perception-pointcloud-map-based-roi

Introduction

Filter the point cloud outside the ROI.

The Region of Interest (ROI) specifies the drivable area that includes road surfaces and junctions that are retrieved from the HD (high-resolution) map. The HDMap ROI filter processes LiDAR points that are outside the ROI, removing background objects, e.g., buildings and trees around the road. What remains is the point cloud in the ROI for subsequent processing.

Given an HDMap, the affiliation of each LiDAR point indicates whether it is inside or outside the ROI. Each LiDAR point can be queried with a lookup table (LUT) of 2D quantization of the region around the car. The input and output of the HDMap ROI filter module are summarized in the table below.

Structure

├── pointcloud_map_based_roi
    ├── conf            // component config file
    ├── dag             // component dag file
    ├── data            // config of map_manager and roi_filter
    ├── map_manager     // Set the ROI based on the hdmap
    ├── roi_filter      // filter point cloud outside the ROI
    ├── interface       // definition of BaseROIFilter
    ├── proto           // definition of data structure
    ├── pointcloud_map_based_roi_component.cc // omponent inference
    ├── pointcloud_map_based_roi_component.h
    ├── cyberfile.xml   // package configs
    ├── README.md
    └── BUILD

Modules

PointCloudMapROIComponent

apollo::perception::lidar::PointCloudMapROIComponent

输入

Name	Type	Description	Input channal
`frame`	`apollo::perception::onboard::LidarFrameMessage`	lidar frame message	/perception/lidar/pointcloud_preprocess

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

输出

Name	Type	Description	Output channal
`frame`	`apollo::perception::onboard::LidarFrameMessage`	LidarFrame's roi_indices: save the indices of point inside the ROI	/perception/lidar/pointcloud_map_based_roi

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_map_based_roi/conf/pointcloud_map_based_roi_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/pointcloud_map_based_roi/dag/pointcloud_map_based_roi.dag

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

Modify modules/perception/pointcloud_map_based_roi/conf/pointcloud_map_based_roi_config.pb.txt

output_channel_name: the name of output channel
use_map_manager: whether use map_manager
enable_hdmap: whether has hdmap as input
roi_filter: name of roi filter
config_path: the path of config
config_file: the name of config

start the lidar component

bash

cyber_launch start modules/perception/launch/perception_lidar.launch