fix config

Signed-off-by: scepter914 <scepter914@gmail.com>

Author: scepter914

perception/lidar_transfusion/config/transfusion.param.yaml

@@ -4,8 +4,9 @@
     class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"]
     trt_precision: fp16
     voxels_num: [5000, 30000, 60000]  # [min, opt, max]
-    point_cloud_range: [-76.8, -76.8, -3.0, 76.8, 76.8, 5.0]  # [x_min, y_min, z_min, x_max, y_max, z_max]
-    voxel_size: [0.3, 0.3, 8.0]  # [x, y, z]
+    point_cloud_range: [-92.16, -92.16, -3.0, 92.16, 92.16, 7.0]  # [x_min, y_min, z_min, x_max, y_max, z_max]
+    voxel_size: [0.24, 0.24, 10.0]  # [x, y, z]
+    num_proposals: 500
     onnx_path: "$(var model_path)/transfusion.onnx"
     engine_path: "$(var model_path)/transfusion.engine"
     # pre-process params
@@ -17,4 +18,4 @@
     iou_nms_search_distance_2d: 10.0
     iou_nms_threshold: 0.1
     yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]  # refers to the class_names
-    score_threshold: 0.2
+    score_threshold: 0.1