Apollo 11.0
自动驾驶开放平台
petr.pb.txt
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1info {
2 name: "petrv1"
3 version: ""
4 dataset: "nuScenes"
5 task_type: Detection3D
6 sensor_type: Camera
7 framework: PaddlePaddle
8
9 proto_file {
10 file: "petr_inference.pdmodel"
11 }
12 weight_file {
13 file: "petr_inference.pdiparams"
14 }
15 inputs {
16 name: "images"
17 shape: 1
18 shape: 6
19 shape: 3
20 shape: 320
21 shape: 800
22 }
23 inputs {
24 name: "img2lidars"
25 shape: 1
26 shape: 6
27 shape: 4
28 shape: 4
29 }
30 outputs {
31 name: "_generated_var_4"
32 shape: 300
33 shape: 9
34 }
35 outputs {
36 name: "_generated_var_9"
37 shape: 300
38 }
39 outputs {
40 name: "_generated_var_14"
41 shape: 300
42 }
43 class_names: "car"
44 class_names: "truck"
45 class_names: "construction_vehicle"
46 class_names: "bus"
47 class_names: "trailer"
48 class_names: "barrier"
49 class_names: "motorcycle"
50 class_names: "bicycle"
51 class_names: "pedestrian"
52 class_names: "traffic_cone"
53}
54resize {
55 width: 800
56 height: 450
57}
58normalize {
59 mean: 103.530
60 mean: 116.280
61 mean: 123.675
62 std: 57.375
63 std: 57.120
64 std: 58.395
65}
66crop {
67 x: 0
68 y: 130
69 width: 800
70 height: 320
71}
72score_threshold: 0.5
apollo::drivers::robosense::height
uint32_t height
Height of point cloud
Definition point_cloud_msg.h:53
apollo::drivers::robosense::width
uint32_t width
Width of point cloud
Definition point_cloud_msg.h:54
apollo::perception::lidar::normalize
void normalize(std::vector< float > *mask_input)
Normalize mask so it integrates to one
Definition filter.h:51
std
Definition future.h:29