fusion_camera_detection_component.proto

syntax = "proto2";

package apollo.perception.onboard;

message FusionCameraDetection {
    optional string camera_names = 1 [default = "front_6mm,front_12mm"];
    optional string input_camera_channel_names = 2 [default = "/sensor/camera/traffic/image_short,/sensor/camera/obstacle/image_narrow"];
    optional double timestamp_offset = 3 [default = 0.0];
    optional string camera_obstacle_perception_conf_dir = 4 [default = "conf/perception/camera"];
    optional string camera_obstacle_perception_conf_file = 5 [default = "obstacle.pt"];
    optional int32 frame_capacity = 6 [default = 20];
    optional int32 image_channel_num = 7 [default = 3];
    optional bool enable_undistortion = 8 [default = false];
    optional bool enable_visualization = 9 [default = false];
    optional string output_obstacles_channel_name = 10 [default = "/perception/obstacles"];
    optional string camera_perception_viz_message_channel_name = 11 [default = "/perception/inner/camera_viz_msg"];
    optional string prefused_channel_name = 12 [default = "/perception/inner/PrefusedObjects"];
    optional double default_camera_pitch = 13 [default = 0.0];
    optional double default_camera_height = 14 [default = 1.5];
    optional string lane_calibration_working_sensor_name = 15 [default = "front_6mm"];
    optional string calibrator_method = 16 [default = "LaneLineCalibrator"];
    optional string calib_service_name = 17 [default = "OnlineCalibrationService"];
    optional bool run_calib_service = 18 [default = true];
    optional bool output_camera_debug_msg = 19 [default = true];
    optional string camera_debug_channel_name = 20 [default = "/perception/obstacles_camera_debug"];
    optional double ts_diff = 21 [default = 0.1];
    optional bool output_final_obstacles = 22 [default = false];
}