transfusion-p150 / code /tt_transfusion /samples /test_pcd.reference.json
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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": {
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"voxelizer_points": 48048
},
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"autoware_would_skip": null,
"intensity_changed": 0,
"densify": {
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},
"counts": {
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"after_threshold": 6,
"after_circle_nms": 6,
"after_iou_nms": 5
},
"orientation_availability": [
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1,
1,
1,
1
],
"label_before_remap": [
"TRUCK",
"TRUCK",
"TRUCK",
"TRUCK",
"CAR"
],
"proposal": [
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]
},
"timing_ms": {},
"num_detections": 5,
"detections": [
{
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"score": 0.3688,
"center": [
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],
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],
"yaw": -2.8061
},
{
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],
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],
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},
{
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{
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},
{
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],
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}
]
}