Perception: removed old config files for lane post process and probabilistic fusion.

modules/perception/conf/config_manager.config

@@ -2,7 +2,6 @@ model_config_path: "model/tracker.config"
 model_config_path: "model/cnn_segmentation.config"
 model_config_path: "model/hdmap_roi_filter.config"
 model_config_path: "model/modest_radar_detector.config"
-model_config_path: "model/probabilistic_fusion.config"
 model_config_path: "model/async_fusion.config"
 model_config_path: "model/sequence_type_fuser.config"
 model_config_path: "model/traffic_light/multi_camera_projection.config"
@@ -13,4 +12,3 @@ model_config_path: "model/traffic_light/preprocessor.config"
 model_config_path: "model/traffic_light/subnodes.config"
 model_config_path: "model/camera/yolo_camera_detector.config"
 model_config_path: "model/camera/geometry_camera_converter.config"
-model_config_path: "model/camera/lane_post_process.config"

modules/perception/model/camera/lane_post_process.config

-model_configs {
-    name: "CCLanePostProcessor"
-    version: "0.1.0"
-
-    string_params {
-        name: "space_type"
-        value: "vehicle"
-    }
-
-    integer_params {
-        name: "image_width"
-        value: 1920
-    }
-
-    integer_params {
-        name: "image_height"
-        value: 1080
-    }
-
-    array_float_params {
-        name: "roi"
-        values: 0
-        values: 440
-        values: 1920
-        values: 640
-    }
-
-    bool_params {
-        name: "use_non_mask"
-        value: false
-    }
-
-    array_float_params {
-        name: "non_mask"
-        values: 960   # x coordinate of point
-        values: 810   # y coordinate of point
-        values: 1260
-        values: 1079
-        values: 660
-        values: 1079
-    }
-
-    float_params {
-        name: "lane_map_confidence_thresh"
-        value: 0.5
-    }
-
-    float_params {
-        name: "cc_split_siz"
-        value: 50.0
-    }
-
-    integer_params {
-        name: "cc_split_len"
-        value: 25
-    }
-
-    integer_params {
-        name: "min_cc_pixel_num"
-        value: 10
-    }
-
-    integer_params {
-        name: "min_cc_size"
-        value: 5
-    }
-
-    float_params {
-        name: "min_y_search_offset"
-        value: 0.5
-    }
-    float_params {
-        name: "min_y_search_offset_image"
-        value: 0.5
-    }
-
-    # association method
-    string_params {
-        name: "assoc_method"
-        value: "greedy_group_connect"
-    }
-
-    # minimum distance
-    float_params {
-        name: "assoc_min_distance"
-        value: -0.5
-    }
-    float_params {
-        name: "assoc_min_distance_image"
-        value: -3
-    }
-
-    # maximum distance
-        float_params {
-        name: "assoc_max_distance"
-        value: 60.0
-    }
-    float_params {
-        name: "assoc_max_distance_image"
-        value: 400.0
-    }
-
-    float_params {
-        name: "assoc_distance_weight"
-        value: 0.4
-    }
-
-    # max deviation angle
-    float_params {
-        name: "assoc_max_deviation_angle"
-        value: 15.0
-    }
-    float_params {
-        name: "assoc_max_deviation_angle_image"
-        value: 45.0
-    }
-
-    float_params {
-        name: "assoc_deviation_angle_weight"
-        value: 0.2
-    }
-
-    # max departure distance
-    float_params {
-        name: "assoc_max_departure_distance"
-        value: 3.0
-    }
-    float_params {
-        name: "assoc_max_departure_distance_image"
-        value: 80.0
-    }
-
-    float_params {
-        name: "assoc_departure_distance_weight"
-        value: 0.2
-    }
-
-    # max relative orientation
-    float_params {
-        name: "assoc_max_relative_orie"
-        value: 15.0
-    }
-    float_params {
-        name: "assoc_max_relative_orie_image"
-        value: 45.0
-    }
-
-    float_params {
-        name: "assoc_relative_orie_weight"
-        value: 0.2
-    }
-
-    # minimum size threshold used for orientation estimation
-    float_params {
-        name: "assoc_min_orientation_estimation_size"
-        value: 3.0
-    }
-    float_params {
-        name: "assoc_min_orientation_estimation_size_image"
-        value: 10.0
-    }
-
-    # maximum number of markers for each CC used in greed search association
-    integer_params {
-        name: "max_cc_marker_match_num"
-        value: 1
-    }
-
-    # maximum window size for greed sliding window association
-    float_params {
-        name: "slide_window_size"
-        value: 15.0
-    }
-    float_params {
-        name: "slide_window_size_image"
-        value: 200.0
-    }
-
-    # maximum number of markers used for greed sliding window association
-    integer_params {
-        name: "slide_window_max_point_num"
-        value: 3
-    }
-
-    # maximum number of markers used for orientation estimation in greed group connect association
-    integer_params {
-        name: "max_group_prediction_marker_num"
-        value: 3
-    }
-
-    # skip marker number used for orientation estimation in marker association
-    integer_params {
-        name: "orientation_estimation_skip_marker_num"
-        value: 1
-    }
-
-    # predefined lane interval distance
-    float_params {
-        name: "lane_interval_distance"
-        value: 4.0
-    }
-
-    # minimum size of lane instances to be prefiltered
-    float_params {
-        name: "min_instance_size_prefiltered"
-        value: 3.0
-    }
-    float_params {
-        name: "min_instance_size_prefiltered_image"
-        value: 20.0
-    }
-
-    # maximum size used for fitting straight lines on lane instances
-    float_params {
-        name: "max_size_to_fit_straight_line"
-        value: 10.0
-    }
-    float_params {
-        name: "max_size_to_fit_straight_line_image"
-        value: 300.0
-    }
-
-    # initial online pitch angle (in degree)
-    float_params {
-        name: "online_pitch_angle"
-        value: -2.5
-    }
-
-    # initial ground height (in meter)
-    float_params {
-        name: "ground_height"
-        value: 1.6
-    }
-
-    # maximum perception distance for transformer (in meter)
-    float_params {
-        name: "max_distance_to_see_for_transformer"
-        value: 500.0
-    }
-}
\ No newline at end of file

modules/perception/model/probabilistic_fusion.config

-model_configs {
-    # Probabilistic_Fusion model.
-    name: "ProbabilisticFusion"
-    version: "1.0.0"
-    string_params {
-        name: "match_method"
-        value: "hm_matcher"
-    }
-    float_params {
-        name: "max_match_distance"
-        value: 4.0
-    }
-    float_params {
-        name: "max_lidar_invisible_period"
-        value: 0.25
-    }
-    float_params {
-        name: "max_radar_invisible_period"
-        value: 0.25
-    }
-    float_params {
-        name: "max_radar_confident_angle"
-        value: 30
-    }
-    float_params {
-        name: "min_radar_confident_distance"
-        value: 40
-    }
-    # publish the fused object if it has a lidar measurement
-    bool_params {
-        name: "publish_if_has_lidar"
-        value: true
-    }
-    # publish the fused object if it has a radar measurement
-    bool_params {
-        name: "publish_if_has_radar"
-        value: true
-    }
-    string_params {
-        name: "publish_sensor"
-        # candidate values: "velodyne_64", "radar", "camera_front_short"
-        value: "velodyne_64"
-    }
-    bool_params {
-        name: "use_radar"
-        value: true
-    }
-    bool_params {
-        name: "use_lidar"
-        value: true
-    }
-}