lidar_fusion_output.dag

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module_config {
  module_library : "modules/perception/pointcloud_preprocess/libpointcloud_preprocess_component.so"
  components {
    class_name : "PointCloudPreprocessComponent"
    config {
      name : "PointCloudPreprocess"
      config_file_path : "/apollo/modules/perception/pointcloud_preprocess/conf/pointcloud_preprocess_config.pb.txt"
      flag_file_path: "/apollo/modules/perception/data/flag/perception_common.flag"
      readers {
        channel: "/apollo/sensor/lidar16/compensator/PointCloud2"
      }
    }
  }
}
 
module_config {
  module_library : "modules/perception/pointcloud_map_based_roi/libpointcloud_map_based_roi_component.so"
  components {
    class_name : "PointCloudMapROIComponent"
    config {
      name : "PointCloudMapROI"
      config_file_path : "/apollo/modules/perception/pointcloud_map_based_roi/conf/pointcloud_map_based_roi_config.pb.txt"
      flag_file_path: "/apollo/modules/perception/data/flag/perception_common.flag"
      readers {
        channel: "/perception/lidar/pointcloud_preprocess"
      }
    }
  }
}
 
module_config {
  module_library : "modules/perception/pointcloud_ground_detection/libpointcloud_ground_detection_component.so"
  components {
    class_name : "PointCloudGroundDetectComponent"
    config {
      name : "PointCloudGroundDetect"
      config_file_path : "/apollo/modules/perception/pointcloud_ground_detection/conf/pointcloud_ground_detection_config.pb.txt"
      flag_file_path: "/apollo/modules/perception/data/flag/perception_common.flag"
      readers {
        channel: "/perception/lidar/pointcloud_map_based_roi"
      }
    }
  }
}
 
module_config {
  module_library : "modules/perception/lidar_detection/liblidar_detection_component.so"
  components {
    class_name : "LidarDetectionComponent"
    config {
      name : "LidarDetection"
      config_file_path : "/apollo/modules/perception/lidar_detection/conf/lidar_detection_config.pb.txt"
      flag_file_path: "/apollo/modules/perception/data/flag/perception_common.flag"
      readers {
        channel: "/perception/lidar/pointcloud_ground_detection"
      }
    }
  }
}
 
module_config {
  module_library : "modules/perception/lidar_detection_filter/liblidar_detection_filter_component.so"
  components {
    class_name : "LidarDetectionFilterComponent"
    config {
      name : "LidarDetectionFilter"
      config_file_path : "/apollo/modules/perception/lidar_detection_filter/conf/lidar_detection_filter_config.pb.txt"
      flag_file_path: "/apollo/modules/perception/data/flag/perception_common.flag"
      readers {
        channel: "/perception/lidar/detection"
      }
    }
  }
}
 
module_config {
  module_library : "modules/perception/lidar_tracking/liblidar_tracking_component.so"
  components {
    class_name : "LidarTrackingComponent"
    config {
      name : "LidarTracking"
      config_file_path : "/apollo/modules/perception/lidar_tracking/conf/lidar_tracking_config.pb.txt"
      flag_file_path: "/apollo/modules/perception/data/flag/perception_common.flag"
      readers {
        channel: "/perception/lidar/detection_filter"
      }
    }
  }
}