camera_detection_multi_stage.proto

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syntax = "proto2";
 
package apollo.perception.camera;
 
import "modules/perception/common/proto/plugin_param.proto";
 
message CameraDetectionMultiStage {
  optional string camera_name = 1 [default = "front_6mm"];
  optional double timestamp_offset = 2 [default = 0.0];
  optional string camera_obstacle_perception_conf_dir = 3
      [default = "conf/perception/camera"];
  optional string camera_obstacle_perception_conf_file = 4
      [default = "obstacle.pt"];
  optional int32 frame_capacity = 5 [default = 20];
  optional int32 image_channel_num = 6 [default = 3];
  optional bool enable_undistortion = 7 [default = false];
  optional bool enable_visualization = 8 [default = false];
  optional Debug debug = 9;
  optional string prefused_channel_name = 10
      [default = "/perception/inner/PrefusedObjects"];
  optional double default_camera_pitch = 11 [default = 0.0];
  optional double default_camera_height = 12 [default = 1.5];
  optional double ts_diff = 13 [default = 0.1];
  optional bool output_final_obstacles = 14 [default = false];
 
  optional CipvParam cipv_param = 15;
 
  optional perception.PluginParam plugin_param = 16;
  optional Channel channel = 17;
  optional int32 gpu_id = 18;
}
 
message Debug {
  optional string output_viz_message_channel_name = 1
      [default = "/perception/inner/camera_viz_msg"];
  optional bool output_camera_debug_msg = 2 [default = false];
  optional string camera_debug_channel_name = 3
      [default = "/perception/camera_debug"];
  optional string visual_debug_folder = 4 [default = "/apollo/debug_output"];
  optional string visual_camera = 5 [default = "front_6mm"];
  optional bool write_visual_img = 6 [default = false];
}
 
message Channel {
  optional string input_camera_channel_name = 1;
  optional string output_obstacles_channel_name = 2;
}
 
message CipvParam {
  optional double min_laneline_length_for_cipv = 1 [default = 2];
  optional double average_lane_width_in_meter = 2 [default = 3.7];
  optional double max_vehicle_width_in_meter = 3 [default = 2.5];
  optional double average_frame_rate = 4 [default = 0.05];
  optional bool image_based_cipv = 5 [default = false];
  optional int32 debug_level = 6 [default = 0];
  optional bool enable_cipv = 7 [default = false];
  optional string cipv = 8 [default = "Cipv"];
}