提交代码

script/generate/N2_1/2-1.yaml

+NODE_NAME: 2-1
+CAMERA_LAYOUT: [0, -1, -1]
+POLICY_MASK: [1, -1, -1]
+CAMERA_SERIAL_NO: [21135335, -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: [9.194107300534933, -5.626122637755718, 150.0, 20.0, 11.849103226522763,
+    15.0, -9.0, 80.0, -80.0, -3.487847099057734]
+  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: [[[892, 1076], [2232, 1177], [2027, 912], [1289, 857]], [[0, 0], [
+        0, 0], [0, 0], [0, 0]], [[0, 0], [0, 0], [0, 0], [0, 0]]]
+  PC_POLICY_ROTY: [[3.141593, 0.0], [1000.052144, -1000.052144], [1000.052144, -1000.052144]]
+  PC_POLICY_AREA: [[[1519, 874], [1902, 904], [1941, 1019], [1984, 1158], [1304, 1106],
+      [1443, 963], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0]], [[0, 0], [0, 0],
+      [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0,
+        0]], [[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: [[0.05045908306549516, -0.997741728436212, 0.04433197799906369, 0.0],
+    [0.9959209468126726, 0.05359234819149573, 0.07259013648610471, 0.0], [-0.0748020630460102,
+      0.04048831377621809, 0.9963761076077744, 0.2859260540868016], [0.0, 0.0, 0.0,
+      1.0]]
+
+  KITTI2ORIGIN: [[0.05045908306549516, 0.9959209468126726, -0.0748020630460102, 0.021387858724297854],
+    [-0.9977417284362121, 0.053592348191495734, 0.04048831377621808, -0.011576663794662325],
+    [0.04433197799906368, 0.0725901364861047, 0.9963761076077743, -0.2848898888346573],
+    [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: [[-0.992241, -0.124323, 0.00128333, -0.124081], [-0.00340261, 0.0168357,
+      -0.999852, -0.276797], [0.124283, -0.992099, -0.0171281, 0.736849], [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: [[7509.058839767741, 0.0, 1220.4602532816716], [0.0, 7523.874930002482,
+      1052.3337431444797], [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^M
+
+  TRANS: [[-0.055129300803, -0.997837603092, 0.03578780219, 40610743.054429375], [
+      0.997480928898, -0.053436487913, 0.046649895608, 3462873.475322144], [-0.044636640698,
+      0.038269422948, 0.998269975185, 19.47205303], [0.0, 0.0, 0.0, 1.0]]
+
+  BLIND_IN: []
+  BLIND_OUT: []

script/generate/N2_3/2-3.yaml

+NODE_NAME: 2-3
+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: [21177826, -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: [6.1251366922756505, -6.994626040527446, 150.0, 10.0, 2.0330234900343815,
+    14.0, -10.0, 80.0, -80.0, -17.61428020647701]
+  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: [[[832, 1405], [2031, 1417], [1743, 1140], [1084, 1134]], [[0, 0],
+      [0, 0], [0, 0], [0, 0]], [[0, 0], [0, 0], [0, 0], [0, 0]]]
+  PC_POLICY_ROTY: [[3.141593, 0.0], [1000.075752, -1000.075752], [1000.075752, -1000.075752]]
+  PC_POLICY_AREA: [[[1195, 1138], [1673, 1142], [1761, 1299], [1823, 1418], [1068,
+        1416], [1141, 1267], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0]], [[0,
+        0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0], [0, 0],
+      [0, 0], [0, 0]], [[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: [[0.07568437565247627, -0.9968308870840116, -0.02449607800031248,
+      0.0], [0.9971317454228593, 0.07565174868629727, 0.002257252902847979, 0.0],
+    [-0.0003969282768393359, -0.024596655789107878, 0.9996973776958381, 0.9000000000000004],
+    [0.0, 0.0, 0.0, 1.0]]
+  KITTI2ORIGIN: [[0.07568437565247625, 0.9971317454228593, -0.00039692827683933564,
+      0.00035723544915540245], [-0.9968308870840116, 0.07565174868629727, -0.02459665578910788,
+      0.0221369902101971], [-0.024496078000312487, 0.0022572529028479795, 0.9996973776958382,
+      -0.8997276399262547], [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: [[-0.994864, -0.101092, 0.00511658, 0.0528449], [-0.0100038, 0.0478969,
+      -0.998802, -0.273319], [0.100726, -0.993723, -0.0486622, 0.659704], [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: [[7559.7, 0.0, 1201.2], [0.0, 7572.8, 985.6993], [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: [[0.118877768517, 0.990384340286, -0.070760093629, 40610864.76316899], [
+      -0.992871820927, 0.119187220931, 0.000152187393, 3462876.197313769], [0.008584422991,
+      0.070237606764, 0.997493386269, 20.07169652], [0.0, 0.0, 0.0, 1.0]]
+  BLIND_IN: []
+  BLIND_OUT: []
+  BLIND_OUT_2: []

script/generate/N3_1/3-1.yaml

+NODE_NAME: 3-1
+CAMERA_LAYOUT: [0, -1, -1]
+POLICY_MASK: [-1, -1, -1]
+CAMERA_SERIAL_NO: [21179749, -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: [7.005945168920547, -6.716958738970565, 80.0, 24.0, 13.64794108585249,
+    21.0, -10.0, 80.0, -80.0, -4.948397653689416]
+  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], [1000.102829, -1000.102829], [1000.102829, -1000.102829]]
+  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: [[0.10282893175566048, -0.9927983688656276, 0.06146226136206685, 0.0],
+    [0.9946815801416514, 0.10226437626202323, -0.01226994191701453, 0.0], [0.0058961784994428,
+      0.06239708427073043, 0.9980339868729993, 0.7844127162859094], [0.0, 0.0, 0.0,
+      1.0]]
+
+  KITTI2ORIGIN: [[0.10282893175566046, 0.9946815801416512, 0.005896178499442798, -0.004625037392454504],
+    [-0.9927983688656277, 0.10226437626202323, 0.062397084270730444, -0.04894506636112445],
+    [0.06146226136206687, -0.012269941917014532, 0.9980339868729994, -0.782870550588705],
+    [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: [[-0.996872, 0.078968, -0.00318625, 0.0158725], [0.0130107, 0.124211,
+      -0.992171, -0.129212], [-0.077954, -0.989109, -0.12485, 0.635463], [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: [[7539.908889587756, 0.0, 1234.3767381002895], [0.0, 7554.026627701238,
+      1018.7128705998498], [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: [[-0.043562665582, 0.997077941895, -0.062752954662, 40611565.80853813], [
+      -0.998564898968, -0.041496656835, 0.033858418465, 3463081.4422527524], [0.031155442819,
+      0.064137846231, 0.997454583645, 19.81514911], [0.0, 0.0, 0.0, 1.0]]
+
+  BLIND_IN: []
+  BLIND_OUT: []

script/generate/N3_2/3-2.yaml

+NODE_NAME: 3-2
+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: [21122017, -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: [8.28605438543586, 8.28605438543586, 80.0, 40.0, 6.459208303881683,
+    104.0, -127.0, 80.0, -80.0, -13.381680298363811]
+  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], [1000.028316, -1000.028316], [1000.028316, -1000.028316]]
+  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: [[0.9995180204153945, 0.028485544660163925, -0.012341013341895022,
+      10.0], [-0.02812481342444661, 0.9991986491976914, 0.02847901528053492, 0.0],
+    [0.013142364122603362, -0.02811820027887063, 0.9995182064766736, 0.7000000000000002],
+    [0.0, 0.0, 0.0, 1.0]]
+  KITTI2ORIGIN: [[0.9995180204153945, -0.028124813424446605, 0.013142364122603362,
+      -0.009199654885822353], [0.02848554466016391, 0.9991986491976912, -0.02811820027887063,
+      0.019682740195209443], [-0.01234101334189502, 0.028479015280534915, 0.9995182064766736,
+      -0.6996627445336716], [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: [[-0.994998161, 0.0998929805, 0.00022632723, 0.00244574], [0.0181879421,
+      0.18339046, -0.982871883, -0.209588], [-0.0982235081, -0.9779516, -0.184290018,
+      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: [[7481.380550495129, 0.0, 1149.9210278736896], [0.0, 7494.475356826924,
+      1022.9019086640917], [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: [[-0.21047334373, -0.977406859398, -0.019409403205, 40611447.92258323], [
+      0.977276146412, -0.20985160768, -0.029891142622, 3463078.57738011], [0.025142716244,
+      -0.025259640068, 0.999364733696, 20.34537223], [0.0, 0.0, 0.0, 1.0]]
+  BLIND_IN: [4.319010529319466, 15.84543415901052, -16.66174637729601, 14.517728383602746]
+  BLIND_OUT: [3.7139257823670073, 14.91321390226355, 11.03645420678645, 26.545831007005923]
+  BLIND_OUT_2: []

script/generate/N5_1/5-1.yaml

+NODE_NAME: 5-1
+CAMERA_LAYOUT: [0, -1, -1]
+POLICY_MASK: [-1, -1, -1]
+CAMERA_SERIAL_NO: [21177822, -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: [0.11561325046748723, -1.092793314581994, 80.0, 152.0, 48.33986211090886,
+    40.0, -58.0, 80.0, -80.0, -4.799776272749738]
+  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], [999.904895, -999.904895], [999.904895, -999.904895]]
+  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: [[-0.09480387225484764, -0.9950266779148981, 0.03056363923239795,
+      0.0], [0.9954426694786479, -0.09507180857810195, -0.007432563145518051, 0.0],
+    [0.010301339073630237, 0.02971971485950677, 0.9995051880615526, 0.2999999999999998],
+    [0.0, 0.0, 0.0, 1.0]]
+  KITTI2ORIGIN: [[-0.09480387225484765, 0.9954426694786479, 0.010301339073630237,
+      -0.003090401722089069], [-0.9950266779148981, -0.09507180857810194, 0.029719714859506766,
+      -0.008915914457852024], [0.03056363923239795, -0.007432563145518051, 0.9995051880615526,
+      -0.2998515564184656], [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: [[-0.995931, 0.0900209, -0.00411634, -0.00573507], [0.0128231, 0.0963568,
+      -0.995264, -0.25262], [-0.089198, -0.991268, -0.0971191, 0.610466], [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: [[7622.689563753009, 0.0, 1211.247963539479], [0.0, 7639.9807282917445,
+      1059.6689492152698], [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: [[0.916303992271, -0.40038600564, 0.008842683397, 40611912.88483711], [0.400390565395,
+      0.915391683578, -0.041782874614, 3462876.4089042605], [0.008634760976, 0.041826341301,
+      0.999087572098, 21.27533309], [0.0, 0.0, 0.0, 1.0]]
+
+  BLIND_IN: []
+  BLIND_OUT: []

script/generate/N7_1/7-1.yaml

+NODE_NAME: 7-1
+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: [21185406, 21185390, 21177824]
+DRIVE_DIRECTION: [0, 0, 0] #  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: 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: [15.04341374235729, -5.260303364170211, 150.0, 30.0, 19.38420271149741,
+    28.0, -23.0, 150.0, -150.0, -8.369847269674542]
+  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: [[[744, 520], [2447, 561], [1347, 328], [2351, 347]], [[0, 751], [
+        1979, 790], [0, 548], [1224, 574]], [[737, 729], [2447, 680], [1512, 502],
+      [2447, 468]]]
+  PC_POLICY_ROTY: [[3.141593, 0.0], [-1.591032, 1.591032], [1.550686, -1.550686]]
+  PC_POLICY_AREA: [[[1598, 331], [1797, 339], [1842, 430], [1796, 544], [1084, 528],
+      [1373, 413], [1798, 333], [2223, 344], [2312, 436], [2403, 563], [1798, 548],
+      [1840, 425]], [[251, 557], [469, 563], [553, 626], [739, 770], [369, 757], [
+        294, 641], [471, 559], [752, 565], [960, 661], [1228, 778], [734, 765], [
+        580, 655]], [[1651, 493], [1953, 489], [1833, 581], [1687, 696], [1142, 716],
+      [1418, 598], [1951, 483], [2215, 475], [2173, 573], [2136, 673], [1674, 704],
+      [1835, 573]]]
+  ORIGIN2KITTI: [[-0.03414222029249569, -0.9993794541775686, 0.008661140874264117,
+      0.0], [0.9993821935410669, -0.0340674395723183, 0.008639490380331674, 0.0],
+    [-0.008339066287306893, 0.00895076134927045, 0.999925169122532, -0.7000000000000002],
+    [0.0, 0.0, 0.0, 1.0]]
+  KITTI2ORIGIN: [[-0.03414222029249568, 0.9993821935410669, -0.008339066287306894,
+      -0.005837346401114827], [-0.9993794541775686, -0.03406743957231831, 0.00895076134927045,
+      0.0062655329444893165], [0.008661140874264119, 0.008639490380331674, 0.9999251691225322,
+      0.6999476183857727], [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: [[-0.995936, -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, 0.0, 1173.5], [0.0, 7364.8, 999.1346], [0.0, 0.0, 1.0]]
+  CAM_INTRINSICS_1: [[7293.442930597376, 0.0, 1182.551725157397], [0.0, 7304.495100903007,
+      981.5291640436195], [0.0, 0.0, 1.0]]
+  CAM_INTRINSICS_2: [[7552.764938482027, 0.0, 1228.4353420623622], [0.0, 7566.224849928247,
+      1019.0673853747635], [0.0, 0.0, 1.0]]
+TRACKING:
+  LOG_FOLDER: /home/nvidia/catkin_ws/src/jfxrosperceiver/tracking_logs/
+  TIMING: false
+
+  TRANS: [[ 6.60447598e-01, -7.50757873e-01,  1.30958920e-02,  4.06130966e+07],
+          [ 7.50822484e-01,  6.60503983e-01, -2.45426620e-05,  3.46271628e+06],
+          [-8.63146223e-03,  9.84889828e-03,  9.99914229e-01,  1.87395959e+01],
+          [ 0.00000000e+00,  0.00000000e+00,  0.00000000e+00,  1.00000000e+00]]
+  BLIND_IN: [0.8793207584354021, 11.318516057393802, -11.726795120867939, 12.364750077435513]
+  BLIND_OUT: [2.9499341591370176, 10.918559387668694, -18.931044274997923, -10.873520715931155]
+  BLIND_OUT_2: []