perception-lidar-output

Introduction

Convert the SensorFrameMessage to PerceptionObstacles.

Structure

├── lidar_output
    ├── conf         // component config file
    ├── dag          // component dag file
    ├── proto        // definition of data structure
    ├── lidar_output_component.cc // component inference
    ├── lidar_output_component.h
    ├── cyberfile.xml   // package configs
    ├── README.md
    └── BUILD

Modules

LidarOutputComponent

apollo::perception::lidar::LidarOutputComponent

Input

Name	Type	Description	Input channal
`message`	`apollo::perception::onboard::SensorFrameMessage`	sensor frame message	/perception/inner/PrefusedObjects

Note: The input channel is structure type data. The default trigger channel is /perception/inner/PrefusedObjects. The detailed input channel information is in modules/perception/lidar_output/dag/lidar_output.dag file.

Output

Name	Type	Description	Output channal
`out_message`	`apollo::perception::onboard::PerceptionObstacles`	lidar output message	/apollo/perception/obstacles

Note: The output channel is proto type data. The upstream and downstream components will be started in different processes and can receive the message normally. The detailed output channel information is in modules/perception/lidar_output/conf/lidar_output_config.pb.txt file.

How to use

Add vehicle params configs to modules/perception/data/params，keep frame_id and sensor_name consistent, start the tf

bash

cyber_launch start modules/transform/launch/static_transform.launch

Select the lidar model，download the model files and put them into modules/perception/data/models using amodel tool.

bash

amodel install https://xxx.zip

Modify modules/perception/lidar_output/dag/lidar_output.dag

config_file_path: path of config path
reader channel: the name of input channel

Modify modules/perception/lidar_output/conf/lidar_output_config.pb.txt

output_channel_name: the name of output channel

start the lidar component

bash

mainboard -d modules/perception/lidar_output/dag/lidar_output.dag