perception: add confidence

modules/perception/model/modest_radar_detector.config

@@ -14,19 +14,10 @@ model_configs {
         name: "delay_frames"
         value: 4
     }
-    string_params {
-        name: "chosen_filter"
-        value: "Adaptive Kalman Filter"
-                  #Adaptive Kalman Filter
-    }
     bool_params {
         name: "use_fp_filter"
         value: true
     }
-    bool_params {
-        name: "use_kf_filter"
-        value: true
-    }
     double_params {
         name: "probexist_vehicle"
         value: 0.9

modules/perception/obstacle/base/object.cc

@@ -117,6 +117,7 @@ void Object::Serialize(PerceptionObstacle* pb_obj) const {
     }
   }
 
+  pb_obj->set_confidence(score);
   pb_obj->set_tracking_time(tracking_time);
   pb_obj->set_type(static_cast<PerceptionObstacle::Type>(type));
   pb_obj->set_timestamp(latest_tracked_time);  // in seconds.
@@ -148,6 +149,7 @@ void Object::Deserialize(const PerceptionObstacle& pb_obs) {
     polygon.push_back(point);
   }
 
+  score = pb_obs.confidence();
   tracking_time = pb_obs.tracking_time();
   latest_tracked_time = pb_obs.timestamp();
   type = static_cast<ObjectType>(pb_obs.type());