From 919f4786570d73c5c811c4bd030e87ac256a39c2 Mon Sep 17 00:00:00 2001 From: "Jiahao Chen (Jerold)" <32252697+jeroldchen@users.noreply.github.com> Date: Tue, 5 Jan 2021 11:18:02 +0800 Subject: [PATCH] Perception: resume camera obstacle detection in sensor fusion (#13277) * Perception: add camera obstacle detection to fusion * Perception: modify default dag to use CNNSeg model --- .../app/obstacle_multi_sensor_fusion.cc | 2 +- .../fusion/app/obstacle_multi_sensor_fusion.h | 2 +- .../hm_tracks_objects_match.cc | 1 + .../fusion/lib/dummy/dummy_algorithms.cc | 5 ++- .../fusion/lib/dummy/dummy_algorithms_test.cc | 2 +- .../probabilistic_fusion.cc | 21 +++++----- .../probabilistic_fusion_test.cc | 6 +-- .../pbf_gatekeeper/pbf_gatekeeper.cc | 1 + .../fusion/lib/interface/base_fusion_system.h | 4 +- .../onboard/component/fusion_component.cc | 38 +++++++++--------- .../onboard/component/fusion_component.h | 2 +- .../proto/fusion_component_config.proto | 4 +- .../fusion_camera_detection_component.pb.txt | 2 +- .../fusion/fusion_component_conf.pb.txt | 4 +- .../production/dag/dag_motion_service.dag | 6 +-- .../dag/dag_streaming_perception.dag | 40 +++++++++++++------ .../dag/dag_streaming_perception_lane.dag | 5 +-- .../dag/dag_streaming_perception_lgsvl.dag | 20 +++++----- .../dag/dag_streaming_perception_lidar.dag | 14 +++---- ...treaming_perception_lidar_segmentation.dag | 34 +++------------- .../production/launch/perception.launch | 7 ---- .../production/launch/perception_all.launch | 8 ---- 22 files changed, 102 insertions(+), 126 deletions(-) diff --git a/modules/perception/fusion/app/obstacle_multi_sensor_fusion.cc b/modules/perception/fusion/app/obstacle_multi_sensor_fusion.cc index 06b807a3956..72b9aca75a8 100644 --- a/modules/perception/fusion/app/obstacle_multi_sensor_fusion.cc +++ b/modules/perception/fusion/app/obstacle_multi_sensor_fusion.cc @@ -28,7 +28,7 @@ bool ObstacleMultiSensorFusion::Init( fusion_ = BaseFusionSystemRegisterer::GetInstanceByName(param.fusion_method); FusionInitOptions init_options; - init_options.main_sensor = param.main_sensor; + init_options.main_sensors = param.main_sensors; if (fusion_ == nullptr || !fusion_->Init(init_options)) { AINFO << "Failed to Get Instance or Initialize " << param.fusion_method; return false; diff --git a/modules/perception/fusion/app/obstacle_multi_sensor_fusion.h b/modules/perception/fusion/app/obstacle_multi_sensor_fusion.h index 4a40ca1fa50..0895a5a653e 100644 --- a/modules/perception/fusion/app/obstacle_multi_sensor_fusion.h +++ b/modules/perception/fusion/app/obstacle_multi_sensor_fusion.h @@ -25,7 +25,7 @@ namespace perception { namespace fusion { struct ObstacleMultiSensorFusionParam { - std::string main_sensor; + std::vector main_sensors; std::string fusion_method; }; diff --git a/modules/perception/fusion/lib/data_association/hm_data_association/hm_tracks_objects_match.cc b/modules/perception/fusion/lib/data_association/hm_data_association/hm_tracks_objects_match.cc index f2cff7d7b49..cb08de7450c 100644 --- a/modules/perception/fusion/lib/data_association/hm_data_association/hm_tracks_objects_match.cc +++ b/modules/perception/fusion/lib/data_association/hm_data_association/hm_tracks_objects_match.cc @@ -65,6 +65,7 @@ bool HMTrackersObjectsAssociation::Associate( double measurement_timestamp = sensor_objects[0]->GetTimestamp(); track_object_distance_.ResetProjectionCache(measurement_sensor_id, measurement_timestamp); + // TODO(chenjiahao): specify prohibited sensors in config bool do_nothing = (sensor_objects[0]->GetSensorId() == "radar_front"); IdAssign(fusion_tracks, sensor_objects, &association_result->assignments, &association_result->unassigned_tracks, diff --git a/modules/perception/fusion/lib/dummy/dummy_algorithms.cc b/modules/perception/fusion/lib/dummy/dummy_algorithms.cc index 429b2765661..06cced19947 100644 --- a/modules/perception/fusion/lib/dummy/dummy_algorithms.cc +++ b/modules/perception/fusion/lib/dummy/dummy_algorithms.cc @@ -21,7 +21,7 @@ namespace fusion { // class DummyFusionSystem implementation bool DummyFusionSystem::Init(const FusionInitOptions& options) { - main_sensor_ = options.main_sensor; + main_sensors_ = options.main_sensors; return true; } @@ -33,7 +33,8 @@ bool DummyFusionSystem::Fuse(const FusionOptions& options, } fused_objects->clear(); - if (sensor_frame->sensor_info.name != main_sensor_) { + if (std::find(main_sensors_.begin(), main_sensors_.end(), + sensor_frame->sensor_info.name) == main_sensors_.end()) { return true; } diff --git a/modules/perception/fusion/lib/dummy/dummy_algorithms_test.cc b/modules/perception/fusion/lib/dummy/dummy_algorithms_test.cc index 1ebbd637eea..a4f89c2321c 100644 --- a/modules/perception/fusion/lib/dummy/dummy_algorithms_test.cc +++ b/modules/perception/fusion/lib/dummy/dummy_algorithms_test.cc @@ -29,7 +29,7 @@ namespace fusion { TEST(DummyFusionSystemTest, test) { FusionInitOptions init_options; - init_options.main_sensor = "velodyne64"; + init_options.main_sensors = std::vector{"velodyne64"}; DummyFusionSystem system; EXPECT_TRUE(system.Init(init_options)); diff --git a/modules/perception/fusion/lib/fusion_system/probabilistic_fusion/probabilistic_fusion.cc b/modules/perception/fusion/lib/fusion_system/probabilistic_fusion/probabilistic_fusion.cc index 3774f8a35e7..9d2fb36988e 100644 --- a/modules/perception/fusion/lib/fusion_system/probabilistic_fusion/probabilistic_fusion.cc +++ b/modules/perception/fusion/lib/fusion_system/probabilistic_fusion/probabilistic_fusion.cc @@ -43,7 +43,7 @@ ProbabilisticFusion::ProbabilisticFusion() {} ProbabilisticFusion::~ProbabilisticFusion() {} bool ProbabilisticFusion::Init(const FusionInitOptions& init_options) { - main_sensor_ = init_options.main_sensor; + main_sensors_ = init_options.main_sensors; BaseInitOptions options; if (!GetFusionInitOptions("ProbabilisticFusion", &options)) { @@ -166,16 +166,13 @@ std::string ProbabilisticFusion::Name() const { return "ProbabilisticFusion"; } bool ProbabilisticFusion::IsPublishSensor( const base::FrameConstPtr& sensor_frame) const { std::string sensor_id = sensor_frame->sensor_info.name; - return sensor_id == main_sensor_; - // const std::vector& pub_sensors = - // params_.publish_sensor_ids; - // const auto& itr = std::find( - // pub_sensors.begin(), pub_sensors.end(), sensor_id); - // if (itr != pub_sensors.end()) { - // return true; - // } else { - // return false; - // } + const auto& itr = std::find( + main_sensors_.begin(), main_sensors_.end(), sensor_id); + if (itr != main_sensors_.end()) { + return true; + } else { + return false; + } } void ProbabilisticFusion::FuseFrame(const SensorFramePtr& frame) { @@ -352,7 +349,7 @@ void ProbabilisticFusion::RemoveLostTrack() { } } AINFO << "Remove " << foreground_tracks.size() - foreground_track_count - << " foreground tracks"; + << " foreground tracks. " << foreground_track_count << " tracks left."; foreground_tracks.resize(foreground_track_count); trackers_.resize(foreground_track_count); diff --git a/modules/perception/fusion/lib/fusion_system/probabilistic_fusion/probabilistic_fusion_test.cc b/modules/perception/fusion/lib/fusion_system/probabilistic_fusion/probabilistic_fusion_test.cc index 33efbeda552..e2a7fa5105e 100644 --- a/modules/perception/fusion/lib/fusion_system/probabilistic_fusion/probabilistic_fusion_test.cc +++ b/modules/perception/fusion/lib/fusion_system/probabilistic_fusion/probabilistic_fusion_test.cc @@ -37,7 +37,7 @@ TEST(ProbabliticFusionTest, test_init) { sensor_manager->Reset(); sensor_manager->Init(); FusionInitOptions init_options; - init_options.main_sensor = "velodyne64"; + init_options.main_sensors = std::vector{"velodyne64"}; ProbabilisticFusion pf; EXPECT_TRUE(pf.Init(init_options)); EXPECT_EQ(pf.Name(), "ProbabilisticFusion"); @@ -106,7 +106,7 @@ TEST(ProbabliticFusionTest, test_update) { sensor_manager->Reset(); sensor_manager->Init(); FusionInitOptions init_options; - init_options.main_sensor = "velodyne64"; + init_options.main_sensors = std::vector{"velodyne64"}; ProbabilisticFusion pf; EXPECT_TRUE(pf.Init(init_options)); EXPECT_EQ(pf.Name(), "ProbabilisticFusion"); @@ -257,7 +257,7 @@ TEST(ProbabilisticFusionTest, test_collect_sensor_measurement) { sensor_manager->Reset(); sensor_manager->Init(); FusionInitOptions init_options; - init_options.main_sensor = "velodyne64"; + init_options.main_sensors = std::vector{"velodyne64"}; ProbabilisticFusion pf; EXPECT_TRUE(pf.Init(init_options)); EXPECT_EQ(pf.Name(), "ProbabilisticFusion"); diff --git a/modules/perception/fusion/lib/gatekeeper/pbf_gatekeeper/pbf_gatekeeper.cc b/modules/perception/fusion/lib/gatekeeper/pbf_gatekeeper/pbf_gatekeeper.cc index 4f4d9f917ab..a0874b27ed9 100644 --- a/modules/perception/fusion/lib/gatekeeper/pbf_gatekeeper/pbf_gatekeeper.cc +++ b/modules/perception/fusion/lib/gatekeeper/pbf_gatekeeper/pbf_gatekeeper.cc @@ -111,6 +111,7 @@ bool PbfGatekeeper::RadarAbleToPublish(const TrackPtr &track, bool is_night) { if (params_.publish_if_has_radar && visible_in_radar && radar_object != nullptr) { if (radar_object->GetSensorId() == "radar_front") { + // TODO(henjiahao): enable radar front return false; // if (radar_object->GetBaseObject()->radar_supplement.range > // params_.min_radar_confident_distance && diff --git a/modules/perception/fusion/lib/interface/base_fusion_system.h b/modules/perception/fusion/lib/interface/base_fusion_system.h index 00ee82bc388..ae3ce9d2f09 100644 --- a/modules/perception/fusion/lib/interface/base_fusion_system.h +++ b/modules/perception/fusion/lib/interface/base_fusion_system.h @@ -29,7 +29,7 @@ namespace perception { namespace fusion { struct FusionInitOptions { - std::string main_sensor; + std::vector main_sensors; }; struct FusionOptions {}; @@ -54,7 +54,7 @@ class BaseFusionSystem { virtual std::string Name() const = 0; protected: - std::string main_sensor_; + std::vector main_sensors_; }; PERCEPTION_REGISTER_REGISTERER(BaseFusionSystem); diff --git a/modules/perception/onboard/component/fusion_component.cc b/modules/perception/onboard/component/fusion_component.cc index a7b36e4a639..fc904dce271 100644 --- a/modules/perception/onboard/component/fusion_component.cc +++ b/modules/perception/onboard/component/fusion_component.cc @@ -37,7 +37,9 @@ bool FusionComponent::Init() { // to load component configs fusion_method_ = comp_config.fusion_method(); - fusion_main_sensor_ = comp_config.fusion_main_sensor(); + for (int i = 0; i < comp_config.fusion_main_sensors_size(); ++i) { + fusion_main_sensors_.push_back(comp_config.fusion_main_sensors(i)); + } object_in_roi_check_ = comp_config.object_in_roi_check(); radius_for_roi_object_check_ = comp_config.radius_for_roi_object_check(); @@ -58,21 +60,23 @@ bool FusionComponent::Proc(const std::shared_ptr& message) { PerceptionObstacles); std::shared_ptr viz_message(new (std::nothrow) SensorFrameMessage); + + // TODO(convert sensor id) + const auto& itr = std::find(fusion_main_sensors_.begin(), + fusion_main_sensors_.end(), message->sensor_id_); + if (itr == fusion_main_sensors_.end()) { + AINFO << "Fusion receives message from " << message->sensor_id_ + << " which is not in main sensors. Skip sending."; + return true; + } + bool status = InternalProc(message, out_message, viz_message); if (status) { - // TODO(conver sensor id) - if (message->sensor_id_ != fusion_main_sensor_) { - AINFO << "Fusion receive from " << message->sensor_id_ << "not from " - << fusion_main_sensor_ << ". Skip send."; - } else { - // Send("/apollo/perception/obstacles", out_message); - writer_->Write(out_message); - AINFO << "Send fusion processing output message."; - // send msg for visualization - if (FLAGS_obs_enable_visualization) { - // Send("/apollo/perception/inner/PrefusedObjects", viz_message); - inner_writer_->Write(viz_message); - } + writer_->Write(out_message); + AINFO << "Send fusion processing output message."; + // send msg for visualization + if (FLAGS_obs_enable_visualization) { + inner_writer_->Write(viz_message); } } return status; @@ -81,7 +85,7 @@ bool FusionComponent::Proc(const std::shared_ptr& message) { bool FusionComponent::InitAlgorithmPlugin() { fusion_.reset(new fusion::ObstacleMultiSensorFusion()); fusion::ObstacleMultiSensorFusionParam param; - param.main_sensor = fusion_main_sensor_; + param.main_sensors = fusion_main_sensors_; param.fusion_method = fusion_method_; ACHECK(fusion_->Init(param)) << "Failed to init ObstacleMultiSensorFusion"; @@ -130,10 +134,6 @@ bool FusionComponent::InternalProc( } PERF_BLOCK_END_WITH_INDICATOR("fusion_process", in_message->sensor_id_); - if (in_message->sensor_id_ != fusion_main_sensor_) { - return true; - } - Eigen::Matrix4d sensor2world_pose = in_message->frame_->sensor2world_pose.matrix(); if (object_in_roi_check_ && FLAGS_obs_enable_hdmap_input) { diff --git a/modules/perception/onboard/component/fusion_component.h b/modules/perception/onboard/component/fusion_component.h index bf65920df80..39d55e10228 100644 --- a/modules/perception/onboard/component/fusion_component.h +++ b/modules/perception/onboard/component/fusion_component.h @@ -49,7 +49,7 @@ class FusionComponent : public cyber::Component { static uint32_t s_seq_num_; std::string fusion_method_; - std::string fusion_main_sensor_; + std::vector fusion_main_sensors_; bool object_in_roi_check_ = false; double radius_for_roi_object_check_ = 0; diff --git a/modules/perception/onboard/proto/fusion_component_config.proto b/modules/perception/onboard/proto/fusion_component_config.proto index f03e8617d19..4cfabec6b38 100644 --- a/modules/perception/onboard/proto/fusion_component_config.proto +++ b/modules/perception/onboard/proto/fusion_component_config.proto @@ -4,12 +4,12 @@ package apollo.perception.onboard; message FusionComponentConfig { optional string fusion_method = 1; - optional string fusion_main_sensor = 2; + repeated string fusion_main_sensors = 2; optional bool object_in_roi_check = 3; optional double radius_for_roi_object_check = 4; optional string output_obstacles_channel_name = 5 - [default = "/perception/obstacles"]; + [default = "/perception/vehicle/obstacles"]; optional string output_viz_fused_content_channel_name = 6 [default = "/perception/inner/visualization/FusedObjects"]; } diff --git a/modules/perception/production/conf/perception/camera/fusion_camera_detection_component.pb.txt b/modules/perception/production/conf/perception/camera/fusion_camera_detection_component.pb.txt index 3024a40347d..846fe2d7835 100644 --- a/modules/perception/production/conf/perception/camera/fusion_camera_detection_component.pb.txt +++ b/modules/perception/production/conf/perception/camera/fusion_camera_detection_component.pb.txt @@ -7,7 +7,7 @@ frame_capacity : 20 image_channel_num : 3 enable_undistortion : false enable_visualization : false -output_final_obstacles : true +output_final_obstacles : false output_obstacles_channel_name : "/perception/obstacles" camera_perception_viz_message_channel_name : "/perception/inner/camera_viz_msg" prefused_channel_name : "/perception/inner/PrefusedObjects" diff --git a/modules/perception/production/conf/perception/fusion/fusion_component_conf.pb.txt b/modules/perception/production/conf/perception/fusion/fusion_component_conf.pb.txt index f8aede97528..faeec3e238a 100644 --- a/modules/perception/production/conf/perception/fusion/fusion_component_conf.pb.txt +++ b/modules/perception/production/conf/perception/fusion/fusion_component_conf.pb.txt @@ -1,5 +1,7 @@ fusion_method: "ProbabilisticFusion" -fusion_main_sensor: "velodyne128" +fusion_main_sensors: "velodyne128" +fusion_main_sensors: "front_6mm" +fusion_main_sensors: "front_12mm" object_in_roi_check: true radius_for_roi_object_check: 120 output_obstacles_channel_name: "/perception/vehicle/obstacles" diff --git a/modules/perception/production/dag/dag_motion_service.dag b/modules/perception/production/dag/dag_motion_service.dag index 0e98eef22c4..b09b200d0d0 100644 --- a/modules/perception/production/dag/dag_motion_service.dag +++ b/modules/perception/production/dag/dag_motion_service.dag @@ -3,9 +3,9 @@ module_config { components { class_name : "MotionService" config { - name : "camera_motionService" - config_file_path : "/apollo/modules/perception/production/conf/perception/camera/motion_service.config" - flag_file_path: "/apollo/modules/perception/production/conf/perception/perception_common.flag" + name : "camera_motionService" + config_file_path : "/apollo/modules/perception/production/conf/perception/camera/motion_service.config" + flag_file_path: "/apollo/modules/perception/production/conf/perception/perception_common.flag" } } } diff --git a/modules/perception/production/dag/dag_streaming_perception.dag b/modules/perception/production/dag/dag_streaming_perception.dag index f4349e0ff19..7424ea6715d 100644 --- a/modules/perception/production/dag/dag_streaming_perception.dag +++ b/modules/perception/production/dag/dag_streaming_perception.dag @@ -1,15 +1,27 @@ +module_config { + module_library : "/apollo/bazel-bin/modules/perception/onboard/component/libperception_component_camera.so" + components { + class_name : "FusionCameraDetectionComponent" + config { + name: "FusionCameraComponent" + config_file_path: "/apollo/modules/perception/production/conf/perception/camera/fusion_camera_detection_component.pb.txt" + flag_file_path: "/apollo/modules/perception/production/conf/perception/perception_common.flag" + } + } +} + module_config { module_library : "/apollo/bazel-bin/modules/perception/onboard/component/libperception_component_lidar.so" components { - class_name : "DetectionComponent" + class_name : "SegmentationComponent" config { - name: "Velodyne128Detection" - config_file_path: "/apollo/modules/perception/production/conf/perception/lidar/velodyne128_detection_conf.pb.txt" + name: "Velodyne128Segmentation" + config_file_path: "/apollo/modules/perception/production/conf/perception/lidar/velodyne128_segmentation_conf.pb.txt" flag_file_path: "/apollo/modules/perception/production/conf/perception/perception_common.flag" readers { - channel: "/apollo/sensor/lidar128/compensator/PointCloud2" - } + channel: "/apollo/sensor/lidar128/compensator/PointCloud2" + } } } @@ -19,8 +31,8 @@ module_config { name: "RecognitionComponent" config_file_path: "/apollo/modules/perception/production/conf/perception/lidar/recognition_conf.pb.txt" readers { - channel: "/perception/inner/DetectionObjects" - } + channel: "/perception/inner/SegmentationObjects" + } } } @@ -29,9 +41,10 @@ module_config { config { name: "FrontRadarDetection" config_file_path: "/apollo/modules/perception/production/conf/perception/radar/front_radar_component_conf.pb.txt" + flag_file_path: "/apollo/modules/perception/production/conf/perception/perception_common.flag" readers { - channel: "/apollo/sensor/radar/front" - } + channel: "/apollo/sensor/radar/front" + } } } @@ -40,9 +53,10 @@ module_config { config { name: "RearRadarDetection" config_file_path: "/apollo/modules/perception/production/conf/perception/radar/rear_radar_component_conf.pb.txt" + flag_file_path: "/apollo/modules/perception/production/conf/perception/perception_common.flag" readers { - channel: "/apollo/sensor/radar/rear" - } + channel: "/apollo/sensor/radar/rear" + } } } @@ -52,8 +66,8 @@ module_config { name: "SensorFusion" config_file_path: "/apollo/modules/perception/production/conf/perception/fusion/fusion_component_conf.pb.txt" readers { - channel: "/perception/inner/PrefusedObjects" - } + channel: "/perception/inner/PrefusedObjects" + } } } } diff --git a/modules/perception/production/dag/dag_streaming_perception_lane.dag b/modules/perception/production/dag/dag_streaming_perception_lane.dag index 3e18d38858c..b3aa36fa681 100644 --- a/modules/perception/production/dag/dag_streaming_perception_lane.dag +++ b/modules/perception/production/dag/dag_streaming_perception_lane.dag @@ -8,9 +8,8 @@ module_config { config_file_path: "/apollo/modules/perception/production/conf/perception/camera/lane_detection_component.config" flag_file_path: "/apollo/modules/perception/production/conf/perception/perception_common.flag" readers { - channel: "/apollo/perception/lane_status" - } + channel: "/apollo/perception/lane_status" + } } } - } diff --git a/modules/perception/production/dag/dag_streaming_perception_lgsvl.dag b/modules/perception/production/dag/dag_streaming_perception_lgsvl.dag index 2bd5e5d0594..b8d92da128f 100644 --- a/modules/perception/production/dag/dag_streaming_perception_lgsvl.dag +++ b/modules/perception/production/dag/dag_streaming_perception_lgsvl.dag @@ -8,8 +8,8 @@ module_config { config_file_path: "/apollo/modules/perception/production/conf/perception/lidar/velodyne128_detection_conf_lgsvl.pb.txt" flag_file_path: "/apollo/modules/perception/production/conf/perception/perception_common.flag" readers { - channel: "/apollo/sensor/lidar128/compensator/PointCloud2" - } + channel: "/apollo/sensor/lidar128/compensator/PointCloud2" + } } } @@ -19,8 +19,8 @@ module_config { name: "RecognitionComponent" config_file_path: "/apollo/modules/perception/production/conf/perception/lidar/recognition_conf.pb.txt" readers { - channel: "/perception/inner/DetectionObjects" - } + channel: "/perception/inner/DetectionObjects" + } } } @@ -30,8 +30,8 @@ module_config { name: "FrontRadarDetection" config_file_path: "/apollo/modules/perception/production/conf/perception/radar/front_radar_component_conf.pb.txt" readers { - channel: "/apollo/sensor/radar/front" - } + channel: "/apollo/sensor/radar/front" + } } } @@ -41,8 +41,8 @@ module_config { name: "RearRadarDetection" config_file_path: "/apollo/modules/perception/production/conf/perception/radar/rear_radar_component_conf.pb.txt" readers { - channel: "/apollo/sensor/radar/rear" - } + channel: "/apollo/sensor/radar/rear" + } } } @@ -52,8 +52,8 @@ module_config { name: "SensorFusion" config_file_path: "/apollo/modules/perception/production/conf/perception/fusion/fusion_component_conf.pb.txt" readers { - channel: "/perception/inner/PrefusedObjects" - } + channel: "/perception/inner/PrefusedObjects" + } } } } diff --git a/modules/perception/production/dag/dag_streaming_perception_lidar.dag b/modules/perception/production/dag/dag_streaming_perception_lidar.dag index 4f599fa7d05..cb7cfead6b5 100644 --- a/modules/perception/production/dag/dag_streaming_perception_lidar.dag +++ b/modules/perception/production/dag/dag_streaming_perception_lidar.dag @@ -8,8 +8,8 @@ module_config { 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" - } + channel: "/apollo/sensor/lidar128/compensator/PointCloud2" + } } } @@ -19,23 +19,21 @@ module_config { name: "RecognitionComponent" config_file_path: "/apollo/modules/perception/production/conf/perception/lidar/recognition_conf.pb.txt" readers { - channel: "/perception/inner/DetectionObjects" - } + channel: "/perception/inner/DetectionObjects" + } } } - components { class_name: "FusionComponent" config { name: "SensorFusion" config_file_path: "/apollo/modules/perception/production/conf/perception/fusion/fusion_component_conf.pb.txt" readers { - channel: "/perception/inner/PrefusedObjects" - } + channel: "/perception/inner/PrefusedObjects" + } } } - } module_config { diff --git a/modules/perception/production/dag/dag_streaming_perception_lidar_segmentation.dag b/modules/perception/production/dag/dag_streaming_perception_lidar_segmentation.dag index 5ab4ae614a4..9eecce466cb 100644 --- a/modules/perception/production/dag/dag_streaming_perception_lidar_segmentation.dag +++ b/modules/perception/production/dag/dag_streaming_perception_lidar_segmentation.dag @@ -8,8 +8,8 @@ module_config { config_file_path: "/apollo/modules/perception/production/conf/perception/lidar/velodyne128_segmentation_conf.pb.txt" flag_file_path: "/apollo/modules/perception/production/conf/perception/perception_common.flag" readers { - channel: "/apollo/sensor/lidar128/compensator/PointCloud2" - } + channel: "/apollo/sensor/lidar128/compensator/PointCloud2" + } } } @@ -19,30 +19,8 @@ module_config { name: "RecognitionComponent" config_file_path: "/apollo/modules/perception/production/conf/perception/lidar/recognition_conf.pb.txt" readers { - channel: "/perception/inner/SegmentationObjects" - } - } - } - - components { - class_name: "RadarDetectionComponent" - config { - name: "FrontRadarDetection" - config_file_path: "/apollo/modules/perception/production/conf/perception/radar/front_radar_component_conf.pb.txt" - readers { - channel: "/apollo/sensor/radar/front" - } - } - } - - components { - class_name: "RadarDetectionComponent" - config { - name: "RearRadarDetection" - config_file_path: "/apollo/modules/perception/production/conf/perception/radar/rear_radar_component_conf.pb.txt" - readers { - channel: "/apollo/sensor/radar/rear" - } + channel: "/perception/inner/SegmentationObjects" + } } } @@ -52,8 +30,8 @@ module_config { name: "SensorFusion" config_file_path: "/apollo/modules/perception/production/conf/perception/fusion/fusion_component_conf.pb.txt" readers { - channel: "/perception/inner/PrefusedObjects" - } + channel: "/perception/inner/PrefusedObjects" + } } } } diff --git a/modules/perception/production/launch/perception.launch b/modules/perception/production/launch/perception.launch index 504b084e620..3e023088ede 100644 --- a/modules/perception/production/launch/perception.launch +++ b/modules/perception/production/launch/perception.launch @@ -15,13 +15,6 @@ lidar_perception 1.0.0 - - perception_camera - /apollo/modules/perception/production/dag/dag_streaming_perception_camera.dag - - camera_perception - 1.0.0 - motion_service /apollo/modules/perception/production/dag/dag_motion_service.dag diff --git a/modules/perception/production/launch/perception_all.launch b/modules/perception/production/launch/perception_all.launch index 5c62f880126..78172b23926 100644 --- a/modules/perception/production/launch/perception_all.launch +++ b/modules/perception/production/launch/perception_all.launch @@ -14,14 +14,6 @@ perception 1.0.0 - - perception_camera - /apollo/modules/perception/production/dag/dag_streaming_perception_camera.dag - - perception - 1.0.0 - - perception_traffic_light /apollo/modules/perception/production/dag/dag_streaming_perception_trafficlights.dag