perception-camera-tracking

Introduction

The function of camera tracking module is to process the camera detection obstacles by using the omt obstacle tracker, and output the tracked obstacles for following multi sensor fusion.

directory structure

├── camera_tracking     // camera object tracking module
    ├── base            // definition of tracked_target, frame_list, etc.
    ├── common          // common used functions
    ├── conf            // module configuration files
    ├── dag             // dag files
    ├── data            // tracker configuration files
    ├── feature_extract // feature extractor for camera tracking
    ├── interface       // function interface files
    ├── proto           // proto files
    ├── tracking        // omt obstacle tracker
    ├── camera_tracking_component.cc
    ├── camera_tracking_component.h // component interface
    ├── cyberfile.xml   // package management profile
    ├── README.md
    └── BUILD

modules

CameraTrackingComponent

apollo::perception::camera::CameraTrackingComponent

input

Note: The input channel is structure type data. The default trigger channel is /perception/inner/location_refinement. The detailed input channel information is in modules/perception/camera_tracking/dag/camera_tracking.dag file. By default, the upstream components of the messages received by the component include camera_location_refinement and camera_detection_single_stage.

output

Note: The output channel is structure type data. The message is defined in the modules/perception/common/onboard/inner_component_messages/inner_component_messages.h file. The output channel message data can be subscribed by components in the same process. The detailed output channel information is in modules/perception/camera_tracking/conf/camera_tracking_config.pb.txt file.

how to launch module

1. modify the file: modules/perception/camera_tracking/dag/camera_tracking.dag

• config_file_path: the path of module config files
• reader channel: the channel name of input message

2. modify the file: modules/perception/camera_tracking/conf/camera_tracking_config.pb.txt

• output_channel_name: the channel name of output message
• image_width and image height: the size of input images
• gpu_id: the gpu id
• plugin_param.name: the name of used camera tracker
• plugin_param.config_path: the config path of used camera tracker
• plugin_param.config_file: the config name of used camera tracker

3. run mainboard -d modules/perception/camera_tracking/dag/camera_tracking.dag