img_capability: 5
lost_age: 3
reserve_age: 5
weight_same_camera {
    appearance: 0.45
    motion: 1.0
    shape: 0.15
    overlap: 0.05
}
weight_diff_camera {
    motion: 0.5
    shape: 0.15
    overlap: 0.35
}
type_change_cost_file: "type_change_cost"
border: 10
target_thresh: 0.3
correct_type: false
image_displacement: 50
abnormal_movement: 0.4
min_init_height_ratio:17
target_combine_iou_threshold: 0.6
target_param {
    velocity_threshold: 100000
    velocity_output_delay: 0

    world_center {
        init_variance: 5.0
        measure_variance: 0.01
        process_variance: 4
    }
    image_center {
        init_variance: 2500.0
        measure_variance: 60.0
        process_variance: 400.0
    }
    image_wh_update_rate : 0.6
    world_lhw_history: 15
    height_diff_ratio : 0.2
    clapping_velocity : true
    world_state_history: 60
    min_cached_world_state_history_size : 20
    min_cached_velocity_size : 25
    min_cached_position_size : 50
    calc_avg_position_window_size : 15

    static_speed_threshold : 0.5
    static_speed_threshold_ped : 0.3
    min_moving_avg_speed : 1.0
    min_moving_avg_speed_ped : 0.5

    abnormal_acc_threshold : 6.0
    abnormal_acc_threshold_ped : 3.0

    abnormal_velocity_heading_angle_threshold : 0.8
    tracked_life : 3
    type_filter_var : 0.3
    large_velocity_ratio : 2.5
    too_large_velocity_ratio : 1.5
    mean_filter_window :10
    direction_filter_ratio : 0.7
    displacement_theta_var : 0.25
    velocity_theta_var : 0.5
    stable_moving_speed : 2.0
}
reference{
    margin : 2
    min_allow_height : 50
    area_decay : 0.98
    down_sampling : 25
    height_diff_ratio : 0.1
}
plugin_param {
  name: "TrackingFeatureExtractor"
  config_path: "perception/camera_tracking/data"
  config_file: "tracking_feature.pb.txt"
}
feature_input_width: 960
feature_input_height: 640