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体验新版 GitCode,发现更多精彩内容 >>
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214762f5
编写于
6月 27, 2019
作者:
K
KaWaiTsoiBaidu
提交者:
Xiangquan Xiao
6月 27, 2019
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差异文件
add config files for paddle models of YOLO and Lane line
上级
53aef636
变更
3
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3 changed file
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+141
-0
modules/perception/production/conf/perception/camera/obstacle_paddle.pt
...tion/production/conf/perception/camera/obstacle_paddle.pt
+74
-0
modules/perception/production/data/perception/camera/models/lane_detector/config_darkSCNN_paddle.pt
...ion/camera/models/lane_detector/config_darkSCNN_paddle.pt
+27
-0
modules/perception/production/data/perception/camera/models/yolo_obstacle_detector/config_paddle.pt
...ion/camera/models/yolo_obstacle_detector/config_paddle.pt
+40
-0
未找到文件。
modules/perception/production/conf/perception/camera/obstacle_paddle.pt
0 → 100644
浏览文件 @
214762f5
gpu_id : 0
detector_param {
plugin_param{
name : "YoloObstacleDetector"
root_dir : "/apollo/modules/perception/production/data/perception/camera/models/yolo_obstacle_detector"
config_file : "config_paddle.pt"
}
camera_name : "front_6mm"
#camera_name : "spherical_left_forward"
}
detector_param {
plugin_param{
name : "YoloObstacleDetector"
root_dir : "/apollo/modules/perception/production/data/perception/camera/models/yolo_obstacle_detector"
config_file : "config_paddle.pt"
}
camera_name : "front_12mm"
}
tracker_param {
plugin_param{
name : "OMTObstacleTracker"
root_dir : "/apollo/modules/perception/production/data/perception/camera/models/omt_obstacle_tracker"
config_file : "config.pt"
}
}
transformer_param {
plugin_param{
name : "MultiCueObstacleTransformer"
root_dir : "/apollo/modules/perception/production/data/perception/camera/models/multicue_obstacle_transformer"
config_file : "config.pt"
}
}
postprocessor_param {
plugin_param{
name : "LocationRefinerObstaclePostprocessor"
root_dir : "/apollo/modules/perception/production/data/perception/camera/models/location_refiner_obstacle_postprocessor"
config_file : "config.pt"
}
}
lane_param {
lane_detector_param {
plugin_param {
name : "DarkSCNNLaneDetector"
root_dir : "/apollo/modules/perception/production/data/perception/camera/models/lane_detector/"
config_file : "config_darkSCNN_paddle.pt"
}
camera_name : "front_6mm"
}
lane_postprocessor_param {
name : "DarkSCNNLanePostprocessor"
root_dir : "/apollo/modules/perception/production/data/perception/camera/models/lane_postprocessor/darkSCNN/"
config_file : "config.pt"
}
}
calibration_service_param {
plugin_param {
name : "OnlineCalibrationService"
root_dir : ""
config_file : ""
}
calibrator_method : "LaneLineCalibrator"
}
object_template_param {
plugin_param{
name : "ObjectTemplate"
root_dir : "/apollo/modules/perception/production/data/perception/camera/common/object_template/"
config_file : "object_template.pt"
}
}
modules/perception/production/data/perception/camera/models/lane_detector/config_darkSCNN_paddle.pt
0 → 100644
浏览文件 @
214762f5
model_param {
model_name: "darkSCNN"
proto_file: "model"
weight_file: "params"
input_offset_y: 312
input_offset_x: 0
crop_height: 768
crop_width: 1920
resize_height: 480
resize_width: 640
mean_b: 95
mean_g: 99
mean_r: 96
is_bgr: true
confidence_threshold: 0.95
vpt_mean_dx: 0.0
vpt_mean_dy: -77.284
vpt_std_dx: 103.109
vpt_std_dy: 95.273
model_type: "PaddleNet"
}
net_param {
seg_blob: "softmax"
vpt_blob: "fc_out"
input_blob: "data"
}
modules/perception/production/data/perception/camera/models/yolo_obstacle_detector/config_paddle.pt
0 → 100644
浏览文件 @
214762f5
model_param {
model_name: "./3d-r4-half"
model_type: "PaddleNet"
weight_file: "params"
proto_file: "model"
anchors_file: "anchors.txt"
types_file: "types.txt"
calibratetable_root: "./3d-r4-half"
confidence_threshold: 0.4
offset_ratio: 0.288889
cropped_ratio: 0.711111
resized_width: 1440
aligned_pixel: 32
min_2d_height: 10
min_3d_height: 0.1
ori_cycle: 2
with_box3d: true
light_swt_conf_threshold: 0
light_vis_conf_threshold: 0
with_lights: true
with_ratios: false
# num_areas: 4
border_ratio: 0.01
}
net_param {
det1_loc_blob: "loc_pred"
det1_obj_blob: "obj_pred"
det1_cls_blob: "cls_pred"
det1_ori_conf_blob: "ori_conf_pred"
det1_ori_blob: "ori_pred"
det1_dim_blob: "dim_pred"
input_blob: "data"
feat_blob: "conv3_3"
}
nms_param {
type: "NormalNMS"
threshold: 0.5
sigma: 0.4
inter_cls_nms_thresh: 0.6
}
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