perception_common.flag

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###########################################################################
# Flags from sensor_manager
 
--flagfile=/apollo/modules/common/data/global_flagfile.txt
# config file work root
# type: string
# default:
--work_root=/apollo/modules/perception
 
# SensorManager config file
# type: string
# default:
--obs_sensor_meta_file=sensor_meta.pb.txt
 
# The intrinsics/extrinsics dir
# type: string
# default:
--obs_sensor_intrinsic_path=/apollo/modules/perception/data/params
 
###########################################################################
# Flags from common_flags
 
# enable hdmap input for roi filter.
# type: bool
# default: true
--obs_enable_hdmap_input=true
 
# whether to send message for visualization.
# type: bool
# default: false
--obs_enable_visualization=false
 
# where to save screenshots of visualization
# type: string
# default: ./
--obs_screen_output_dir=./
 
# whether switch to benchmark output mode
# type: bool
# default: false
--obs_benchmark_mode=false
 
# whether save fusion supplement data
# type: bool
# default: false
--obs_save_fusion_supplement=true
 
# Enable saving result images for visualization
# type: bool
# default: false
--start_visualizer=false
 
###########################################################################
# Flags from transform_wrapper
 
# sensor to novatel frame id.
# type: string
# default:
--obs_sensor2novatel_tf2_frame_id=novatel
 
# novatel to world frame id.
# type: string
# default:
--obs_novatel2world_tf2_frame_id=world
 
# novatel to world child frame id.
# type: string
# default:
--obs_novatel2world_tf2_child_frame_id=novatel
 
# query Cyber TF buffer size in second.
# type: double
# default: 0.01
--obs_tf2_buff_size=0.01
 
# enabled state of local pose extrapolation when failed to query pose
# type: bool
# default: false
--obs_enable_local_pose_extrapolation=true
 
# local pose cache size
# type: double
# default: 1.0
--obs_transform_cache_size=1.0
 
# max local pose extrapolation latency
# type: double
# default: 0.15
--obs_max_local_pose_extrapolation_latency=0.15
 
--config_manager_path=./
 
###########################################################################
# Flags from lidar_point_pillars
 
# classification score threshold
# type: double
# default: 0.5
--score_threshold=0.5
 
# enable ground removal
# type: bool
# default: false
--enable_ground_removal=false
 
# remove point cloud that under this height
# type: double
# default: -1.5
--ground_removal_height=-1.5
 
# enable down-sampling point cloud by beams. Set false to use full cloud for
# more accurate detection, but some obstacles in front of ego vehicle might
# not be detected if you use 128c Lidar.
# type: bool
# default: false
--enable_downsample_beams=false
 
# factor for down-sampling point cloud beams
# type: int
# default: 4
--downsample_beams_factor=4
 
# enable down-sampling point cloud by voxelization
# type: bool
# default: false
--enable_downsample_pointcloud=false
 
# down-sample voxel size along x-axis
# type: double
# default: 0.01
--downsample_voxel_size_x=0.1
 
# down-sample voxel size along y-axis
# type: double
# default: 0.01
--downsample_voxel_size_y=0.1
 
# down-sample voxel size along z-axis
# type: double
# default: 0.01
--downsample_voxel_size_z=0.1
 
# enable fusing point cloud of preceding frames
# type: bool
# default: false
--enable_fuse_frames=false
 
# number of frames (including current frame) for fusing point cloud
# type: int
# default: 5
--num_fuse_frames=5
 
###########################################################################
# Flags from msg_adapter
# --cameraframe_to_obstacles_in=/perception/inner/location_refinement
# --lidarframe_to_obstacles_in=/perception/lidar/detection
--sensorframe_message_to_obstacles_in=/perception/inner/PrefusedObjects
 
###########################################################################
# Flags for hdmap
 
# hdmap sample step
# type: int
# default: 1
--hdmap_sample_step=1
 
###################################################
# Flags for judge front-critical
--need_judge_front_critical=false
--x_front=0.0
--x_back=-0.0
--y_front=0.0
--y_back=0.0
 
###################################################
# Flags for reserve blind trafficcone
--need_reserve_blind_cone=false
--cone_x_front=0.0
--cone_x_back=0.0
--cone_y_front=0.0
--cone_y_back=0.0
--cone_reserve_time=0.0