package apollo.perception.lidar

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• optional string param_file = 1

• optional string proto_file = 2

• optional string weight_file = 3

• optional string engine_file = 4

• optional string model_type = 1

  for cnnseg algorithm

• optional NetworkParam network_param = 2

• optional FeatureParam feature_param = 3

• optional bool do_classification = 4

• optional bool do_heading = 5

• optional uint32 gpu_id = 6

• optional string ground_detector = 7

  for method SppEngine

• optional string roi_filter = 8

• optional bool remove_ground_points = 9

• optional float objectness_thresh = 10

  for both clustering methods

• optional float confidence_thresh = 11

• optional float height_thresh = 12

• optional uint32 min_pts_num = 13

• optional float confidence_range = 14

• optional string classifiers_property_file_path = 1

• optional string transition_property_file_path = 2

• optional float transition_matrix_alpha = 3

Used in: CNNSegParam

• optional float point_cloud_range = 1

• optional uint32 width = 2

• optional uint32 height = 3

• optional float min_height = 4

• optional float max_height = 5

• optional bool use_intensity_feature = 6

• optional bool use_constant_feature = 7

• repeated string filter_name = 1

• optional double temporal_window = 1

• optional bool enable_temporal_fusion = 2

• optional string one_shot_fusion_method = 3

• optional string sequence_fusion_method = 4

• optional bool use_tracked_objects = 5

• optional double roi_rad_x = 1

• optional double roi_rad_y = 2

• optional uint32 grid_size = 3

• optional double ground_threshold = 1

• optional double range = 1

• optional double cell_size = 2

• optional double extend_dist = 3

• optional bool no_edge_table = 4

• optional bool set_roi_service = 5

• optional string detector = 1

• optional bool use_map_manager = 2

• optional bool use_object_filter_bank = 3

• optional string segmentor = 1

• optional bool use_map_manager = 2

• optional bool use_object_filter_bank = 3

• optional string multi_target_tracker = 1

• optional string frame_classifier = 2

• optional string fusion_classifier = 3

• optional bool update_pose = 1

• optional double roi_search_distance = 2

• optional double lane_range = 3

• optional double max_depth = 4

• repeated MlfDistanceWeight foreground_weights = 1

• repeated MlfDistanceWeight background_weights = 2

Used in: MlfDistanceConfig

• optional string sensor_name_pair = 1

• optional float location_dist_weight = 2

• optional float direction_dist_weight = 3

• optional float bbox_size_dist_weight = 4

• optional float point_num_dist_weight = 5

• optional float histogram_dist_weight = 6

• optional float centroid_shift_dist_weight = 7

• optional float bbox_iou_dist_weight = 8

• optional float semantic_map_dist_weight = 9

• repeated string main_sensor = 1

• optional bool use_histogram_for_match = 2

• optional uint32 histogram_bin_size = 3

• optional bool output_predict_objects = 4

• optional double reserved_invisible_time = 5

• optional bool use_frame_timestamp = 6

• optional bool use_adaptive = 1

• optional bool use_breakdown = 2

• optional bool use_convergence_boostup = 3

• optional double init_velocity_variance = 4

• optional double init_acceleration_variance = 5

• optional double measured_velocity_variance = 6

• optional double predict_variance_per_sqrsec = 7

• optional uint32 boostup_history_size_minimum = 8

• optional uint32 boostup_history_size_maximum = 9

• optional double converged_confidence_minimum = 10

• optional double noise_maximum = 12

• optional double trust_orientation_range = 13

• optional double claping_acceleration_threshold = 1

• optional double claping_speed_threshold = 2

• optional double bottom_points_ignore_threshold = 1

• optional double top_points_ignore_threshold = 2

• optional string foreground_mathcer_method = 1

• optional string background_matcher_method = 2

• optional float bound_value = 3

• optional float max_match_distance = 4

• repeated string filter_name = 1

• optional string param_file = 1

Used in: NCutSegmentationParam

• optional float grid_radius = 1

  for ncut algorithm

• optional float connect_radius = 2

• optional float super_pixel_cell_size = 3

• optional uint32 num_cuts = 4

• optional float ncuts_stop_threshold = 5

• optional float ncuts_enable_classifier_threshold = 6

• optional float sigma_space = 7

• optional float sigma_feature = 8

• optional float skeleton_cell_size = 9

• optional uint32 patch_size = 10

• optional float outlier_width_threshold = 11

• optional float outlier_height_threshold = 12

• optional uint32 outlier_num_points_threshold = 13

• optional float overlap_factor = 14

• optional float felzenszwalb_sigma = 15

• optional float felzenszwalb_k = 16

• optional uint32 felzenszwalb_min_size = 17

• optional float grid_radius = 1

  for ncut algorithm

• optional float height_threshold = 2

• optional float partition_cell_size = 3

• optional float vehicle_filter_cell_size = 4

• optional float pedestrian_filter_cell_size = 5

• optional float outlier_length = 6

• optional float outlier_width = 7

• optional float outlier_height = 8

• optional uint32 outlier_min_num_points = 9

• optional string ground_detector = 10

• optional string roi_filter = 11

• optional bool remove_ground_points = 12

• optional bool remove_roi = 13

• optional bool do_classification = 14

• optional NCutParam ncut_param = 15

Used in: CNNSegParam

• optional string instance_pt_blob = 1

• optional string category_pt_blob = 2

• optional string confidence_pt_blob = 3

• optional string height_pt_blob = 4

• optional string class_pt_blob = 5

• optional string heading_pt_blob = 6

• optional string feature_blob = 7

• optional bool filter_naninf_points = 1

• optional bool filter_nearby_box_points = 2

• optional float box_forward_x = 3

• optional float box_backward_x = 4

• optional float box_forward_y = 5

• optional float box_backward_y = 6

• optional bool filter_high_z_points = 7

• optional float z_threshold = 8

• optional double distance_to_boundary_threshold = 1

• optional float confidence_threshold = 2

• optional float cross_roi_threshold = 3

• optional double inside_threshold = 4

• optional double range = 1

• optional double cell_size = 2

• repeated string service_name = 1

• optional uint32 grid_size = 1

• optional float ground_thres = 2

• optional float roi_rad_x = 3

• optional float roi_rad_y = 4

• optional float roi_rad_z = 5

• optional uint32 nr_smooth_iter = 6

• optional bool use_roi = 7

• optional bool use_ground_service = 8

• optional float height_gap = 8