Module Name

pointcloud_motion

Introduction

The pointcloud motion module assigns a motion label to each point for pointcloud.

Directory Structure

├── pointcloud_motion   // pointcloud_motion component
    ├── conf               // configuration folder
    ├── dag                // module dag file
    ├── data               // module configuration parameters
    ├── interface          // interface of parser
    ├── launch             // launch file
    ├── parser             // parser method
    ├── proto              // pointcloud motion module configuration proto file
    ├── BUILD              // build file
    ├── cyberfile.xml      // package management file
    ├── pointcloud_motion_component.cc  // component entrance
    ├── pointcloud_motion_component.h
    └── README

Module Input and Output

Input

Output

How to Launch

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

cyber_launch start /apollo/modules/transform/launch/static_transform.launch

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

• select the dag file to start, add pointcloud_motion.dag to perception_lidar.launch
• 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_motion/conf/pointcloud_motion.pb.txt in profile

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

4. Launch pointcloud perception

cyber_launch start /apollo/modules/perception/launch/perception_lidar.launch