提交点云和配置

script/data/5-3/config/5-3.yaml

+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: []
+