README

目录

• perception-lidar-detection-filter
  • Introduction
  • Structure
  • Modules
    • LidarDetectionFilterComponent
      • Input
      • Output
      • How to use
  • 文档意见反馈

perception-lidar-detection-filter

Introduction

Filter foreground and background objects based on obejcts attributes, lane lines, ROI, etc.

Structure

├── lidar_detection_filter
    ├── conf                // component config file
    ├── dag                 // component dag file
    ├── data                // object filter config files
    ├── object_filter_bank          // object filter code
    │   ├── object_filter_bank.cc   // object filter inference
    │   ├── object_filter_bank.h
    │   ├── background_filter    // filter algorithm based on lane
    │   └── roi_boundary_filter  // filter algorithm based on roi boundary
    │   └── strategy_filter      // merge strategy based on expand-big include small
    ├── interface       // definition of BaseObjectFilter
    ├── proto           // definition of data structure
    ├── lidar_detection_filter_component.cc // component inference
    ├── lidar_detection_filter_component.h
    ├── cyberfile.xml   // package configs
    ├── README.md
    └── BUILD

Modules

LidarDetectionFilterComponent

apollo::perception::lidar::LidarDetectionFilterComponent

Input

Name	Type	Description	Input channal
frame	apollo::perception::onboard::LidarFrameMessage	LidarFrame‘s segmented_objects	/perception/lidar/detection

>Note: The input channel is structure type data. The default trigger channel is /perception/lidar/detection. The detailed input channel information is in modules/perception/lidar_detection_filter/dag/lidar_detection_filter.dag file. By default, the upstream components of the messages received by the component include lidar_detection.

Output

Name	Type	Description	Output channal
frame	apollo::perception::onboard::LidarFrameMessage	put the preserved objects into LidarFrame‘s segmented_objects	/perception/lidar/detection_filter

>Note: The output channel is structure type data. The message is defined in the modules/perception/common/onboard/inner_component_messages/lidar_inner_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/lidar_detection_filter/conf/lidar_detection_filter_config.pb.txt file.

How to use

1. Add vehicle params configs to modules/perception/data/params，keep frame_id and sensor_name consistent, start the tf

cyber_launch start modules/transform/launch/static_transform.launch

1. Select the lidar model，download the model files and put them into modules/perception/data/models using amodel tool.

amodel install https://xxx.zip

1. Modify the modules/perception/lidar_detection_filter/dag/lidar_detection_filter.dag

• config_file_path: path of config path
• reader channel: the name of input channel

1. Modify modules/perception/lidar_detection_filter/conf/lidar_detection_filter_config.pb.txt

• output_channel_name: the name of output channel
• use_object_filter_bank: whether use object filter
• config_path: the path of config
• config_file: the name of config

1. start the lidar component

cyber_launch start modules/perception/launch/perception_lidar.launch

文档意见反馈

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