Apollo 11.0
自动驾驶开放平台
center_point_param.pb.txt
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1# center point params
2
3info {
4 name: "center_point_paddle"
5 version: ""
6 dataset: "apollo"
7 task_type: Detection3D
8 sensor_type: Lidar
9 framework: PaddlePaddle
10
11 proto_file {
12 file: "centerpoint.pdmodel"
13 }
14 weight_file {
15 file: "centerpoint.pdiparams"
16 }
17 inputs {name: "data"}
18 outputs {name: "_generated_var_11"}
19 outputs {name: "_generated_var_12"}
20 outputs {name: "_generated_var_13"}
21}
22
23preprocess {
24 gpu_id: 0
25 normalizing_factor: 1
26 num_point_feature: 4
27 enable_ground_removal: false
28 ground_removal_height: -1.5
29 enable_downsample_beams: false
30 downsample_beams_factor: 1
31 enable_downsample_pointcloud: true
32 enable_fuse_frames: false
33 num_fuse_frames: 5
34 fuse_time_interval: 0.5
35 enable_shuffle_points: false
36 max_num_points: 2147483647
37 reproduce_result_mode: false
38 enable_roi_outside_removal: false
39}
40
41postprocess {
42 score_threshold: 0.25
43 num_output_box_feature: 7
44 bottom_enlarge_height: 0.25
45 top_enlarge_height: 0.25
46 width_enlarge_value: 0
47 length_enlarge_value: 0
48 cone_score_threshold: 0.50
49 ped_score_threshold: 0.25
50 cyc_score_threshold: 0.25
51 small_mot_score_threshold: 0.25
52 big_mot_score_threshold: 0.25
53}
54
55paddle_settings {
56 use_trt: false
57 trt_precision: 1
58 trt_use_static: true
59 use_calibration: true
60 collect_shape_info: false
61 use_dynamicshape: true
62 dynamic_shape_file: "modules/perception/lidar_detection/data/center_point_paddle/collect_shape_info_3lidar_20.pbtxt"
63}
64
65point2box_max_num: 5
66quantize: 0.2
67filter_by_points: true
68min_points_threshold: 3
69diff_class_nms: true
70diff_class_iou: 0.25
71nms_strategy: false
72filter_by_semantic_type: false
73filter_ground_points: false
74
75plugins {
76 name: "PclDownSample"
77 config_path: "perception/lidar_detection/data/plugins"
78 config_file: "pcl_down_sample.pb.txt"
79}