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image_projection_based_fusion

Object Detection
TensorRT
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autoware
ros2
autonomous-driving
lidar
camera
point-cloud
sensor-fusion
pointpainting
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image_projection_based_fusion / detection_class_remapper.param.yaml
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feat: add image_projection_based_fusion v5.0 artifacts (from awf.ml.dev.web.auto/perception/models/pointpainting/v5)
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/**:
 ros__parameters:
 allow_remapping_by_area_matrix:
 # NOTE(kl): We turn all vehicles into trailers if they go over 3x12 [m^2].
 # NOTE(kl): We turn cars into trucks if they have an area between 2.2 x 5.5 and 3.0 * 12.0 [m^2]
 # row: original class. column: class to remap to
 #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE,PEDESTRIAN
 [0, 0, 0, 0, 0, 0, 0, 0, #UNKNOWN
 0, 0, 1, 0, 1, 0, 0, 0, #CAR
 0, 0, 0, 0, 1, 0, 0, 0, #TRUCK
 0, 0, 0, 0, 1, 0, 0, 0, #BUS
 0, 0, 0, 0, 0, 0, 0, 0, #TRAILER
 0, 0, 0, 0, 0, 0, 0, 0, #MOTORBIKE
 0, 0, 0, 0, 0, 0, 0, 0, #BICYCLE
 0, 0, 0, 0, 0, 0, 0, 0] #PEDESTRIAN
min_area_matrix:
 #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
 [ 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #UNKNOWN
 0.000, 0.000, 12.100, 0.000, 36.000, 0.000, 0.000, 0.000, #CAR
 0.000, 0.000, 0.000, 0.000, 36.000, 0.000, 0.000, 0.000, #TRUCK
 0.000, 0.000, 0.000, 0.000, 36.000, 0.000, 0.000, 0.000, #BUS
 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #TRAILER
 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #MOTORBIKE
 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #BICYCLE
 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000] #PEDESTRIAN
max_area_matrix:
 #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
 [ 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #UNKNOWN
 0.000, 0.000, 36.000, 0.000, 999.999, 0.000, 0.000, 0.000, #CAR
 0.000, 0.000, 0.000, 0.000, 999.999, 0.000, 0.000, 0.000, #TRUCK
 0.000, 0.000, 0.000, 0.000, 999.999, 0.000, 0.000, 0.000, #BUS
 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #TRAILER
 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #MOTORBIKE
 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #BICYCLE
 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000] #PEDESTRIAN