Apollo 10.0
自动驾驶开放平台
omt.pb.txt
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1img_capability: 14
2lost_age: 3
3reserve_age: 5
4weight_same_camera {
5 appearance: 0.45
6 motion: 1.0
7 shape: 0.15
8 overlap: 0.05
9}
10weight_diff_camera {
11 motion: 0.5
12 shape: 0.15
13 overlap: 0.35
14}
15type_change_cost_file: "type_change_cost"
16border: 5
17target_thresh: 0.6
18correct_type: false
19image_displacement: 50
20abnormal_movement: 0.4
21min_init_height_ratio:17
22target_combine_iou_threshold: 0.3
23target_param {
24 velocity_threshold: 100000
25 velocity_output_delay: 0
26
27 world_center {
28 init_variance: 5.0
29 measure_variance: 0.01
30 process_variance: 4
31 }
32 image_center {
33 init_variance: 2500.0
34 measure_variance: 60.0
35 process_variance: 400.0
36 }
37 image_wh_update_rate : 0.6
38 world_lhw_history: 15
39 height_diff_ratio : 0.2
40 clapping_velocity : true
41 world_state_history: 60
42 min_cached_world_state_history_size : 20
43 min_cached_velocity_size : 25
44 min_cached_position_size : 50
45 calc_avg_position_window_size : 15
46
47 static_speed_threshold : 0.5
48 static_speed_threshold_ped : 0.3
49 min_moving_avg_speed : 1.0
50 min_moving_avg_speed_ped : 0.5
51
52 abnormal_acc_threshold : 6.0
53 abnormal_acc_threshold_ped : 3.0
54
55 abnormal_velocity_heading_angle_threshold : 0.8
56 tracked_life : 3
57 type_filter_var : 0.3
58 large_velocity_ratio : 2.5
59 too_large_velocity_ratio : 1.5
60 mean_filter_window :10
61 direction_filter_ratio : 0.7
62 displacement_theta_var : 0.25
63 velocity_theta_var : 0.5
64 stable_moving_speed : 2.0
65}
66reference{
67 margin : 2
68 min_allow_height : 50
69 area_decay : 0.98
70 down_sampling : 25
71 height_diff_ratio : 0.1
72}
73plugin_param {
74 name: "TrackingFeatureExtractor"
75 config_path: "perception/camera_tracking/data"
76 config_file: "tracking_feature.pb.txt"
77}
78feature_input_width: 960
79feature_input_height: 640