From 77575100984c03037b85d2948b94964fc826f892 Mon Sep 17 00:00:00 2001 From: Jiahao Chen Date: Fri, 17 Jul 2020 16:32:26 +0800 Subject: [PATCH] Perception: add radar to build --- modules/perception/onboard/component/BUILD | 21 +++++++++++++++++++ .../dag/dag_streaming_perception.dag | 14 ++++++------- .../perception/radar/app/{BUILD_ => BUILD} | 0 .../perception/radar/common/{BUILD_ => BUILD} | 0 .../conti_ars_detector/{BUILD_ => BUILD} | 0 .../radar/lib/dummy/{BUILD_ => BUILD} | 0 .../radar/lib/interface/{BUILD_ => BUILD} | 0 .../conti_ars_preprocessor/{BUILD_ => BUILD} | 0 .../hdmap_radar_roi_filter/{BUILD_ => BUILD} | 0 .../lib/tracker/common/{BUILD_ => BUILD} | 0 .../conti_ars_tracker/{BUILD_ => BUILD} | 0 .../lib/tracker/filter/{BUILD_ => BUILD} | 0 .../lib/tracker/matcher/{BUILD_ => BUILD} | 0 13 files changed, 28 insertions(+), 7 deletions(-) rename modules/perception/radar/app/{BUILD_ => BUILD} (100%) rename modules/perception/radar/common/{BUILD_ => BUILD} (100%) rename modules/perception/radar/lib/detector/conti_ars_detector/{BUILD_ => BUILD} (100%) rename modules/perception/radar/lib/dummy/{BUILD_ => BUILD} (100%) rename modules/perception/radar/lib/interface/{BUILD_ => BUILD} (100%) rename modules/perception/radar/lib/preprocessor/conti_ars_preprocessor/{BUILD_ => BUILD} (100%) rename modules/perception/radar/lib/roi_filter/hdmap_radar_roi_filter/{BUILD_ => BUILD} (100%) rename modules/perception/radar/lib/tracker/common/{BUILD_ => BUILD} (100%) rename modules/perception/radar/lib/tracker/conti_ars_tracker/{BUILD_ => BUILD} (100%) rename modules/perception/radar/lib/tracker/filter/{BUILD_ => BUILD} (100%) rename modules/perception/radar/lib/tracker/matcher/{BUILD_ => BUILD} (100%) diff --git a/modules/perception/onboard/component/BUILD b/modules/perception/onboard/component/BUILD index 63ff320b53c..da3f4e53c5e 100644 --- a/modules/perception/onboard/component/BUILD +++ b/modules/perception/onboard/component/BUILD @@ -15,12 +15,14 @@ cc_library( srcs = [ "detection_component.cc", "fusion_component.cc", + "radar_detection_component.cc", "recognition_component.cc", ], hdrs = [ "detection_component.h", "fusion_component.h", "lidar_inner_component_messages.h", + "radar_detection_component.h", "recognition_component.h", ], copts = [ @@ -54,7 +56,26 @@ cc_library( "//modules/perception/onboard/msg_serializer", "//modules/perception/onboard/proto:fusion_component_config_cc_proto", "//modules/perception/onboard/proto:lidar_component_config_cc_proto", + "//modules/perception/onboard/proto:radar_component_config_cc_proto", "//modules/perception/onboard/transform_wrapper", + "//modules/perception/radar/app:radar_obstacle_perception", + "//modules/perception/radar/common:radar_util", + "//modules/perception/radar/lib/detector/conti_ars_detector", + "//modules/perception/radar/lib/dummy:dummy_algorithms", + "//modules/perception/radar/lib/interface:base_detector", + "//modules/perception/radar/lib/interface:base_filter", + "//modules/perception/radar/lib/interface:base_matcher", + "//modules/perception/radar/lib/interface:base_preprocessor", + "//modules/perception/radar/lib/interface:base_radar_obstacle_perception", + "//modules/perception/radar/lib/interface:base_roi_filter", + "//modules/perception/radar/lib/interface:base_tracker", + "//modules/perception/radar/lib/preprocessor/conti_ars_preprocessor", + "//modules/perception/radar/lib/roi_filter/hdmap_radar_roi_filter", + "//modules/perception/radar/lib/tracker/common:radar_track", + "//modules/perception/radar/lib/tracker/common:radar_track_manager", + "//modules/perception/radar/lib/tracker/conti_ars_tracker", + "//modules/perception/radar/lib/tracker/filter:adaptive_kalman_filter", + "//modules/perception/radar/lib/tracker/matcher:hm_matcher", "//modules/transform:tf2_buffer_lib", "@eigen", ], diff --git a/modules/perception/production/dag/dag_streaming_perception.dag b/modules/perception/production/dag/dag_streaming_perception.dag index f8064ca1aaf..3d850c033c0 100644 --- a/modules/perception/production/dag/dag_streaming_perception.dag +++ b/modules/perception/production/dag/dag_streaming_perception.dag @@ -2,10 +2,10 @@ module_config { module_library : "/apollo/bazel-bin/modules/perception/onboard/component/libperception_component_lidar.so" components { - class_name : "SegmentationComponent" + class_name : "DetectionComponent" config { - name: "Velodyne128Segmentation" - config_file_path: "/apollo/modules/perception/production/conf/perception/lidar/velodyne128_segmentation_conf.pb.txt" + name: "Velodyne128Detection" + config_file_path: "/apollo/modules/perception/production/conf/perception/lidar/velodyne128_detection_conf.pb.txt" flag_file_path: "/apollo/modules/perception/production/conf/perception/perception_common.flag" readers { channel: "/apollo/sensor/lidar128/compensator/PointCloud2" @@ -14,10 +14,10 @@ module_config { } components { - class_name : "SegmentationComponent" + class_name : "DetectionComponent" config { - name: "Velodyne16Segmentation" - config_file_path: "/apollo/modules/perception/production/conf/perception/lidar/velodyne16_segmentation_conf.pb.txt" + name: "Velodyne16Detection" + config_file_path: "/apollo/modules/perception/production/conf/perception/lidar/velodyne16_detection_conf.pb.txt" readers { channel: "/apollo/sensor/lidar16/compensator/PointCloud2" } @@ -30,7 +30,7 @@ module_config { name: "RecognitionComponent" config_file_path: "/apollo/modules/perception/production/conf/perception/lidar/recognition_conf.pb.txt" readers { - channel: "/perception/inner/SegmentationObjects" + channel: "/perception/inner/DetectionObjects" } } } diff --git a/modules/perception/radar/app/BUILD_ b/modules/perception/radar/app/BUILD similarity index 100% rename from modules/perception/radar/app/BUILD_ rename to modules/perception/radar/app/BUILD diff --git a/modules/perception/radar/common/BUILD_ b/modules/perception/radar/common/BUILD similarity index 100% rename from modules/perception/radar/common/BUILD_ rename to modules/perception/radar/common/BUILD diff --git a/modules/perception/radar/lib/detector/conti_ars_detector/BUILD_ b/modules/perception/radar/lib/detector/conti_ars_detector/BUILD similarity index 100% rename from modules/perception/radar/lib/detector/conti_ars_detector/BUILD_ rename to modules/perception/radar/lib/detector/conti_ars_detector/BUILD diff --git a/modules/perception/radar/lib/dummy/BUILD_ b/modules/perception/radar/lib/dummy/BUILD similarity index 100% rename from modules/perception/radar/lib/dummy/BUILD_ rename to modules/perception/radar/lib/dummy/BUILD diff --git a/modules/perception/radar/lib/interface/BUILD_ b/modules/perception/radar/lib/interface/BUILD similarity index 100% rename from modules/perception/radar/lib/interface/BUILD_ rename to modules/perception/radar/lib/interface/BUILD diff --git a/modules/perception/radar/lib/preprocessor/conti_ars_preprocessor/BUILD_ b/modules/perception/radar/lib/preprocessor/conti_ars_preprocessor/BUILD similarity index 100% rename from modules/perception/radar/lib/preprocessor/conti_ars_preprocessor/BUILD_ rename to modules/perception/radar/lib/preprocessor/conti_ars_preprocessor/BUILD diff --git a/modules/perception/radar/lib/roi_filter/hdmap_radar_roi_filter/BUILD_ b/modules/perception/radar/lib/roi_filter/hdmap_radar_roi_filter/BUILD similarity index 100% rename from modules/perception/radar/lib/roi_filter/hdmap_radar_roi_filter/BUILD_ rename to modules/perception/radar/lib/roi_filter/hdmap_radar_roi_filter/BUILD diff --git a/modules/perception/radar/lib/tracker/common/BUILD_ b/modules/perception/radar/lib/tracker/common/BUILD similarity index 100% rename from modules/perception/radar/lib/tracker/common/BUILD_ rename to modules/perception/radar/lib/tracker/common/BUILD diff --git a/modules/perception/radar/lib/tracker/conti_ars_tracker/BUILD_ b/modules/perception/radar/lib/tracker/conti_ars_tracker/BUILD similarity index 100% rename from modules/perception/radar/lib/tracker/conti_ars_tracker/BUILD_ rename to modules/perception/radar/lib/tracker/conti_ars_tracker/BUILD diff --git a/modules/perception/radar/lib/tracker/filter/BUILD_ b/modules/perception/radar/lib/tracker/filter/BUILD similarity index 100% rename from modules/perception/radar/lib/tracker/filter/BUILD_ rename to modules/perception/radar/lib/tracker/filter/BUILD diff --git a/modules/perception/radar/lib/tracker/matcher/BUILD_ b/modules/perception/radar/lib/tracker/matcher/BUILD similarity index 100% rename from modules/perception/radar/lib/tracker/matcher/BUILD_ rename to modules/perception/radar/lib/tracker/matcher/BUILD