提交原始数据

script/data/10-1/config/10-1.yaml

+NODE_NAME: 10-1
+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: [21181565, 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: 0.1
+  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: [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: [[7505., 0., 1.2288000000000000e+03], [0., 7.5176000000000004e+03,9.9704679999999996e+02], [0.0, 0.0, 1.0]]
+  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: false
+  SAVE_LOG: false
+  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: []
+
+  #CAM_TRANS: [[-8.42467081e-02,  5.12702865e-03,  2.19464287e+01],
+  #     [ 1.47988644e-02,  2.02154644e-02, -6.61497943e+02],
+  #     [-7.14514498e-04, -1.44137162e-02,  1.00000000e+00]]
+  CAM_TRANS: [[-9.30040785e-02,  1.08684932e-02,  2.10162409e+01],
+       [-5.81073500e-03,  9.64694629e-02, -7.51865520e+02],
+       [-1.13530275e-03, -1.51187637e-02,  1.00000000e+00]]
+  CAM_DIST: [-1.5526145614532758e-01, 3.8666181699294224e+00,-2.3143494247948888e-03, -2.5410928285829258e-03,-1.7128593463397308e+01]
+  CAM_INTRINSICS: [[7518.2, 0.0, 1203.0], [0.0, 7531.6, 976.8907], [0.0, 0.0, 1.0]]
+
+  CAMERA_QUEUE_LEN: 10
+  LIDAR_QUEUE_LEN: 10
+