package apollo.perception.onboard

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• optional string camera_names = 1

• optional string input_camera_channel_names = 2

• optional double timestamp_offset = 3

• optional string camera_obstacle_perception_conf_dir = 4

• optional string camera_obstacle_perception_conf_file = 5

• optional int32 frame_capacity = 6

• optional int32 image_channel_num = 7

• optional bool enable_undistortion = 8

• optional bool enable_visualization = 9

• optional string output_obstacles_channel_name = 10

• optional string camera_perception_viz_message_channel_name = 11

• optional string prefused_channel_name = 12

• optional double default_camera_pitch = 13

• optional double default_camera_height = 14

• optional string lane_calibration_working_sensor_name = 15

• optional string calibrator_method = 16

• optional string calib_service_name = 17

• optional bool run_calib_service = 18

• optional bool output_camera_debug_msg = 19

• optional string camera_debug_channel_name = 20

• optional double ts_diff = 21

• optional bool output_final_obstacles = 22

• optional string visual_debug_folder = 23

• optional string visual_camera = 24

• optional bool write_visual_img = 25

• optional double min_laneline_length_for_cipv = 26

• optional double average_lane_width_in_meter = 27

• optional double max_vehicle_width_in_meter = 28

• optional double average_frame_rate = 29

• optional bool image_based_cipv = 30

• optional int32 debug_level = 31

• optional bool enable_cipv = 32

• optional string fusion_method = 1

• optional string fusion_main_sensor = 2

• optional bool object_in_roi_check = 3

• optional double radius_for_roi_object_check = 4

• optional string output_obstacles_channel_name = 5

• optional string output_viz_fused_content_channel_name = 6

• optional string camera_names = 1

• optional string input_camera_channel_names = 2

• optional double timestamp_offset = 3

• optional string camera_lane_perception_conf_dir = 4

• optional string camera_lane_perception_conf_file = 5

• optional int32 frame_capacity = 6

• optional int32 image_channel_num = 7

• optional bool enable_undistortion = 8

• optional bool enable_visualization = 9

• optional string output_lanes_channel_name = 10

• optional double default_camera_pitch = 11

• optional double default_camera_height = 12

• optional string lane_calibration_working_sensor_name = 13

• optional string calibrator_method = 14

• optional string calib_service_name = 15

• optional bool run_calib_service = 16

• optional double ts_diff = 17

• optional string visual_debug_folder = 18

• optional string visual_camera = 19

• optional bool write_visual_img = 20

• optional string main_sensor_name = 1

• optional string output_channel_name = 2

• optional string sensor_name = 1

• optional bool enable_hdmap = 2

• optional double lidar_query_tf_offset = 3

• optional string lidar2novatel_tf2_child_frame_id = 4

• optional string output_channel_name = 5

• optional string camera_names = 1

• optional string input_camera_channel_names = 2

• optional string input_localization_channel_name = 3

• optional string output_topic_channel_name = 4

• optional string radar_name = 1

• optional string tf_child_frame_id = 2

• optional double radar_forward_distance = 3

• optional string radar_preprocessor_method = 4

• optional string radar_perception_method = 5

• optional string radar_pipeline_name = 6

• optional string odometry_channel_name = 7

• optional string output_channel_name = 8

• optional string tl_tf2_frame_id = 1

• optional string tl_tf2_child_frame_id = 2

• optional double tf2_timeout_second = 3

• optional string camera_names = 4

• optional string camera_channel_names = 5

• optional double tl_image_timestamp_offset = 6

• optional int32 max_process_image_fps = 7

• optional double query_tf_interval_seconds = 8

• optional double valid_hdmap_interval = 9

• optional double image_sys_ts_diff_threshold = 10

• optional double sync_interval_seconds = 11

• optional string camera_traffic_light_perception_conf_dir = 12

• optional string camera_traffic_light_perception_conf_file = 13

• optional int32 default_image_border_size = 14

• optional string traffic_light_output_channel_name = 15

• optional string simulation_channel_name = 16

• optional string v2x_trafficlights_input_channel_name = 17

• optional double v2x_sync_interval_seconds = 18

• optional int32 max_v2x_msg_buff_size = 19