Perception: fix perception to v2x fusion error (ApolloAuto#12632)

* Perception: fix perception to v2x fusion error * Perception: fix v2x fusion error in perception lgsvl
gezp · Sep 21, 2020 · f3ad586 · f3ad586
1 parent f8e51f7
commit f3ad586
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Showing 5 changed files with 50 additions and 41 deletions.
diff --git a/modules/perception/production/dag/dag_streaming_perception.dag b/modules/perception/production/dag/dag_streaming_perception.dag
@@ -68,17 +68,21 @@ module_config {
     }
   }
 
-  components {
-    class_name : "V2XFusionComponent"
-    config {
-      name : "v2x_fusion"
-      flag_file_path : "/apollo/modules/v2x/conf/v2x_fusion_tracker.conf"
-      readers: [
-        {
-          channel: "/perception/vehicle/obstacles"
-        }
-      ]
-    }
-  }
+}
+
+module_config {
+    module_library : "/apollo/bazel-bin/modules/v2x/fusion/apps/libv2x_fusion_component.so"
 
+    components {
+      class_name : "V2XFusionComponent"
+      config {
+        name : "v2x_fusion"
+        flag_file_path : "/apollo/modules/v2x/conf/v2x_fusion_tracker.conf"
+        readers: [
+          {
+            channel: "/perception/vehicle/obstacles"
+          }
+        ]
+      }
+    }
 }
diff --git a/modules/perception/production/dag/dag_streaming_perception_lgsvl.dag b/modules/perception/production/dag/dag_streaming_perception_lgsvl.dag
@@ -68,17 +68,22 @@ module_config {
     }
   }
 
-  components {
-    class_name : "V2XFusionComponent"
-    config {
-      name : "v2x_fusion"
-      flag_file_path : "/apollo/modules/v2x/conf/v2x_fusion_tracker.conf"
-      readers: [
-        {
-          channel: "/perception/vehicle/obstacles"
-        }
-      ]
-    }
-  }
 
 }
+
+module_config {
+    module_library : "/apollo/bazel-bin/modules/v2x/fusion/apps/libv2x_fusion_component.so"
+
+    components {
+      class_name : "V2XFusionComponent"
+      config {
+        name : "v2x_fusion"
+        flag_file_path : "/apollo/modules/v2x/conf/v2x_fusion_tracker.conf"
+        readers: [
+          {
+            channel: "/perception/vehicle/obstacles"
+          }
+        ]
+      }
+    }
+}
diff --git a/modules/perception/production/dag/dag_streaming_perception_lidar.dag b/modules/perception/production/dag/dag_streaming_perception_lidar.dag
@@ -36,17 +36,21 @@ module_config {
     }
   }
 
-  components {
-    class_name : "V2XFusionComponent"
-    config {
-      name : "v2x_fusion"
-      flag_file_path : "/apollo/modules/v2x/conf/v2x_fusion_tracker.conf"
-      readers: [
-        {
-          channel: "/perception/vehicle/obstacles"
-        }
-      ]
-    }
-  }
-
 }
+
+module_config {
+    module_library : "/apollo/bazel-bin/modules/v2x/fusion/apps/libv2x_fusion_component.so"
+
+    components {
+      class_name : "V2XFusionComponent"
+      config {
+        name : "v2x_fusion"
+        flag_file_path : "/apollo/modules/v2x/conf/v2x_fusion_tracker.conf"
+        readers: [
+          {
+            channel: "/perception/vehicle/obstacles"
+          }
+        ]
+      }
+    }
+}
diff --git a/modules/v2x/fusion/configs/fusion_tracker_gflags.cc b/modules/v2x/fusion/configs/fusion_tracker_gflags.cc
@@ -26,8 +26,6 @@ namespace v2x {
 namespace ft {
 
 // config manager
-DEFINE_string(config_manager_path, "./conf", "The ModelConfig config paths.");
-DEFINE_string(work_root, "", "Project work root direcotry.");
 DEFINE_string(config_path, "/apollo/modules/v2x/data",
               "ADU shared data path, including maps, routings...");
 DEFINE_string(v2x_module_name, "v2x_fusion", "name");

diff --git a/modules/v2x/fusion/configs/fusion_tracker_gflags.h b/modules/v2x/fusion/configs/fusion_tracker_gflags.h
@@ -28,8 +28,6 @@ namespace v2x {
 namespace ft {
 
 // config manager
-DECLARE_string(config_manager_path);
-DECLARE_string(work_root);
 DECLARE_string(config_path);
 DECLARE_string(v2x_module_name);
 DECLARE_string(v2x_fusion_obstacles_topic);