICY_AREA: [[[0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0],
[0, 0], [0, 0], [0, 0], [0, 0]], [[0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [
0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0]], [[0, 0], [0, 0], [
0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0,
0]]]
ORIGIN2KITTI: [[0.9988722862129534, -0.04214125427326351, -0.021869396973478106,
10.0], [0.0409985649537926, 0.99789214163878, -0.05030299521200135, 0.0], [
0.023943130694148426, 0.04934965393845363, 0.9984945358632253, 0.9000000000000004],
[0.0, 0.0, 0.0, 1.0]]
KITTI2ORIGIN: [[0.9988722862129537, 0.04099856495379261, 0.02394313069414843, -0.021548817624733593],
[-0.04214125427326352, 0.99789214163878, 0.04934965393845363, -0.04441468854460828],
[-0.021869396973478103, -0.05030299521200134, 0.9984945358632252, -0.8986450822769031],
[0.0, 0.0, 0.0, 1.0]]
GROUND_Z_VALUE: [-6.0, -6.0, -6.0]
MINMAX_DEPTH: [82.0, 150.0]
LIDAR_CAM_RS_0: [[-0.999543, 0.0302421, 0.000226342, 0.00244574], [0.00395449921,
0.138113725, -0.990408482, -0.209588], [-0.0299832745, -0.989954552, -0.138170141,
0.615876], [0, 0, 0, 1]]
LIDAR_CAM_RS_1: [[0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0],
[0.0, 0.0, 0.0, 0.0]]
LIDAR_CAM_RS_2: [[0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0],
[0.0, 0.0, 0.0, 0.0]]
CAM_INTRINSICS_0: [[7576.184998973699, 0.0, 1190.0262735915783], [0.0, 7589.603006044133,
1123.1112437406855], [0.0, 0.0, 1.0]]
CAM_INTRINSICS_1: [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]]
CAM_INTRINSICS_2: [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]]
TRACKING:
LOG_FOLDER: /home/nvidia/catkin_ws/src/jfxrosperceiver/tracking_logs/
TIMING: true
TRANS: [[-0.080108232796, -0.995879292488, 0.042511798441, 40612789.06337901], [
0.996389091015, -0.081207185984, -0.024783149362, 3462237.600836223], [0.028133289889,
0.040372956544, 0.99878847599, 20.03722621], [0.0, 0.0, 0.0, 1.0]]
BLIND_IN: [4.743281856303686, 14.275816303489659, -13.420530843777348, 17.514005668369283]
BLIND_OUT: [4.181519660095086, 12.976287699718696, 14.081174530971312, 24.982323802360145]
BLIND_OUT_2: []
script/generate/N6_3/6-3.yaml 0 → 100644
View file @ 299eae91
NODE_NAME: 6-3
CAMERA_LAYOUT: [0, -1, -1]
POLICY_MASK: [1, -1, -1]
CAMERA_SERIAL_NO: [21135342, -1, -1]
DRIVE_DIRECTION: [4, -1, -1] # 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: 40000
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: [7.069527888317895, -16.320272515721516, 150.0, 39.0, 21.523228988185636,
23.0, -28.0, 80.0, -80.0, -6.4598058129227]
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_N19/PillarVFE_JF_ep100_40000_4.0_N19.onnx
RPN_ONNX_FILE: /home/nvidia/catkin_ws/src/jfxrosperceiver/pointpillars/build/models/4.0_N19/RPNWithHead_JF_ep100_4.0_N19.onnx
IMAGE_SIZES: [[2048, 2448], [2048, 2448], [2048, 2448]]
IMG_CONTOURS: [[[608, 690], [2447, 681], [899, 476], [2072, 471]], [[0, 0], [0,
0], [0, 0], [0, 0]], [[0, 0], [0, 0], [0, 0], [0, 0]]]
PC_POLICY_ROTY: [[3.141593, 0.0], [999.951103, -999.951103], [999.951103, -999.951103]]
PC_POLICY_AREA: [[[1107, 471], [1422, 475], [1497, 594], [1614, 689], [759, 693],
[991, 514], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0]], [[0, 0], [0, 0],
[0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0,
0]], [[0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0,
0], [0, 0], [0, 0], [0, 0]]]
ORIGIN2KITTI: [[-0.04889424680162646, -0.9987854830493128, -0.006075481845301646,
0.0], [0.9987878973799329, -0.048858057728727665, -0.005968772264798985, 0.0],
[0.00566468684698101, -0.00635995636205657, 0.9999637304812602, -0.6553131698852468],
[0.0, 0.0, 0.0, 1.0]]
KITTI2ORIGIN: [[-0.048894246801626455, 0.998787897379933, 0.00566468684698101, 0.0037121438941023887],
[-0.9987854830493127, -0.048858057728727665, -0.006359956362056569, -0.004167763163951132],
[-0.006075481845301645, -0.005968772264798985, 0.9999637304812601, 0.6552894019919511],
[0.0, 0.0, 0.0, 1.0]]
GROUND_Z_VALUE: [-6.0, -6.0, -6.0]
MINMAX_DEPTH: [82.0, 150.0]
LIDAR_CAM_RS_0: [[-0.998987, 0.0449755, 0.00128989, -0.0536415], [0.003822, 0.113388,
-0.993543, -0.25326], [-0.0448314, -0.992532, -0.113445, 0.56336], [0, 0, 0,
1]]
LIDAR_CAM_RS_1: [[0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0],
[0.0, 0.0, 0.0, 0.0]]
LIDAR_CAM_RS_2: [[0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0],
[0.0, 0.0, 0.0, 0.0]]
CAM_INTRINSICS_0: [[7532.5250450309, 0.0, 1225.9706166199028], [0.0, 7547.107189190723,
1030.1367443328863], [0.0, 0.0, 1.0]]
CAM_INTRINSICS_1: [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]]
CAM_INTRINSICS_2: [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]]
TRACKING:
LOG_FOLDER: /home/nvidia/catkin_ws/src/jfxrosperceiver/tracking_logs/
TIMING: true
TRANS: [[-0.999706506729, 0.023629674688, 0.005339973141, 40612825.87186988], [
-0.023663658649, -0.999699473381, -0.006393243559, 3462223.859811249], [0.005187297706,
-0.006517730188, 0.999965310097, 18.62427142], [0.0, 0.0, 0.0, 1.0]]
BLIND_IN: []
BLIND_OUT: []
script/generate/N8_1/8-1.yaml 0 → 100644
View file @ 299eae91
NODE_NAME: 8-1
CAMERA_LAYOUT: [0, -1, -1] #-1代表没有此方向相机，非-1的值按照0，1，2排序
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: [21135347, -1, -1]
DRIVE_DIRECTION: [0, -1, -1] # 0为双向，1为单向朝左，2为单向朝右，3为单向朝上，4为单向朝下，-1代表没有
USE_BLIND: -1 # -1 means no blind area is used
POINTPILLARS:
MAX_NUM_PILLARS: 40000
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: [9.191241010219882, -17.2996332585056, 150.0, 9.0, -0.1277923978929957,
21.0, -27.0, 80.0, -80.0, -16.44622593341262]
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_N19/PillarVFE_JF_ep100_40000_4.0_N19.onnx
RPN_ONNX_FILE: /home/nvidia/catkin_ws/src/jfxrosperceiver/pointpillars/build/models/4.0_N19/RPNWithHead_JF_ep100_4.0_N19.onnx
IMAGE_SIZES: [[2048, 2448], [2048, 2448], [2048, 2448]]
IMG_CONTOURS: [[[183, 721], [2447, 684], [1878, 423], [553, 442]], [[0, 0], [0,
0], [0, 0], [0, 0]], [[0, 0], [0, 0], [0, 0], [0, 0]]]
PC_POLICY_ROTY: [[3.141593, 0.0], [1000.067474, -1000.067474], [1000.067474, -1000.067474]]
PC_POLICY_AREA: [[[858, 437], [1275, 425], [1352, 548], [1422, 701], [688, 707],
[782, 560], [1461, 435], [1860, 419], [2152, 556], [2393, 689], [1743, 721],
[1584, 544]], [[0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0],
[0, 0], [0, 0], [0, 0], [0, 0]], [[0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [
0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0]]]
ORIGIN2KITTI: [[0.06742395876958965, -0.9977243948218384, 0.00020435565303055666,
0.0], [0.9976344970690704, 0.06741513105551401, -0.013439135482274529, 0.0],
[0.013394776652850061, 0.001109991965790168, 0.9999096698583608, 0.7999999999999998],
[0.0, 0.0, 0.0, 1.0]]
KITTI2ORIGIN: [[0.06742395876958965, 0.9976344970690704, 0.01339477665285006, -0.010715821322280047],
[-0.9977243948218386, 0.06741513105551403, 0.001109991965790168, -0.0008879935726321342],
[0.0002043556530305567, -0.013439135482274529, 0.9999096698583607, -0.7999277358866884],
[0.0, 0.0, 0.0, 1.0]]
GROUND_Z_VALUE: [-6.0, -6.0, -6.0]
MINMAX_DEPTH: [82.0, 150.0]
LIDAR_CAM_RS_0: [[-0.999322, -0.0368257, 0.000474703, 0.0461111], [-0.00461821,
0.112514, -0.993639, -0.223564], [0.036538, -0.992968, -0.112607, 0.511108],
[0, 0, 0, 1]]
LIDAR_CAM_RS_1: [[0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0],
[0.0, 0.0, 0.0, 0.0]]
LIDAR_CAM_RS_2: [[0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0],
[0.0, 0.0, 0.0, 0.0]]
CAM_INTRINSICS_0: [[7521.9, 0.0, 1238.1], [0.0, 7533.4, 956.2174], [0.0, 0.0, 1.0]]
CAM_INTRINSICS_1: [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]]
CAM_INTRINSICS_2: [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]]
TRACKING:
LOG_FOLDER: /home/nvidia/catkin_ws/src/jfxrosperceiver/tracking_logs/
TIMING: true
TRANS: [[-0.691460728645, -0.722240567207, 0.015843784437, 40613400.224472366],
[0.722311556339, -0.691565871239, -0.001689407974, 3462406.921690266], [0.012177175842,
0.010275989771, 0.999872982502, 20.64971101], [0.0, 0.0, 0.0, 1.0]]
BLIND_IN: []
BLIND_OUT: []
BLIND_OUT_2: []
script/generate/N9_1/9-1.yaml 0 → 100644
View file @ 299eae91
NODE_NAME: 9-1
CAMERA_LAYOUT: [0, -1, -1] #-1代表没有此方向相机，非-1的值按照0，1，2排序
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: [21185386, -1, -1]
DRIVE_DIRECTION: [0, -1, -1] # 0为双向，1为单向朝左，2为单向朝右，3为单向朝上，4为单向朝下，-1代表没有
USE_BLIND: [-1, -1] # -1 means no blind area is used
POINTPILLARS:
MAX_NUM_PILLARS: 40000
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: [14.088150964864322, -24.711668687821057, 150.0, 20.0, -7.809705127877513,
24.0, -34.0, 80.0, -80.0, -15.788937097067338]
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_N19/PillarVFE_JF_ep100_40000_4.0_N19.onnx
RPN_ONNX_FILE: /home/nvidia/catkin_ws/src/jfxrosperceiver/pointpillars/build/models/4.0_N19/RPNWithHead_JF_ep100_4.0_N19.onnx
IMAGE_SIZES: [[2048, 2448], [2048, 2448], [2048, 2448]]
IMG_CONTOURS: [[[654, 365], [2447, 472], [2447, 150], [1236, 99]], [[0, 0], [0,
0], [0, 0], [0, 0]], [[0, 0], [0, 0], [0, 0], [0, 0]]]
PC_POLICY_ROTY: [[3.141593, 0.0], [999.800971, -999.800971], [999.800971, -999.800971]]
PC_POLICY_AREA: [[[1201, 107], [1552, 113], [1932, 213], [2046, 449], [1099, 391],
[1352, 203], [1887, 195], [2326, 207], [2438, 278], [2444, 473], [2030, 447],
[2009, 282]], [[0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0],
[0, 0], [0, 0], [0, 0], [0, 0]], [[0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [
0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0]]]
ORIGIN2KITTI: [[-0.19809481806349166, -0.9794499176397107, 0.03789857374567175,
0.0], [0.9799804151970427, -0.19712000934332657, 0.02796583177233762, 0.0],
[-0.01992056441529652, 0.04267974639159458, 0.998890189340813, 0.9980420980703562],
[0.0, 0.0, 0.0, 1.0]]
KITTI2ORIGIN: [[-0.19809481806349163, 0.9799804151970426, -0.019920564415296514,
0.019881561903788213], [-0.9794499176397107, -0.19712000934332652, 0.04267974639159458,
-0.04259618363377776], [0.03789857374567175, 0.027965831772337617, 0.998890189340813,
-0.9969344603116003], [0.0, 0.0, 0.0, 1.0]]
GROUND_Z_VALUE: [-6.0, -6.0, -6.0]
MINMAX_DEPTH: [82.0, 150.0]
LIDAR_CAM_RS_0: [[-0.9946, 0.103749, -0.00268975, -0.0807832], [0.0156637, 0.124441,
-0.992103, -0.231189], [-0.102595, -0.986788, -0.125394, 0.63225], [0, 0, 0,
1]]
LIDAR_CAM_RS_1: [[0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0],
[0.0, 0.0, 0.0, 0.0]]
LIDAR_CAM_RS_2: [[0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0],
[0.0, 0.0, 0.0, 0.0]]
CAM_INTRINSICS_0: [[7530.0, 0.0, 1234.8], [0.0, 7542.9, 1014.0], [0.0, 0.0, 1.0]]
CAM_INTRINSICS_1: [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]]
CAM_INTRINSICS_2: [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]]
TRACKING:
LOG_FOLDER: /home/nvidia/catkin_ws/src/jfxrosperceiver/tracking_logs/
TIMING: true
TRANS: [[0.529461979866, 0.847691774368, -0.032998245209, 40611692.738281436], [
-0.848298192024, 0.528683125973, -0.029737690464, 3461123.003288666], [-0.007762774825,
0.043737333268, 0.999012827873, 20.62353185], [0.0, 0.0, 0.0, 1.0]]
BLIND_IN: []
BLIND_OUT: []
script/generate/N9_2/9-2.yaml 0 → 100644
View file @ 299eae91
NODE_NAME: 9-2
CAMERA_LAYOUT: [0, -1, -1] #-1代表没有此方向相机，非-1的值按照0，1，2排序
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: [21135345, -1, -1]
DRIVE_DIRECTION: [0, -1, -1] # 0为双向，1为单向朝左，2为单向朝右，3为单向朝上，4为单向朝下，-1代表没有
USE_BLIND: -1
# -1 indicates no blind area in this loc is considered;
# 1 means normal blind area (one blind in, one blind out);
# 2 means two-way lane (one blind in, two blind out: each for one direction);
POINTPILLARS:
MAX_NUM_PILLARS: 40000
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: [28.19349668401275, -10.909009289806809, 150.0, 6.0, -5.665619425422562,
35.0, -29.0, 80.0, -80.0, -19.31257600887734]
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_N19/PillarVFE_JF_ep100_40000_4.0_N19.onnx
RPN_ONNX_FILE: /home/nvidia/catkin_ws/src/jfxrosperceiver/pointpillars/build/models/4.0_N19/RPNWithHead_JF_ep100_4.0_N19.onnx
IMAGE_SIZES: [[2048, 2448], [2048, 2448], [2048, 2448]]
IMG_CONTOURS: [[[0, 472], [2447, 503], [2447, 260], [534, 249]], [[0, 0], [0, 0],
[0, 0], [0, 0]], [[0, 0], [0, 0], [0, 0], [0, 0]]]
PC_POLICY_ROTY: [[3.141593, 0.0], [999.967518, -999.967518], [999.967518, -999.967518]]
PC_POLICY_AREA: [[[952, 252], [1329, 252], [1538, 362], [1527, 489], [476, 481],
[944, 306], [1348, 256], [1637, 254], [2046, 367], [2301, 501], [1554, 487],
[1557, 377]], [[0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0],
[0, 0], [0, 0], [0, 0], [0, 0]], [[0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [
0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0]]]
ORIGIN2KITTI: [[-0.03297378854159967, -0.9961526066188378, 0.08119552694397052,
0.0], [0.9993813319576447, -0.03186786767058145, 0.014879258875841538, 0.0],
[-0.01223448420563244, 0.0816359194020958, 0.9965871231656551, -0.11066447945547608],
[0.0, 0.0, 0.0, 1.0]]
KITTI2ORIGIN: [[-0.032973788541599686, 0.9993813319576448, -0.012234484205632442,
-0.001353922826022558], [-0.9961526066188378, -0.031867867670581446, 0.0816359194020958,
0.009034196525502133], [0.08119552694397052, 0.014879258875841538, 0.9965871231656551,
0.11028679521715766], [0.0, 0.0, 0.0, 1.0]]
GROUND_Z_VALUE: [-6.0, -6.0, -6.0]
MINMAX_DEPTH: [82.0, 150.0]
LIDAR_CAM_RS_0: [[-0.997927, -0.0641723, -0.00486917, 0.0312345], [0.00077348, 0.0636942,
-0.997969, -0.230228], [0.0643521, -0.995904, -0.0635125, 0.323311], [0, 0,
0, 1]]
LIDAR_CAM_RS_1: [[0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0],
[0.0, 0.0, 0.0, 0.0]]
LIDAR_CAM_RS_2: [[0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0],
[0.0, 0.0, 0.0, 0.0]]
CAM_INTRINSICS_0: [[7463.729331893899, 0.0, 1202.9936596610803], [0.0, 7476.80914260487,
1064.940629620939], [0.0, 0.0, 1.0]]
CAM_INTRINSICS_1: [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]]
CAM_INTRINSICS_2: [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]]
TRACKING:
LOG_FOLDER: /home/nvidia/catkin_ws/src/jfxrosperceiver/tracking_logs/
TIMING: false
SAVE_LOG: false
TRANS: [[-0.951131284237, 0.306302458048, -0.039092585444, 40611659.038250506],
[-0.308364510536, -0.948808252811, 0.068370290101, 3461054.646354], [-0.016149368137,
0.077083878219, 0.996893763542, 19.54457103], [0.0, 0.0, 0.0, 1.0]]
BLIND_IN: []
BLIND_OUT: []
BLIND_OUT_2: []
script/trans_and_export_data_multi_auto.py
View file @ 299eae91
...@@ -475,13 +475,29 @@ car_yaw_cal_angle = {} ...@@ -475,13 +475,29 @@ car_yaw_cal_angle = {}
def InitCarYawAngle(): def InitCarYawAngle():
global car_yaw_cal_angle global car_yaw_cal_angle
car_yaw_cal_angle["N5_3"] = 79.89299572540227 car_yaw_cal_angle["N5_3"] = 81.4195028491
car_yaw_cal_angle["N2_1"] = 131.419987 car_yaw_cal_angle["N2_1"] = 131.419987
car_yaw_cal_angle["N2_3"] = 263.172408323 car_yaw_cal_angle["N2_3"] = 263.172408323
car_yaw_cal_angle["N3_1"] = 272.497959364 car_yaw_cal_angle["N3_1"] = 272.497959364
car_yaw_cal_angle["N3_2"] = 131.419987 car_yaw_cal_angle["N3_2"] = 131.419987
car_yaw_cal_angle["N5_1"] = 156.39647170561636 car_yaw_cal_angle["N5_1"] = 156.39647170561636
car_yaw_cal_angle["N7_1"] = 131.419987 car_yaw_cal_angle["N7_1"] = 131.419987
car_yaw_cal_angle["N1_1"] = 70.6822164517
car_yaw_cal_angle["N2_2"] = 86.64525880893518
car_yaw_cal_angle["N2_4"] = 266.94627378
car_yaw_cal_angle["N3_3"] = 354.102412638
car_yaw_cal_angle["N4_1"] = 153.547090781
car_yaw_cal_angle["N4_2"] = 356.009567619
car_yaw_cal_angle["N5_2"] = 339.6008576233084
car_yaw_cal_angle["N6_1"] = 274.604201637
car_yaw_cal_angle["N6_2"] = 85.4033904752
car_yaw_cal_angle["N6_3"] = 358.644027388
car_yaw_cal_angle["N8_1"] = 46.250089781
car_yaw_cal_angle["N9_1"] = 131.419987
car_yaw_cal_angle["N9_2"] = 342.036883289
car_yaw_cal_angle["N10_1"] = 131.419987
car_yaw_cal_angle["N10_2"] = 275.159122198
InitCarYawAngle() InitCarYawAngle()
...@@ -862,6 +878,7 @@ if __name__ == '__main__': ...@@ -862,6 +878,7 @@ if __name__ == '__main__':
save_json["annotations"] = [] save_json["annotations"] = []
save_json_list = [] save_json_list = []
cloud_box_count = [] #统计box的数据 cloud_box_count = [] #统计box的数据
g_save_count = 0;
for i in range(Thread_NUM): for i in range(Thread_NUM):
list = [] list = []
...@@ -902,7 +919,7 @@ if __name__ == '__main__': ...@@ -902,7 +919,7 @@ if __name__ == '__main__':
json.dump(cloud_box_count,file_o,cls=NumpyEncoder,indent=4) json.dump(cloud_box_count,file_o,cls=NumpyEncoder,indent=4)
delay_t = time.time() - begin_t delay_t = time.time() - begin_t
record_t = { "folder": dir_g,"time":delay_t} record_t = { "folder": dir_g,"cloud num":g_save_count,"boxesnum":totel_count['totel_choose'],"choose_rate":totel_count['totel_rate'],"time":delay_t}
time_record.append(record_t) time_record.append(record_t)
totel_t = time.time() - start_t totel_t = time.time() - start_t
......
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