cnnseg128_param.pb.txt

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# cnnseg params
 
info {
  name: "cnnseg128_caffe"
  version: ""
  dataset: "apollo"
  task_type: Detection3D
  sensor_type: Lidar
  framework: TensorRT
 
  proto_file {
    file: "deploy.prototxt"
  }
  weight_file {
    file: "deploy.caffemodel"
  }
  inputs {
    name: "data",
    shape: 1,
    shape: 8,
    shape: 864,
    shape: 864}
  outputs {name: "instance_pt"}
  outputs {name: "category_score"}
  outputs {name: "confidence_score"}
  outputs {name: "height_pt"}
  outputs {name: "heading_pt"}
  outputs {name: "class_score"}
}
 
feature_param {
  width: 864
  height: 864
  point_cloud_range: 90
  min_height: -5.0
  max_height: 5.0
  use_intensity_feature: false
  use_constant_feature: false
}
 
preprocess {
  gpu_id: 0
}
 
engine_config {
  height_gap: 0.5
}
 
objectness_thresh: 0.5
confidence_thresh: 0.1
confidence_range: 85.0
height_thresh: 0.5
min_pts_num: 3
remove_ground_points: true
fill_recall_with_segmentor: true