mrf_config.proto

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syntax = "proto2";
 
package apollo.perception.radar4d;
 
message MrfDistanceWeight {
  optional string sensor_name_pair = 1 [default = ""];
 
  optional float location_dist_weight = 2 [default = 0];
  optional float direction_dist_weight = 3 [default = 0];
  optional float bbox_size_dist_weight = 4 [default = 0];
  optional float point_num_dist_weight = 5 [default = 0];
  optional float histogram_dist_weight = 6 [default = 0];
  optional float centroid_shift_dist_weight = 7 [default = 0];
  optional float bbox_iou_dist_weight = 8 [default = 0];
  optional float semantic_map_dist_weight = 9 [default = 0];
}
 
message MrfDistanceConfig {
  repeated MrfDistanceWeight foreground_weights = 1;
  repeated MrfDistanceWeight background_weights = 2;
}
 
message MrfTrackObjectMatcherConfig {
  optional string foreground_mathcer_method = 1
      [default = "MultiHmBipartiteGraphMatcher"];
  optional string background_matcher_method = 2
      [default = "GnnBipartiteGraphMatcher"];
  optional float bound_value = 3 [default = 100.0];
  optional float max_match_distance = 4 [default = 4.0];
}
 
message MrfTrackerConfig {
  repeated string filter_name = 1;
}
 
message MrfMotionFilterConfig {
  optional bool use_adaptive = 1 [default = true];
  optional bool use_breakdown = 2 [default = true];
  optional bool use_convergence_boostup = 3 [default = true];
 
  optional double init_velocity_variance = 4 [default = 5.0];
  optional double init_acceleration_variance = 5 [default = 10.0];
  optional double measured_velocity_variance = 6 [default = 0.4];
  optional double predict_variance_per_sqrsec = 7 [default = 10.0];
 
  optional uint32 boostup_history_size_minimum = 8 [default = 3];
  optional uint32 boostup_history_size_maximum = 9 [default = 6];
  optional double converged_confidence_minimum = 10 [default = 0.5];
  optional double noise_maximum = 12 [default = 0.1];
 
  optional double trust_orientation_range = 13 [default = 40];
}
 
message MrfMotionRefinerConfig {
  optional double claping_acceleration_threshold = 1 [default = 10];
  optional double claping_speed_threshold = 2 [default = 1.0];
}
 
message MrfShapeFilterConfig {
  optional double bottom_points_ignore_threshold = 1 [default = 0.1];
  optional double top_points_ignore_threshold = 2 [default = 1.6];
}
 
message MrfEngineConfig {
  repeated string main_sensor = 1;
  optional bool use_histogram_for_match = 2 [default = true];
  optional uint32 histogram_bin_size = 3 [default = 10];
  optional bool output_predict_objects = 4 [default = false];
  optional double reserved_invisible_time = 5 [default = 0.2];
  optional bool use_frame_timestamp = 6 [default = false];
}