perception-lidar-tracking

Introduction

The tracking module is to track the trajectory of obstacles, update their motion status and geometric shape, and assign tracking id.

Directory Structure

├── lidar_tracking         // tracking module
    ├── classifier         // classfier
    ├── conf               // configuration folder
    ├── dag                // module startup file
    ├── data               // module configuration parameters
    ├── launch             // launch file
    ├── interface          // interface
    ├── proto              // tracking module configuration proto file
    ├── tracker            // tracking functions
    ├── lidar_tracking_component.cc // component entrance
    ├── lidar_tracking_component.h
    ├── cyberfile.xml      // package management file
    ├── README.md          // readme file
    └── BUILD              // compile file

Modules

LidarTrackingComponent

apollo::perception::lidar::LidarTrackingComponent

Input

Note: The input channel is structure type data. The default trigger channel is /perception/lidar/detection_filter. The detailed input channel information is in modules/perception/lidar_tracking/dag/lidar_tracking.dag file. By default, the upstream components of the messages received by the component include lidar_detection_filter.

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/lidar_tracking/conf/lidar_tracking_config.pb.txt file.

SensorFrameMessage is used in multi sensor fusion.

How to Launch

1. Add vehicle parameter configuration file to modules/perception/data/params, corresponding frame_id and sensor_name, launch transform

cyber_launch start modules/transform/launch/static_transform.launch

2. Modify modules/perception/launch/perception_lidar.launch

• select the dag file to start, use modules/perception/lidar_tracking/dag/lidar_tracking.dag here
• modify msg_adapter. It is used to wrap messages sent by other steps as /apollo/perception/obstacles, this can be used for individual debugging. Modify relevant channel configurations in modules/perception/data/flag/perception_common.flag

3. Modify parameter of modules/perception/lidar_tracking/conf/lidar_tracking_config.pb.txt

• output_channel_name: output channel name
• multi_target_tracker_param: multi traget tracking parameters
  • name: method name
  • config_path: configuration path
  • config_file: configuration file name
• fusion_classifier_param: classification parameters
  • name: method name
  • config_path: configuration folder
  • config_file: configuration file name

4. Launch tracking component

cyber_launch start modules/perception/lidar_tracking/launch/lidar_tracking.launch