pbf_gatekeeper.pb.txt

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publish_if_has_lidar: true
publish_if_has_radar: true
publish_if_has_camera: true
use_camera_3d: true
 
min_radar_confident_distance: 40
max_radar_confident_angle: 20
min_camera_publish_distance: 50
invisible_period_threshold: 0.001
toic_threshold: 0.8
 
use_track_time_pub_strategy: true
pub_track_time_thresh: 3
 
existence_threshold: 0.7
radar_existence_threshold: 0.9