reader_conf {
   point_cloud_channel: "/apollo/sensor/hesai40/PointCloud2"
   localization_channel: "/apollo/localization/pose"
}

traffic_light_detection_conf {
    camera_frame_id: "camera_front_6mm"
    camera_channel: "/apollo/sensor/camera/front_6mm/image"
    camera_intrinsic_file_path: "/apollo/modules/perception/data/params/camera_front_6mm_intrinsics.yaml"
    car2stopline_max_distance: 5
    car2stopline_max_deg: 45
}

point_cloud_processing_conf {
    intensity_converter_conf {
        enable_sigmoid_converter: true
        intensity_sigmoid_k: 0.35
        intensity_sigmoid_x0: 15.0
    }
    filter_conf {
        enable_height_filter: true
        upper_height_limit_relative_to_pose: 0.4
        lower_height_limit_relative_to_pose: -3.0

        enable_distance_filter: true
        upper_distance_limit: 20.0
        lower_distance_limit: 5.0
    }
    vertical_segmentation {
        enable_height_relative_converter: false
        height_var_k: 250
        height_count_threshold: 10
        height_var_threshold: 0.1
    }
}

matrix_generator_conf {
    matrix_resolution: 0.03125
    matrix_id: 4
}

input_output_conf {
    input_dir: "/apollo_workspace/data/record"
    bin_output_dir: "/apollo/data/base_map/sample/map_bin"
    images_output_dir: "/apollo/data/base_map/sample/map_images"
    use_LRU_cache: true
    LRU_cache_size: 20
}

slam_mode_selection_conf {
    enable_slam_mode: false
    slam_pose_path: "/apollo/data/slam_tf/sample/slam_pose_result.bin"
}

coordinate_transformer_conf {
    worker_num: 12
}

sample_distance: 0.0

debug_conf {
    enable_pcd_file_output: false
    debug_pcd_file_path: "/apollo_workspace/data/debug.pcd"
}
