Introduction

The radar4d detection module receives the 4d radar driver message, which includes the radar point cloud and the tracked objects (optional). The original tracked objected are not used. Instead, obstacles are detected and tracked through the radar point cloud, then sent to the multi-sensor fusion module.

Directory Structure

radar4d_detection
├── BUILD     // bazel build file
├── README.md
├── app       // main process
├── conf      // dag config file
├── cyberfile.xml  // package description file
├── dag
├── data      // lib's configuration file
├── interface
├── launch
├── lib       // algorithm library
├── proto     // proto file
├── radar4d_detection_component.cc  // component
└── radar4d_detection_component.h

Input and Output

Input

Note: Radar4d data from driver. The default trigger channel is /apollo/sensor/oculii/PointCloud2. The detailed input channel information is in modules/perception/radar4d_detection/dag/radar4d_detection.dag file.

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/radar4d_detection/conf/radar4d_component_config.pb.txt file.

How to run

In most cases, the radar4d detection module needs to work with the multi-sensor fusion module. If you want to debug the radar4d detection module separately and view the detected obstacle information, you can combine the msg_adapter module.

Run the command as follows.

cyber_launch start modules/perception/launch/perception_radar4d.launch