# center point params

info {
  name: "center_point_paddle"
  version: ""
  dataset: "apollo"
  task_type: Detection3D
  sensor_type: Lidar
  framework: PaddlePaddle

  proto_file {
    file: "centerpoint.pdmodel"
  }
  weight_file {
    file: "centerpoint.pdiparams"
  }
  inputs {name: "data"}
  #outputs {name: "_generated_var_9"}
  #outputs {name: "_generated_var_10"}
  #outputs {name: "_generated_var_11"}
  outputs {name: "_generated_var_11"}
  outputs {name: "_generated_var_12"}
  outputs {name: "_generated_var_13"}
}

preprocess {
  gpu_id: 0
  normalizing_factor: 1
  num_point_feature: 4
  enable_ground_removal: false
  ground_removal_height: -1.5
  enable_downsample_beams: false
  downsample_beams_factor: 1
  enable_downsample_pointcloud: true
  downsample_voxel_size_x: 0.09
  downsample_voxel_size_y: 0.09
  downsample_voxel_size_z: 0.09
  enable_fuse_frames: false
  num_fuse_frames: 5
  fuse_time_interval: 0.5
  enable_shuffle_points: false
  max_num_points: 2147483647
  reproduce_result_mode: false
  enable_roi_outside_removal: false
}

postprocess {
  score_threshold: 0.25
  num_output_box_feature: 7
  bottom_enlarge_height: 0.25
  top_enlarge_height: 0.25
  width_enlarge_value: 0.10
  length_enlarge_value: 0.10
  cone_score_threshold: 0.45
  ped_score_threshold: 0.25
  cyc_score_threshold: 0.40
  small_mot_score_threshold: 0.25
  big_mot_score_threshold: 0.35
}

paddle_settings {
  use_trt: false
  trt_precision: 1
  trt_use_static: true
  use_calibration: true
  collect_shape_info: false
  use_dynamicshape: true
  dynamic_shape_file: "modules/perception/lidar_detection/data/center_point_paddle/collect_shape_info_3lidar_20.pbtxt"
}

point2box_max_num: 5
quantize: 0.2
filter_by_points: true
min_points_threshold: 3
diff_class_nms: true
diff_class_iou: 0.25
nms_strategy: false
filter_by_semantic_type: false
filter_ground_points: false