README

目录

• perception-lidar-output
  • Introduction
  • Structure
  • Modules
    • LidarOutputComponent
      • Input
      • Output
      • How to use
  • 文档意见反馈

perception-lidar-output

Introduction

Convert the SensorFrameMessage to PerceptionObstacles.

Structure

├── lidar_output
    ├── conf         // component config file
    ├── dag          // component dag file
    ├── proto        // definition of data structure
    ├── lidar_output_component.cc // component inference
    ├── lidar_output_component.h
    ├── cyberfile.xml   // package configs
    ├── README.md
    └── BUILD

Modules

LidarOutputComponent

apollo::perception::lidar::LidarOutputComponent

Input

Name	Type	Description	Input channal
message	apollo::perception::onboard::SensorFrameMessage	sensor frame message	/perception/inner/PrefusedObjects

>Note: The input channel is structure type data. The default trigger channel is /perception/inner/PrefusedObjects. The detailed input channel information is in modules/perception/lidar_output/dag/lidar_output.dag file.

Output

Name	Type	Description	Output channal
out_message	apollo::perception::onboard::PerceptionObstacles	lidar output message	/apollo/perception/obstacles

>Note: The output channel is proto type data. The upstream and downstream components will be started in different processes and can receive the message normally. The detailed output channel information is in modules/perception/lidar_output/conf/lidar_output_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 modules/perception/lidar_output/dag/lidar_output.dag

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

1. Modify modules/perception/lidar_output/conf/lidar_output_config.pb.txt

• output_channel_name: the name of output channel

1. start the lidar component

mainboard -d modules/perception/lidar_output/dag/lidar_output.dag

文档意见反馈

如果您在使用文档的过程中，遇到任何问题，请到我们在【开发者社区】建立的 反馈意见收集问答页面，反馈相关的问题。我们会根据反馈意见对文档进行迭代优化。