model_param.proto

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syntax = "proto2";
 
package apollo.perception.lidar.cnnseg;
 
import "modules/perception/common/proto/model_info.proto";
import "modules/perception/common/proto/model_process.proto";
 
message ModelParam {
  optional common.ModelInfo info = 1;
  optional FeatureParam feature_param = 2;
  optional bool do_classification = 3 [default = true];
  optional bool do_heading = 4 [default = true];
  optional common.PointCloudPreProcess preprocess = 5;
  optional SppEngineConfig engine_config = 6;
 
  // for method SppEngine
  optional string ground_detector = 7
      [default = "SpatioTemporalGroundDetector"];
  optional string roi_filter = 8 [default = "HdmapROIFilter"];
  optional bool remove_ground_points = 9 [default = false];
 
  // for both clustering methods
  optional float objectness_thresh = 10 [default = 0.5];
  optional float confidence_thresh = 11 [default = 0.1];
  optional float height_thresh = 12 [default = 0.5];
  optional uint32 min_pts_num = 13 [default = 3];
  optional float confidence_range = 14 [default = 60];
  optional bool fill_recall_with_segmentor = 15 [default = true];
}
 
message FeatureParam {
  optional float point_cloud_range = 1 [default = 60.0];
  optional uint32 width = 2 [default = 512];
  optional uint32 height = 3 [default = 512];
 
  optional float min_height = 4 [default = -5.0];
  optional float max_height = 5 [default = 5.0];
 
  optional bool use_intensity_feature = 6 [default = true];
  optional bool use_constant_feature = 7 [default = true];
}
 
message SppEngineConfig {
  optional float height_gap = 1 [default = 0.5];
}