perception-pointcloud-ground-detection

Introduction

Point cloud ground detection, detecting ground point, and saving indices of all non ground points.

Directory Structure

├── pointcloud_ground_detection  // ground point detection component
    ├── conf               // configuration folder
    ├── dag                // module startup file
    ├── data               // module configuration parameters
    ├── ground_detector    // ground detection method
    ├── launch             // launch file
    ├── interface          // ground detection interface
    ├── proto              // ground detection module configuration proto file
    ├── pointcloud_ground_detection_component.cc // component entrance
    ├── pointcloud_ground_detection_component.h
    ├── cyberfile.xml      // package management file
    ├── README.md          // readme file
    └── BUILD              // compile file

Modules

PointCloudGroundDetectComponent

apollo::perception::lidar::PointCloudGroundDetectComponent

Input

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

Output

Note: The output channel is structure type data. The message is defined in the modules/perception/common/onboard/inner_component_messages/lidar_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/pointcloud_ground_detection/conf/pointcloud_ground_detection_config.pb.txt file.

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/pointcloud_ground_detection/dag/pointcloud_ground_detection.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 parameters of modules/perception/pointcloud_ground_detection/conf/pointcloud_ground_detection_config.pb.txt

• output_channel_name: output channel name
• plugin_param: plugin parameters
  • name: method name
  • config_path: configuration path
  • config_file: configuration file name

4. Launch ground detection component

cyber_launch start modules/perception/pointcloud_ground_detection/launch/pointcloud_ground_detection.launch