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ML_benchmarking / pointpainting /detection_class_remapper.param.yaml
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/**:
ros__parameters:
allow_remapping_by_area_matrix:
# NOTE(kl): We turn all vehicles into trailers if they go over 3x12 [m^2].
# NOTE(kl): We turn cars into trucks if they have an area between 2.2 x 5.5 and 3.0 * 12.0 [m^2]
# row: original class. column: class to remap to
#UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE,PEDESTRIAN
[0, 0, 0, 0, 0, 0, 0, 0, #UNKNOWN
0, 0, 1, 0, 1, 0, 0, 0, #CAR
0, 0, 0, 0, 1, 0, 0, 0, #TRUCK
0, 0, 0, 0, 1, 0, 0, 0, #BUS
0, 0, 0, 0, 0, 0, 0, 0, #TRAILER
0, 0, 0, 0, 0, 0, 0, 0, #MOTORBIKE
0, 0, 0, 0, 0, 0, 0, 0, #BICYCLE
0, 0, 0, 0, 0, 0, 0, 0] #PEDESTRIAN
min_area_matrix:
#UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
[ 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #UNKNOWN
0.000, 0.000, 12.100, 0.000, 36.000, 0.000, 0.000, 0.000, #CAR
0.000, 0.000, 0.000, 0.000, 36.000, 0.000, 0.000, 0.000, #TRUCK
0.000, 0.000, 0.000, 0.000, 36.000, 0.000, 0.000, 0.000, #BUS
0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #TRAILER
0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #MOTORBIKE
0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #BICYCLE
0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000] #PEDESTRIAN
max_area_matrix:
#UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
[ 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #UNKNOWN
0.000, 0.000, 36.000, 0.000, 999.999, 0.000, 0.000, 0.000, #CAR
0.000, 0.000, 0.000, 0.000, 999.999, 0.000, 0.000, 0.000, #TRUCK
0.000, 0.000, 0.000, 0.000, 999.999, 0.000, 0.000, 0.000, #BUS
0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #TRAILER
0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #MOTORBIKE
0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #BICYCLE
0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000] #PEDESTRIAN