graph_segmentation_config.proto

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syntax = "proto2";
 
package apollo.perception.lidar;
 
message GraphSegmentationConfig {
  optional uint32 grid_width = 1;
  optional uint32 grid_height = 2;
  optional float resolution = 3;
  optional float threshold = 4;
  optional uint32 min_pt_number = 5;
  optional uint32 search_radius = 6 [default = 3];
  optional float height_threshold = 7 [default = 2.0];
  optional float xmin = 8 [default = -30.0];
  optional float xmax = 9 [default = 30.0];
  optional float ymin = 10 [default = -10.0];
  optional float ymax = 11 [default = 30.0];
  optional float semantic_cost = 12 [default = 1.0];
  // edge coefficient for semantic label
  optional float same_semantic_coefficient = 13 [default = 1.0];
  optional float diff_semantic_coefficient = 14 [default = 1.0];
  // edge coefficient for motion label
  optional float same_motion_coefficient = 15 [default = 1.0];
  optional float diff_motion_coefficient = 16 [default = 1.0];
  // split params
  optional float split_aspect_ratio = 17 [default = 15.0];
  optional float split_distance = 18 [default = 5.0];
}