README

目录

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

perception-camera-detection-single-stage

Introduction

The camera 3D object detection module includes two models: caddn and smoke, which can simultaneously output 2d and 3d information at the same time. This module completes operations such as image data preprocessing, detection, and result postprocessing. This module can directly transfer the results to camera_tracking component.

Directory Structure

├── camera_detection_single_stage // camera detect 3d module
    ├── conf            // module configuration files
    ├── dag             // dag files
    ├── data            // model params
    ├── detector        // main part for 3d detector
    │   ├── SMOKE       // SmokeObstacleDetector
    │   └── ...
    ├── interface       // function interface folder
    ├── proto           // proto files
    ├── camera_detection_single_stage_component.cc // component interface
    ├── camera_detection_single_stage_component.h
    ├── cyberfile.xml   // package management profile
    ├── README.md
    └── BUILD

Modules

CameraDetectionSingleStageComponent

apollo::perception::camera::CameraDetectionSingleStageComponent

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_single_stage/dag/camera_detection_single_stage.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_single_stage.launch

Reference

1. SMOKE: Single-Stage Monocular 3D Object Detection via Keypoint Estimation
2. CADDN

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