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changh95
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bevfusion-p150

Object Detection
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bevfusion-p150
File size: 2,071 Bytes
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{
 "model": "bevfusion-p150",
 "frame_id": "base_link",
 "meta": {
  "reference": "fp32 CPU (torch)",
  "points_in": 48048,
  "points_in_range": 43474,
  "voxels_total": 21359,
  "voxels": 21359,
  "voxel_overflow": false,
  "points_dropped_by_cap": 1142,
  "max_points_in_voxel": 34,
  "num_voxels": 21359,
  "sparse": {
   "counts": {
    "l1": 21359,
    "l2": 27551,
    "l3": 15823,
    "l4": 7037,
    "out": 5393
   },
   "pairs": {
    "subm1": 112747,
    "down1": 74979,
    "subm2": 331289,
    "down2": 91463,
    "subm3": 223709,
    "down3": 52363,
    "subm4": 110891,
    "conv_out": 9580
   },
   "bucket": "s",
   "overflow": false
  },
  "skipped": null,
  "densify": {
   "mode": "single",
   "num_points": 48048
  },
  "counts": {
   "proposals": 500,
   "after_threshold": 5,
   "after_circle_nms": 5,
   "after_iou_nms": 5
  },
  "orientation_availability": [
   1,
   1,
   1,
   1,
   1
  ],
  "label_before_remap": [
   "TRUCK",
   "TRUCK",
   "TRUCK",
   "TRUCK",
   "CAR"
  ],
  "proposal": [
   0,
   1,
   2,
   3,
   6
  ]
 },
 "timing_ms": {},
 "num_detections": 5,
 "detections": [
  {
   "label": "TRUCK",
   "label_id": 2,
   "score": 0.7592,
   "center": [
    24.185,
    11.192,
    1.54
   ],
   "size": [
    8.129,
    2.519,
    2.849
   ],
   "yaw": 3.1401
  },
  {
   "label": "TRUCK",
   "label_id": 2,
   "score": 0.5838,
   "center": [
    20.807,
    -0.493,
    1.615
   ],
   "size": [
    6.125,
    2.343,
    3.124
   ],
   "yaw": -0.0175
  },
  {
   "label": "TRUCK",
   "label_id": 2,
   "score": 0.2913,
   "center": [
    37.833,
    11.421,
    1.474
   ],
   "size": [
    7.111,
    2.398,
    2.74
   ],
   "yaw": -3.1118
  },
  {
   "label": "TRUCK",
   "label_id": 2,
   "score": 0.2386,
   "center": [
    58.497,
    11.31,
    1.687
   ],
   "size": [
    7.564,
    2.508,
    2.931
   ],
   "yaw": -3.0688
  },
  {
   "label": "CAR",
   "label_id": 1,
   "score": 0.139,
   "center": [
    -23.48,
    49.965,
    1.439
   ],
   "size": [
    3.791,
    1.642,
    1.503
   ],
   "yaw": -1.491
  }
 ]
}