update model weights

src/camera_bev_infer/configs/CameraBevParam.yaml

@@ -16,13 +16,14 @@ vis_project: true
 # ["pedestrian", "vehicle", "stone"]
 pub_classes: ["stone", "cone"]
 obstacle_height_threshold: 25 # cm
-camera_intrinsic: [1346.61241105747, 0, 951.014999441565,
-                    0, 1344.43795511862, 530.562496955385,
-                    0, 0, 1]
-distortion_coefficients: [-0.449196898930979, 0.253956763950171, -0.00139403693782871, -0.00111424348026907, -0.0870171627456232]
-camera2lidar_extrinsic:  [  0.0177667, -0.9994557, -0.0277972, 0.258,
-                           -0.0891004,  0.0261083, -0.9956804, 3.431,
-                            0.9958642,  0.0201667, -0.0885880, 0.212,
+camera_intrinsic: [1942.60953875808,    0,                 966.598714709598,
+                   0,                   1941.99570266726,  574.677777251193,
+                   0,                   0,                 1 ]
+distortion_coefficients: [-0.528765703554843, 0.252351515780946, 0.00337392775054378, 0.000123062634511131, -0.0366309311422936]
+
+camera2lidar_extrinsic:  [  0.0071898, -0.9998431,  0.0161908, -0.050,
+                           -0.2606066, -0.0175052, -0.9652864,  2.225,
+                            0.9654183,  0.0027208, -0.2606915,  0.649,
                             0,          0,          0,          1 ]
 src_img_width: 1920
 src_img_height: 1080

src/camera_bev_infer/configs/CameraBevParam_carmo002.yaml

+rgb_sub_topic_name: /sensor/camera/front_rgb/image
+pointcloud_sub_topic_name: /vehicle_all_pointcloud
+detection_pub_topic_name: /perception/camera/obstacle
+# static_gridmap_pub_topic_name: /perception/camera/bev_static_gridmap
+creator_id: 0000
+creator_name: camera_bev_node
+sensor_frame_id: camera_01
+# config_root_path: /home/nvidia/Projects/perception/eon_camera_bev
+config_root_path: /home/ubuntu/projects/ros_camera_bev/src/camera_bev_infer
+rgb_config_path: configs/weights/multi_yolov5m.yaml
+device: 0
+period_time: 5
+vis_res: true
+vis_frame_id: Lidar
+obstacle_height_threshold: 30 # cm
+camera_intrinsic: [1942.60953875808,    0,                 966.598714709598,
+                   0,                   1941.99570266726,  574.677777251193,
+                   0,                   0,                 1 ]
+distortion_coefficients: [-0.528765703554843, 0.252351515780946, 0.00337392775054378, 0.000123062634511131, -0.0366309311422936]
+
+# wrong
+camera2lidar_extrinsic:  [  0.0071898, -0.9998431,  0.0161908, -0.050,
+                           -0.2606066, -0.0175052, -0.9652864,  2.225,
+                            0.9654183,  0.0027208, -0.2606915,  0.649,
+                            0,          0,          0,          1 ]
+src_img_width: 1920
+src_img_height: 1080
+dst_img_width: 960
+dst_img_height: 540
+

src/camera_bev_infer/configs/weights/multi_yolov5m.yaml

@@ -28,8 +28,8 @@ units:
         inputNames: [resizeNormImages]
         outputNames: [detections, seg_protos, depths, semantics]
         runMode: 1 # 0-fp32 1-fp16 2-int8 (int8 not supported)
-        weightsPath: "configs/weights/isp_x0228m_last.onnx"
-        engineFile: "configs/weights/isp_x0228m_last_fp16.engine"
+        weightsPath: "configs/weights/ips_241107m_stone_best.onnx" # "configs/weights/isp_x0228m_last.onnx"
+        engineFile: "configs/weights/ips_241107m_stone_best_fp16.engine" #  "configs/weights/isp_x0228m_last_fp16.engine"
         inferDynamic: false
         inferBatchSize: 1
         inputWidth: 960
@@ -47,7 +47,7 @@ units:
         scoreThreshold: 0.15 # used when inference, can be modified
         truncatedThreshold: 0.05
         maxOutputNum: 1000
-        rawDetectionLength: 42840  # 32130
+        rawDetectionLength: 10710 # 42840  # 32130
         keepTopK: 100
         segProtoDim: 32
         instanceDownScale: 4

src/camera_bev_infer/src/sensor_manager.h

@@ -4,8 +4,8 @@
  * @Author: wxin
  * @Date: 2023-09-03 01:53:20
  * @email: xin.wang@waytous.com
- * @LastEditors: wxin
- * @LastEditTime: 2024-02-29 03:17:36
+ * @LastEditors: xin.wang.waytous xin.wang@waytous.com
+ * @LastEditTime: 2024-10-31 08:43:47
  */
 
 #ifndef SENSORMANAGER_H