Perception: add conf for lgsvl dag

gezp · Aug 19, 2020 · ff6bb06 · ff6bb06
1 parent 386eb1d
commit ff6bb06
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Showing 3 changed files with 11 additions and 1 deletion.
diff --git a/modules/perception/production/conf/perception/lidar/velodyne128_detection_conf_lgsvl.pb.txt b/modules/perception/production/conf/perception/lidar/velodyne128_detection_conf_lgsvl.pb.txt
@@ -0,0 +1,5 @@
+sensor_name: "velodyne128"
+enable_hdmap: true
+lidar_query_tf_offset: 200
+lidar2novatel_tf2_child_frame_id: "velodyne128"
+output_channel_name: "/perception/inner/DetectionObjects"
diff --git a/modules/perception/production/conf/perception/lidar/velodyne64_detection_conf.pb.txt b/modules/perception/production/conf/perception/lidar/velodyne64_detection_conf.pb.txt
@@ -0,0 +1,5 @@
+sensor_name: "velodyne64"
+enable_hdmap: true
+lidar_query_tf_offset: 0
+lidar2novatel_tf2_child_frame_id: "velodyne64"
+output_channel_name: "/perception/inner/DetectionObjects"
diff --git a/modules/perception/production/dag/dag_streaming_perception_lgsvl.dag b/modules/perception/production/dag/dag_streaming_perception_lgsvl.dag
@@ -5,7 +5,7 @@ module_config {
     class_name : "DetectionComponent"
     config {
       name: "Velodyne128Detection"
-      config_file_path: "/apollo/modules/perception/production/conf/perception/lidar/velodyne128_detection_conf.pb.txt"
+      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"