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transfusion-p150

Object Detection
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transfusion-p150
File size: 1,864 Bytes
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{
 "model": "transfusion-p150",
 "frame_id": "base_link",
 "meta": {
  "reference": "fp32 CPU (torch)",
  "num_points": 48048,
  "num_points_in_range": 47151,
  "num_pillars": 13058,
  "num_pillars_total": 13058,
  "max_points_in_pillar": 296,
  "pillars_over_cap": 226,
  "pillar_overflow": false,
  "sampling": {
   "mode": "clean",
   "offset": 0,
   "voxelizer_points": 48048
  },
  "skipped": null,
  "autoware_would_skip": null,
  "intensity_changed": 0,
  "densify": {
   "mode": "single",
   "num_points": 48048
  },
  "counts": {
   "proposals": 500,
   "after_threshold": 6,
   "after_circle_nms": 6,
   "after_iou_nms": 5
  },
  "orientation_availability": [
   1,
   1,
   1,
   1,
   1
  ],
  "label_before_remap": [
   "TRUCK",
   "TRUCK",
   "TRUCK",
   "TRUCK",
   "CAR"
  ],
  "proposal": [
   0,
   2,
   19,
   9,
   16
  ]
 },
 "timing_ms": {},
 "num_detections": 5,
 "detections": [
  {
   "label": "TRUCK",
   "label_id": 2,
   "score": 0.3688,
   "center": [
    -19.691,
    33.147,
    1.186
   ],
   "size": [
    6.142,
    1.572,
    1.865
   ],
   "yaw": -2.8061
  },
  {
   "label": "TRUCK",
   "label_id": 2,
   "score": 0.148,
   "center": [
    -34.115,
    31.015,
    1.921
   ],
   "size": [
    7.083,
    1.637,
    1.999
   ],
   "yaw": -0.7138
  },
  {
   "label": "TRUCK",
   "label_id": 2,
   "score": 0.1069,
   "center": [
    -27.401,
    18.528,
    1.154
   ],
   "size": [
    5.216,
    1.607,
    1.844
   ],
   "yaw": -0.6401
  },
  {
   "label": "TRUCK",
   "label_id": 2,
   "score": 0.1054,
   "center": [
    -13.064,
    31.278,
    1.51
   ],
   "size": [
    7.429,
    1.547,
    1.913
   ],
   "yaw": -2.8576
  },
  {
   "label": "CAR",
   "label_id": 1,
   "score": 0.1029,
   "center": [
    5.187,
    -0.483,
    0.493
   ],
   "size": [
    3.32,
    1.28,
    1.345
   ],
   "yaw": -0.1438
  }
 ]
}