perception-common

Introduction

perception-common is a library that other modules in perception depend on. It mainly includes public algorithm libraries, maps, inference and interface definitions.

Directory Structure

common
├── BUILD
├── README.md
├── algorithm  // algorithm library
├── base       // common data structure
├── camera     // camera data structure
├── cyberfile.xml
├── hdmap      // hdmap wrapper
├── inference  // model inference and acceleration
├── interface
├── lib
├── lidar      // lidar data structure
├── onboard
├── perception_gflags.cc
├── perception_gflags.h
├── proto
├── radar      // radar data structure
├── util.cc
└── util.h

Global gflag configuration

Global configuration is defined in the gflag file, includingmodules/perception/common/perception_gflags.h。

parameter name	default value	meaning
obs_sensor_intrinsic_path	/apollo/modules/perception/data/params	Sensor internal parameter path
obs_sensor_meta_file	sensor_meta.pb.txt	Sensor meta file name
enable_base_object_pool	enable_base_object_pool	Enable object pool
config_manager_path	./	Configuration manager path
work_root	/apollo/modules/perception	Work list
lidar_sensor_name	velodyne128	lidar sensor name
use_trt	false	Whether to use tensorrt
trt_precision	1	Precision of tensorrt, 0: 32float, 1: kInt8， 2: kHalf
trt_use_static	true	Whether to load tensorrt graph optimization from disk path
use_calibration	true	Whether to use a correction table
use_dynamicshape	true	Whether to use dynamic shapes
collect_shape_info	true	Whether to collect dynamic shape information
dynamic_shape_file	/apollo/modules/perception/lidar_detection/data/center_point_paddle/pillar_20_0625/collect_shape_info_3lidar_20.pbtxt	Dynamic file path
object_template_file	object_template.pb.txt	Object template configuration file
hdmap_sample_step	5	High-precision map sampling rate

Modify configuration

The global configuration is modified in /apollo/modules/perception/data/flag/perception_common.flag. For example, if we want to modify the value of obs_enable_hdmap_input to false, we can add it to the file:

bash

--obs_enable_hdmap_input=false