README

目录

• perception-camera-detection-multi-stage
  • Introduction
  • Directory Structure
  • Modules
    • CameraDetectionMultiStageComponent
      • Input
      • Output
      • How to Launch
  • Reference
  • 文档意见反馈

perception-camera-detection-multi-stage

Introduction

The camera 2D object detection module is a multitask model developed based on early yolo, which can simultaneously output dozens of dimensional information such as 2d ,3d, and vehicle turn signals. This module completes operations such as image data preprocessing, detection, result post-processing and so on.

Directory Structure

├── camera_detection_multi_stage // camera detect 2d module
    ├── conf            // module configuration files
    ├── dag             // dag files
    ├── data            // model params
    ├── detector        // main part for detector
    │   ├── yolo        // YoloObstacleDetector
    │   └── ...
    ├── interface       // function interface folder
    ├── proto           // proto files
    ├── camera_detection_multi_stage_component.cc // component interface
    ├── camera_detection_multi_stage_component.h
    ├── cyberfile.xml   // package management profile
    ├── README.md
    └── BUILD

Modules

CameraDetectionMultiStageComponent

apollo::perception::camera::CameraDetectionMultiStageComponent

Input

Name	Type	Description	Input channal
msg	apollo::drivers::Image	camera sensor image	/apollo/sensor/camera/front_6mm/image

>Note: Enter the data type defined by proto. The default trigger camera channel is /apollo/sensor/camera/front_6mm/image. The detailed input channel information is in modules/perception/camera_detection_multi_stage/dag/camera_detection_multi_stage_yolox3d.dag file.

Output

Name	Type	Description	Output channal
frame	apollo::perception::onboard::CameraFrame	camera frame message	/perception/inner/Detection

>Note: The output channel is structure type data. The message is defined in the modules/perception/common/onboard/inner_component_messages/camera_detection_component_messages.h file. The output channel message data can be subscribed by components in the same process. The detailed output channel information is in modules/perception/camera_detection_multi_stage/conf/camera_detection_multi_stage_yolox3d_config.pb.txt file.

How to Launch

cyber_launch start modules/perception/launch/perception_camera_multi_stage.launch

Reference

1. YOLO: Real-Time Object Detection
2. 3D Bounding Box Estimation Using Deep Learning and Geometry

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