omt.proto

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syntax = "proto2";
 
package apollo.perception.camera;
import "modules/perception/common/proto/plugin_param.proto";
 
// todo(wxt): check if need delete later
// message ROIPollingParam {
//   optional int32 pooled_h = 1 [default = 3];
//   optional int32 pooled_w = 2 [default = 3];
//   optional bool use_floor = 3 [default = true];
// }
// message FeatureExtractParam {
//   optional int32 feat_stride = 1 [default = 32];
//   optional string feat_blob = 2 [default = "conv4_3"];
//   optional string feat_type = 3 [default = "ROIPooling"];
//   optional ROIPollingParam roi_pooling_param = 4;
// }
 
message KalmanParam {
  optional float init_variance = 1;
  optional float process_variance = 2;
  optional float measure_variance = 3;
}
 
message TargetParam {
  optional float velocity_threshold = 1 [default = 2.0];
  optional int32 velocity_output_delay = 2 [default = 2];
  optional KalmanParam world_center = 3;
  optional KalmanParam image_center = 4;
  optional float image_wh_update_rate = 5;
  optional int32 world_lhw_history = 6 [default = 15];
  optional float height_diff_ratio = 7 [default = 0.1];
 
  // params for checking static obstacles
  optional int32 world_state_history = 8 [default = 30];
  optional int32 min_cached_world_state_history_size = 9 [default = 5];
  optional int32 min_cached_velocity_size = 10 [default = 10];
  optional int32 min_cached_position_size = 11 [default = 25];
  optional int32 calc_avg_position_window_size = 12 [default = 7];
 
  optional float static_speed_threshold = 13 [default = 0.5];
  optional float static_speed_threshold_ped = 14 [default = 0.3];
  optional float min_moving_avg_speed = 15 [default = 1.0];
  optional float min_moving_avg_speed_ped = 16 [default = 0.5];
 
  optional float abnormal_acc_threshold = 17 [default = 6.0];
  optional float abnormal_acc_threshold_ped = 18 [default = 3.0];
 
  optional float abnormal_velocity_heading_angle_threshold = 19
      [default = 0.7854];  // M_PI / 4
 
  optional bool clapping_velocity = 20 [default = false];
  optional int32 world_mean_velocity_duration = 21 [default = 10];
 
  optional int32 tracked_life = 22 [default = 3];
  optional float type_filter_var = 23 [default = 0.3];
  optional float large_velocity_ratio = 24 [default = 2.5];
  optional float too_large_velocity_ratio = 25 [default = 1.5];
 
  optional int32 mean_filter_window = 26 [default = 10];
  optional float direction_filter_ratio = 27 [default = 0.7];
  optional float displacement_theta_var = 28 [default = 0.25];
  optional float velocity_theta_var = 29 [default = 0.5];
  optional float stable_moving_speed = 30 [default = 2.0];
}
message ReferenceParam {
  optional int32 margin = 1 [default = 2];
  optional int32 min_allow_height = 2 [default = 50];
  optional float area_decay = 3 [default = 0.99];
  optional int32 down_sampling = 4 [default = 40];
  optional float height_diff_ratio = 5 [default = 0.1];
}
 
message WeightParam {
  optional float appearance = 1 [default = 0];
  optional float motion = 2 [default = 0];
  optional float shape = 3 [default = 0];
  optional float tracklet = 4 [default = 0];
  optional float overlap = 5 [default = 0];
}
 
// todo(wxt): check if params below all needed
message OmtParam {
  optional int32 img_capability = 1 [default = 7];
  optional int32 lost_age = 2 [default = 2];
  optional int32 reserve_age = 3 [default = 3];
  optional WeightParam weight_same_camera = 4;
  optional WeightParam weight_diff_camera = 5;
  optional float border = 9 [default = 30];
  optional float target_thresh = 10 [default = 0.65];
  optional bool correct_type = 11 [default = false];
  optional TargetParam target_param = 12;
  optional float min_init_height_ratio = 13 [default = 17];
  optional float target_combine_iou_threshold = 14 [default = 0.5];
  optional float fusion_target_thresh = 15 [default = 0.45];
  optional float image_displacement = 16 [default = 50];
  optional float abnormal_movement = 17 [default = 0.3];
  optional double same_ts_eps = 18 [default = 0.05];
  optional ReferenceParam reference = 19;
  optional string type_change_cost_file = 20;
  optional int32 gpu_id = 21;
  optional string root_dir = 22;
  optional string camera_name = 23;
  optional perception.PluginParam plugin_param = 24;
  optional string object_template_param_conf_file = 27;
  optional int32 feature_input_width = 28 [default = 960];
  optional int32 feature_input_height = 29 [default = 640];
}