Perception: fix camera & sensor fusion pipeline (#1835)

* Perception: fix camera & sensor fusion pipeline; add onboard visualization confs

* Perception: remove visualization conf files

* Perception: remove visualization conf files

* Perception: remove visualization conf files

modules/perception/camera/app/debug_info.cc

@@ -331,7 +331,7 @@ void WriteFusionTracking(std::ofstream &fout,
     return;
   }
   AINFO << "Write track results:" << frame_num;
-  if (camera_name == "onsemi_narrow") {
+  if (camera_name == "front_12mm") {
     for (size_t i = 0; i < tracked_object.size(); ++i) {
       base::ObjectPtr ptr = tracked_object[i];
       char output[300];
@@ -361,7 +361,7 @@ void WriteFusionTracking(std::ofstream &fout,
                ptr->velocity[2]);
       fout << output << std::endl;
     }
-  } else if (camera_name == "onsemi_obstacle") {
+  } else if (camera_name == "front_6mm") {
     for (size_t i = 0; i < tracked_object.size(); ++i) {
       base::ObjectPtr ptr = tracked_object[i];
       char output[300];

modules/perception/camera/app/obstacle_camera_perception.cc

@@ -300,7 +300,7 @@ bool ObstacleCameraPerception::Perception(
       frame->data_provider->sensor_name());
   CHECK(frame->calibration_service != nullptr);
 
-  //  lane detector and postprocessor: work on onsemi_obstacle only
+  //  lane detector and postprocessor: work on front_6mm only
   if (lane_calibration_working_sensor_name_
       == frame->data_provider->sensor_name()) {
     LaneDetectorOptions lane_detetor_options;

modules/perception/camera/lib/interface/base_camera_perception.h

@@ -26,7 +26,7 @@ namespace camera {
 
 struct CameraPerceptionInitOptions : public BaseInitOptions {
   // TODO(Xun): modified to be configurable
-  std::string lane_calibration_working_sensor_name = "onsemi_obstacle";
+  std::string lane_calibration_working_sensor_name = "front_6mm";
   std::string calibrator_method = "LaneLineCalibrator";
 };
 

modules/perception/camera/tools/lane_detection/lane_common.cc

@@ -33,7 +33,7 @@ DEFINE_bool(lane_ego_debug, false, "lane ego debug");
 DEFINE_bool(lane_result_output, false, "output the lane result");
 DEFINE_bool(lane_points_output, false, "output the detected lane points");
 DEFINE_string(image_dir, "./image/", "test image directory");
-DEFINE_string(camera_intrinsics_yaml, "params/onsemi_obstacle_intrinsics.yaml",
+DEFINE_string(camera_intrinsics_yaml, "params/front_6mm_intrinsics.yaml",
   "camera intrinsics_yaml");
 
 namespace apollo {

modules/perception/camera/tools/lane_detection/lane_denseline_eval.cc

@@ -43,7 +43,7 @@ void lane_postprocessor_eval() {
   init_options.root_dir = "data/";
   base::BrownCameraDistortionModel model;
   bool flag = common::LoadBrownCameraIntrinsic(
-    "params/onsemi_obstacle_intrinsics.yaml", &model);
+    "params/front_6mm_intrinsics.yaml", &model);
   if (!flag) {
     AERROR << "LoadBrownCameraIntrinsic Error!";
     return;

modules/perception/camera/tools/obstacle_detection/conf/sensor_meta.config

 sensor_meta {
-    name: "onsemi_obstacle"
+    name: "front_6mm"
     type: STEREO_CAMERA
     orientation: FRONT
 }

modules/perception/camera/tools/obstacle_detection/obstacle_detection.cc

@@ -154,7 +154,7 @@ int main() {
   }
 
   DataProvider::InitOptions dp_init_options;
-  dp_init_options.sensor_name = "onsemi_obstacle";
+  dp_init_options.sensor_name = "front_6mm";
 
   dp_init_options.image_height = FLAGS_height;
   dp_init_options.image_width = FLAGS_width;
@@ -169,7 +169,7 @@ int main() {
   init_options.conf_file = FLAGS_detector_conf;
 
   base::BrownCameraDistortionModel model;
-  common::LoadBrownCameraIntrinsic("params/onsemi_obstacle_intrinsics.yaml",
+  common::LoadBrownCameraIntrinsic("params/front_6mm_intrinsics.yaml",
                                    &model);
   init_options.base_camera_model = model.get_camera_model();
   auto pinhole =

modules/perception/camera/tools/obstacle_detection/params/onsemi_narrow_extrinsics.yaml

-child_frame_id: onsemi_narrow
+child_frame_id: front_12mm
 transform:
   rotation:
     z: -0.4907472563510946

modules/perception/camera/tools/obstacle_detection/params/onsemi_obstacle_extrinsics.yaml

@@ -4,7 +4,7 @@ header:
     nsecs: 0
   seq: 0
   frame_id: velodyne64
-child_frame_id: onsemi_obstacle
+child_frame_id: front_6mm
 transform:
   rotation:
     x: -0.5038530686895437

modules/perception/camera/tools/offline/offline_obstacle_pipeline.cc

@@ -35,9 +35,9 @@ DEFINE_string(image_color, "bgr", "color space of image");
 DEFINE_string(config_root, "conf/perception/camera/", "config_root");
 DEFINE_string(tf_file, "", "tf file");
 DEFINE_string(config_file, "obstacle.pt", "config_file");
-DEFINE_string(narrow_name, "onsemi_narrow", " camera for projecting");
-DEFINE_string(base_camera_name, "onsemi_obstacle", "camera to be peojected");
-DEFINE_string(sensor_name, "onsemi_obstacle,onsemi_narrow", "camera to use");
+DEFINE_string(narrow_name, "front_12mm", " camera for projecting");
+DEFINE_string(base_camera_name, "front_6mm", "camera to be peojected");
+DEFINE_string(sensor_name, "front_6mm,front_12mm", "camera to use");
 DEFINE_string(params_dir, "/home/caros/cyber/params", "params dir");
 DEFINE_string(visualize_dir, "/tmp/0000", "visualize dir");
 DEFINE_double(camera_fps, 15, "camera_fps");

modules/perception/camera/tools/offline/visualizer.cc

@@ -146,11 +146,11 @@ void Visualizer::ShowResult(const cv::Mat &img, const CameraFrame &frame) {
 
   if (frame.timestamp - last_timestamp_ > 0.02) {
     cv::Mat bigimg(world_h_, small_w_ + wide_pixel_, CV_8UC3);
-    camera_image_["onsemi_obstacle"].copyTo(bigimg(cv::Rect(0,
+    camera_image_["front_6mm"].copyTo(bigimg(cv::Rect(0,
                                                             0,
                                                             small_w_,
                                                             small_h_)));
-    camera_image_["onsemi_narrow"].copyTo(bigimg(cv::Rect(0,
+    camera_image_["front_12mm"].copyTo(bigimg(cv::Rect(0,
                                                           small_h_,
                                                           small_w_,
                                                           small_h_)));

modules/perception/fusion/lib/data_association/hm_data_association/hm_tracks_objects_match.cc

@@ -111,15 +111,6 @@ bool HMTrackersObjectsAssociation::Associate(
       &association_result->assignments, &association_result->unassigned_tracks,
       &association_result->unassigned_measurements);
 
-  // const auto& assignments = association_result->assignments;
-  // for (size_t i = 0; i < assignments.size(); ++i) {
-  //  int track_id =
-  //    fusion_tracks[assignments[i].first]->GetTrackId();
-  //  int obs_id =
-  //    sensor_objects[assignments[i].second]->GetBaseObject()->track_id;
-  //  ADEBUG << "local_track_id_assign: " << track_id << ", " << obs_id;
-  //}
-
   // start do post assign
   std::vector<TrackMeasurmentPair> post_assignments;
   PostIdAssign(fusion_tracks, sensor_objects,
@@ -147,15 +138,6 @@ bool HMTrackersObjectsAssociation::Associate(
         << ", unassigned_measuremnets = "
         << association_result->unassigned_measurements.size();
 
-  // const auto& final_assignments = association_result->assignments;
-  // for (size_t i = 0; i < final_assignments.size(); ++i) {
-  //  int track_id =
-  //    fusion_tracks[final_assignments[i].first]->GetTrackId();
-  //  int obs_id =
-  //    sensor_objects[final_assignments[i].second]->GetBaseObject()->track_id;
-  //  ADEBUG << "final_track_id_assign: " << track_id << ", " << obs_id;
-  //}
-
   return state;
 }
 void HMTrackersObjectsAssociation::PostIdAssign(
@@ -200,14 +182,14 @@ bool HMTrackersObjectsAssociation::MinimizeAssignment(
     std::vector<size_t>* unassigned_measurements) {
   common::GatedHungarianMatcher<float>::OptimizeFlag opt_flag =
       common::GatedHungarianMatcher<float>::OptimizeFlag::OPTMIN;
-  common::SecureMat<float> global_costs = optimizer_.global_costs();
+  common::SecureMat<float>* global_costs = optimizer_.mutable_global_costs();
   int rows = static_cast<int>(unassigned_tracks->size());
   int cols = static_cast<int>(unassigned_measurements->size());
 
-  global_costs.Resize(rows, cols);
+  global_costs->Resize(rows, cols);
   for (int r_i = 0; r_i < rows; r_i++) {
     for (int c_i = 0; c_i < cols; c_i++) {
-      global_costs(r_i, c_i) = static_cast<float>(association_mat[r_i][c_i]);
+      (*global_costs)(r_i, c_i) = static_cast<float>(association_mat[r_i][c_i]);
     }
   }
   std::vector<TrackMeasurmentPair> local_assignments;
@@ -380,7 +362,7 @@ void HMTrackersObjectsAssociation::IdAssign(
     /* when camera system has sub-fusion of obstacle & narrow, they share
      * the same track-id sequence. thus, latest camera object is ok for
      * camera id assign and its information is more up to date. */
-    if (sensor_id == "onsemi_obstacle" || sensor_id == "onsemi_narrow") {
+    if (sensor_id == "front_6mm" || sensor_id == "front_12mm") {
       obj = fusion_tracks[i]->GetLatestCameraObject();
     }
     if (obj == nullptr) {
@@ -399,7 +381,7 @@ void HMTrackersObjectsAssociation::IdAssign(
     // with the track which only have narrow camera object
     // In post id_assign, we do this.
     if (post == false &&
-        (sensor_id == "onsemi_obstacle" || sensor_id == "onsemi_narrow"))
+        (sensor_id == "front_6mm" || sensor_id == "front_12mm"))
       continue;
 
     if (it != sensor_id_2_track_ind.end()) {

modules/perception/fusion/lib/data_fusion/existance_fusion/dst_existance_fusion/dst_existance_fusion.h

@@ -44,7 +44,7 @@ struct DstExistanceFusionOptions {
       {"camera_smartereye", 110},
       {"camera_front_obstacle", 110},
       {"camera_front_narrow", 150},
-      {"onsemi_obstacle", 110},
+      {"front_6mm", 110},
   };
   double track_object_max_match_distance_ = 4.0;
 };

modules/perception/fusion/lib/data_fusion/type_fusion/dst_type_fusion/dst_type_fusion.h

@@ -71,7 +71,7 @@ struct DstTypeFusionOptions {
   std::map<std::string, double> camera_max_valid_dist_ = {
       {"camera_smartereye", 110},
       {"camera_front_obstacle", 110},
-      {"onsemi_obstacle", 110},
+      {"front_6mm", 110},
       {"camera_front_narrow", 150},
   };
   std::map<std::string, double> sensor_reliability_ = {
@@ -79,7 +79,7 @@ struct DstTypeFusionOptions {
       {"velodyne_64", 0.5},
       {"velodyne128", 0.5},
       {"camera_smartereye", 0.95},
-      {"onsemi_obstacle", 0.95},
+      {"front_6mm", 0.95},
       {"camera_front_obstacle", 0.95},
       {"camera_front_narrow", 0.5},
   };
@@ -88,7 +88,7 @@ struct DstTypeFusionOptions {
       {"velodyne_64", 0.5},
       {"velodyne128", 0.5},
       {"camera_smartereye", 0.2},
-      {"onsemi_obstacle", 0.2},
+      {"front_6mm", 0.2},
       {"camera_front_obstacle", 0.2},
       {"camera_front_narrow", 0.2},
   };

modules/perception/fusion/lib/gatekeeper/pbf_gatekeeper/pbf_gatekeeper.cc

@@ -181,8 +181,8 @@ bool PbfGatekeeper::RadarAbleToPublish(const TrackPtr &track, bool is_night) {
 bool PbfGatekeeper::CameraAbleToPublish(const TrackPtr &track, bool is_night) {
   bool visible_in_camera = track->IsCameraVisible();
   SensorId2ObjectMap &camera_objects = track->GetCameraObjects();
-  auto iter = camera_objects.find("onsemi_obstacle");
-  auto iter_narrow = camera_objects.find("onsemi_narrow");
+  auto iter = camera_objects.find("front_6mm");
+  auto iter_narrow = camera_objects.find("front_12mm");
   iter = iter != camera_objects.end() ? iter : iter_narrow;
   if (params_.publish_if_has_camera && visible_in_camera &&
       iter != camera_objects.end() && params_.use_camera_3d && !is_night) {

modules/perception/fusion/lib/gatekeeper/pbf_gatekeeper/pbf_gatekeeper_test.cc

@@ -55,9 +55,9 @@ TEST(PbfGatekeeperTest, test) {
   EXPECT_TRUE(sensor_manager->GetSensorInfo("velodyne64", &lidar_info));
   EXPECT_TRUE(sensor_manager->GetSensorInfo("radar_front", &radar_front_info));
   EXPECT_TRUE(
-      sensor_manager->GetSensorInfo("onsemi_obstacle", &camera_obstacle_info));
+      sensor_manager->GetSensorInfo("front_6mm", &camera_obstacle_info));
   EXPECT_TRUE(
-      sensor_manager->GetSensorInfo("onsemi_narrow", &camera_narrow_info));
+      sensor_manager->GetSensorInfo("front_12mm", &camera_narrow_info));
   EXPECT_TRUE(sensor_manager->GetSensorInfo("radar_rear", &radar_rear_info));
 
   SensorPtr lidar_sensor(new Sensor(lidar_info));

modules/perception/onboard/component/camera_perception_viz_message.h

@@ -41,7 +41,6 @@ class CameraPerceptionVizMessage : public cyber::message::IntraMessage {
   }
   ~CameraPerceptionVizMessage() = default;
 
-  CameraPerceptionVizMessage(const CameraPerceptionVizMessage&) = delete;
   CameraPerceptionVizMessage& operator=(
       const CameraPerceptionVizMessage&) = delete;
 

modules/perception/onboard/component/fusion_camera_detection_component.cc

@@ -177,8 +177,12 @@ bool GetProjectMatrix(
 FusionCameraDetectionComponent::~FusionCameraDetectionComponent() {}
 
 bool FusionCameraDetectionComponent::Init() {
+  // TODO(someone): read output-channel name from config
   writer_ = node_->CreateWriter<PerceptionObstacles>("/perception/obstacles");
-
+  sensorframe_writer_ = node_->CreateWriter<SensorFrameMessage>(
+      "/perception/inner/PrefusedObjects");
+  camera_viz_writer_ = node_->CreateWriter<CameraPerceptionVizMessage>(
+      "/perception/inner/camera_viz_msg");
   if (InitConfig() != cyber::SUCC) {
     AERROR << "InitConfig() failed.";
     return false;
@@ -239,7 +243,7 @@ void FusionCameraDetectionComponent::OnReceiveImage(
   // protobuf msg
   std::shared_ptr<apollo::perception::PerceptionObstacles> out_message(
       new (std::nothrow) apollo::perception::PerceptionObstacles);
-  apollo::common::ErrorCode error_code = apollo::common::PERCEPTION_ERROR_NONE;
+  apollo::common::ErrorCode error_code = apollo::common::OK;
 
   // prefused msg
   std::shared_ptr<SensorFrameMessage> prefused_message(new (std::nothrow)
@@ -259,6 +263,10 @@ void FusionCameraDetectionComponent::OnReceiveImage(
     return;
   }
 
+  bool send_sensorframe_ret =
+      sensorframe_writer_->Write(prefused_message);
+  AINFO << "send out prefused msg, ts: " << std::to_string(msg_timestamp)
+      << "ret: " << send_sensorframe_ret;
   // Send output msg
   if (output_final_obstacles_) {
     writer_->Write(out_message);
@@ -609,7 +617,7 @@ int FusionCameraDetectionComponent::InternalProc(
     prefused_message->error_code_ = *error_code;
     return cyber::FAIL;
   }
-  *error_code = apollo::common::ErrorCode::PERCEPTION_ERROR_NONE;
+  *error_code = apollo::common::ErrorCode::OK;
   prefused_message->error_code_ = *error_code;
 
   prefused_message->frame_->camera_frame_supplement.on_use = true;
@@ -636,7 +644,9 @@ int FusionCameraDetectionComponent::InternalProc(
             camera_name, msg_timestamp, camera2world_trans.matrix(), image_blob,
             camera_frame.tracked_objects, camera_frame.lane_objects,
             *error_code));
-    // Send(camera_perception_viz_message_channel_name_, viz_msg);
+    bool send_viz_ret = camera_viz_writer_->Write(viz_msg);
+    AINFO << "send out camera visualization msg, ts: "
+        << std::to_string(msg_timestamp) << " send_viz_ret: " << send_viz_ret;
   }
 
   return cyber::SUCC;

modules/perception/onboard/component/fusion_camera_detection_component.h

@@ -37,6 +37,7 @@
 #include "modules/perception/onboard/proto/fusion_camera_detection_component.pb.h"
 #include "modules/perception/onboard/transform_wrapper/transform_wrapper.h"
 #include "modules/perception/proto/perception_obstacle.pb.h"
+#include "modules/perception/onboard/component/camera_perception_viz_message.h"
 
 namespace apollo {
 namespace perception {
@@ -160,8 +161,11 @@ class FusionCameraDetectionComponent :
   std::shared_ptr<apollo::cyber::Writer<
         apollo::perception::PerceptionObstacles>> writer_;
 
-//   std::shared_ptr<apollo::cyber::Writer<SensorFrameMessage>>
-//         sensorframe_writer_;
+  std::shared_ptr<apollo::cyber::Writer<SensorFrameMessage>>
+        sensorframe_writer_;
+
+  std::shared_ptr<apollo::cyber::Writer<
+        CameraPerceptionVizMessage>> camera_viz_writer_;
 };
 
 CYBER_REGISTER_COMPONENT(FusionCameraDetectionComponent);

modules/perception/onboard/component/fusion_component.cc

@@ -73,7 +73,7 @@ bool FusionComponent::Proc(const std::shared_ptr<SensorFrameMessage>& message) {
       // send msg for visualization
       if (FLAGS_obs_enable_visualization) {
         // Send("/apollo/perception/inner/PrefusedObjects", viz_message);
-        writer_->Write(out_message);
+        inner_writer_->Write(viz_message);
       }
     }
   }

modules/perception/onboard/proto/fusion_camera_detection_component.proto

@@ -3,7 +3,7 @@ syntax = "proto2";
 package apollo.perception.onboard;
 
 message FusionCameraDetection {
-    optional string camera_names = 1 [default = "onsemi_obstacle,onsemi_narrow"];
+    optional string camera_names = 1 [default = "front_6mm,front_12mm"];
     optional string input_camera_channel_names = 2 [default = "/sensor/camera/traffic/image_short,/sensor/camera/obstacle/image_narrow"];
     optional double timestamp_offset = 3 [default = 0.0];
     optional string camera_obstacle_perception_conf_dir = 4 [default = "conf/perception/camera"];
@@ -17,7 +17,7 @@ message FusionCameraDetection {
     optional string prefused_channel_name = 12 [default = "/perception/inner/PrefusedObjects"];
     optional double default_camera_pitch = 13 [default = 0.0];
     optional double default_camera_height = 14 [default = 1.5];
-    optional string lane_calibration_working_sensor_name = 15 [default = "onsemi_obstacle"];
+    optional string lane_calibration_working_sensor_name = 15 [default = "front_6mm"];
     optional string calibrator_method = 16 [default = "LaneLineCalibrator"];
     optional string calib_service_name = 17 [default = "OnlineCalibrationService"];
     optional bool run_calib_service = 18 [default = true];

modules/perception/production/conf/perception/camera/camera_visualization_component.cy.config

-[CameraVisualization]
-visualizer_conf_model_name = GLFusionVisualizer_camera_onboard
-main_camera_name = onsemi_obstacle
-show_hdmap = true
-hdmap_search_distance = 150.0

modules/perception/production/conf/perception/camera/fusion_camera_detection_component.config

-camera_names: onsemi_obstacle,onsemi_narrow
-input_camera_channel_names : /sensor/camera/traffic/image_short,/sensor/camera/obstacle/image_narrow
-timestamp_offset : 0.0
-camera_obstacle_perception_conf_dir : conf/perception/camera
-# camera_obstacle_perception_conf_file : obstacle_fusion.pt
-camera_obstacle_perception_conf_file : obstacle.pt
-frame_capacity : 20
-image_channel_num : 3
-enable_undistortion : false
-enable_visualization : false
-output_final_obstacles : false
-output_obstacles_channel_name : /perception/obstacles
-camera_perception_viz_message_channel_name : /perception/inner/camera_viz_msg
-prefused_channel_name : /perception/inner/PrefusedObjects
-default_camera_pitch : 0.0
-default_camera_height : 1.5
-lane_calibration_working_sensor_name : onsemi_obstacle
-calibrator_method : LaneLineCalibrator
-calib_service_name : OnlineCalibrationService
-run_calib_service : true
-output_camera_debug_msg : true
-camera_debug_channel_name : /perception/obstacles_camera_debug
-ts_diff : 0.1
\ No newline at end of file

modules/perception/production/conf/perception/camera/fusion_camera_detection_component.cy.config

-[FusionCameraDetection]
-camera_names = onsemi_obstacle,onsemi_narrow
-input_camera_channel_names = /sensor/camera/traffic/image_short,/sensor/camera/obstacle/image_narrow
-timestamp_offset = 0.0
-camera_obstacle_perception_conf_dir = conf/perception/camera
-# camera_obstacle_perception_conf_file = obstacle_fusion.pt
-camera_obstacle_perception_conf_file = obstacle.pt
-frame_capacity = 20
-image_channel_num = 3
-enable_undistortion = false
-enable_visualization = false
-output_final_obstacles = false
-output_obstacles_channel_name = /perception/obstacles
-camera_perception_viz_message_channel_name = /perception/inner/camera_viz_msg
-prefused_channel_name = /perception/inner/PrefusedObjects
-default_camera_pitch = 0.0
-default_camera_height = 1.5
-lane_calibration_working_sensor_name = onsemi_obstacle
-calibrator_method = LaneLineCalibrator
-calib_service_name = OnlineCalibrationService
-run_calib_service = true
-output_camera_debug_msg = true
-camera_debug_channel_name = /perception/obstacles_camera_debug
-ts_diff = 0.1
-
-[FusionCameraDetectionViz]
-camera_names = onsemi_obstacle,onsemi_narrow
-input_camera_channel_names = /sensor/camera/traffic/image_short,/sensor/camera/obstacle/image_narrow
-timestamp_offset = 0.0
-camera_obstacle_perception_conf_dir = conf/perception/camera
-# camera_obstacle_perception_conf_file = obstacle_fusion.pt
-camera_obstacle_perception_conf_file = obstacle.pt
-frame_capacity = 20
-image_channel_num = 3
-enable_undistortion = true
-enable_visualization = true
-output_final_obstacles = false
-output_obstacles_channel_name = /perception/obstacles
-camera_perception_viz_message_channel_name = /perception/inner/camera_viz_msg
-prefused_channel_name = /perception/inner/PrefusedObjects
-default_camera_pitch = 0.0
-default_camera_height = 1.5
-lane_calibration_working_sensor_name = onsemi_obstacle
-calibrator_method = LaneLineCalibrator
-calib_service_name = OnlineCalibrationService
-run_calib_service = true
-output_camera_debug_msg = true
-camera_debug_channel_name = /perception/obstacles_camera_debug
-ts_diff = 0.1
\ No newline at end of file

modules/perception/production/conf/perception/camera/fusion_camera_detection_component.pb.txt

 camera_names: "front_6mm,front_12mm"
-input_camera_channel_names : "/apollo/sensor/camera/front_6mm/image,/apollo/camera/obstacle/front_12mm/image"
+input_camera_channel_names : "/apollo/sensor/camera/front_6mm/image,/apollo/sensor/camera/front_12mm/image"
 timestamp_offset : 0.0
 camera_obstacle_perception_conf_dir : "/apollo/modules/perception/production/conf/perception/camera"
 camera_obstacle_perception_conf_file : "obstacle.pt"

modules/perception/production/conf/perception/camera/modules/display_options.ini

-[DisplayOptions]
-show_polygon = false
-show_camera_objects_3d = true
-show_map_roi_3d = true
-show_map_road_boundary_3d = true
-show_track_id_2d = false
-show_track_id_3d = false
-show_onsemi_obstacle = true
-show_onsemi_narrow = true
-show_track_color = true
-show_camera_ego_lane = true
-show_camera_ego_lane_only = true

modules/perception/production/conf/perception/camera/modules/gl_fusion_visualizer_camera_onboard.config

-model_configs {
-    name: "GLFusionVisualizer_camera_onboard"
-    version: "1.0.0"
-
-    # render modes
-    array_string_params {
-        name: "render_modes"
-        values: "render_camera MultiCamera3DViewport CameraProj2DViewport Camera2DViewport Lane2DViewport"
-    }
-
-    array_string_params {
-        name: "viewports_names"
-        values: "MultiCamera3DViewport"
-        values: "DummyViewport"
-        values: "Camera2DViewport"
-        values: "CameraProj2DViewport"
-        values: "Lane2DViewport"
-    }
-
-    array_string_params {
-        name: "lidar_ids"
-        values: "velodyne64"
-        #values: "ldlidar_1"
-        # values: "ldlidar_4"
-    }
-    array_string_params {
-        name: "radar_ids"
-        values: "radar_front"
-        # values: "radar_rear"
-    }
-    array_string_params {
-        name: "camera_ids"
-        values: "onsemi_obstacle"
-        values: "onsemi_narrow"
-        # values: "camera_left_forward"
-        # values: "camera_right_forward"
-        # values: "camera_rear"
-        # values: "camera_left_backward"
-        # values: "camera_right_backward"
-    }
-    array_string_params {
-        name: "ultrasonic_ids"
-        values: "ultrasonic_16"
-    }
-
-    string_params {
-        name: "main_sensor_name"
-        value: "onsemi_obstacle"
-    }
-    array_double_params {
-        name: "main_car_lwh"
-        values: 4.925
-        values: 1.864
-        values: 1.477
-    }
-
-    integer_params {
-        name: "max_data_buffer_size"
-        value: 30
-    }
-    double_params {
-        name: "max_buffer_interval"
-        value: 0.4
-    }
-    integer_params {
-        name: "full_window_viewport_idx"
-        value: -1
-    }
-    double_params {
-        # radius incremental of reference circle (in meters)
-        name: "ref_circle_radius_inc"
-        value: 40.0
-        # value: 20.0
-    }
-    string_params {
-        # path of display options' init config file
-        name: "display_opt_init_filepath"
-        value: "conf/perception/camera_onboard/modules/display_options.ini"
-    }
-    array_double_params {
-        # crop region of screenshots; [left, top, right, bottom]
-        # [0.0, 0.0, 0.5, 1.0] means capturing the left half
-        name: "crop_box_normalized"
-        values: 0.0
-        values: 0.0
-        values: 0.5
-        # values: 1.0
-        values: 1.0
-    }
-    integer_params {
-        # number of reference circle
-        name: "ref_circle_num"
-        value: 4
-    }
-}

modules/perception/production/conf/perception/camera/obstacle_offline.pt

@@ -5,7 +5,7 @@ detector_param {
     root_dir : "/apollo/modules/perception/production/data/perception/camera/models/yolo_obstacle_detector"
     config_file : "config.pt"
   }
-  camera_name : "onsemi_obstacle"
+  camera_name : "front_6mm"
 }
 detector_param {
   plugin_param{
@@ -13,7 +13,7 @@ detector_param {
     root_dir : "/apollo/modules/perception/production/data/perception/camera/models/yolo_obstacle_detector"
     config_file : "config.pt"
   }
-  camera_name : "onsemi_narrow"
+  camera_name : "front_12mm"
 }
 
 tracker_param {
@@ -45,7 +45,7 @@ lane_param {
       root_dir : "/apollo/modules/perception/production/data/perception/camera/models/lane_detector/"
       config_file : "config.pt"
     }
-    camera_name : "onsemi_obstacle"
+    camera_name : "front_6mm"
   }
   lane_postprocessor_param {
       name : "DenselineLanePostprocessor"

modules/perception/production/conf/perception/camera/trafficlights_perception_component.cy.config

-[TrafficLightsPerceptionComponent]
-tl_tf2_frame_id = world
-tl_tf2_child_frame_id = perception_localization_100hz
-tf2_timeout_second = 0.01
-camera_names = onsemi_traffic,onsemi_narrow,onsemi_obstacle,onsemi_wide
-camera_channel_names = /sensor/camera/traffic/image_long,/sensor/camera/obstacle/image_narrow,/sensor/camera/traffic/image_short,/sensor/camera/obstacle/image_wide
-tl_image_timestamp_offset = 0.0
-max_process_image_fps = 8
-query_tf_interval_seconds = 0.3
-valid_hdmap_interval = 1.5
-image_sys_ts_diff_threshold = 0.5
-sync_interval_seconds = 0.5
-camera_traffic_light_perception_conf_dir = conf/perception/camera
-camera_traffic_light_perception_conf_file = trafficlight.pt
-default_image_border_size = 100
-traffic_light_output_channel_name = /perception/traffic_light_status
-simulation_channel_name = /perception/traffic_light_simulation
\ No newline at end of file

modules/perception/production/dag/dag_streaming_perception_camera_viz.dag

-module_config {
-  module_library : "lib/libperception_camera_cyber_viz.so"
-  components {
-    comname : "FusionCameraDetectionViz"
-    comclass : "FusionCameraDetectionComponent"
-    confpath : "conf/perception/camera_onboard/camera_detection_component.cy.config"
-    sender : {
-      outchannelnames : ["/perception/inner/PrefusedObjects", "/perception/obstacles", "/perception/inner/camera_viz_msg", "/perception/obstacles_camera_debug"]
-    }
-  }
-
-  components {
-    comname : "CameraVisualization"
-    comclass : "CameraVisualizationComponent"
-    # confpath : "conf/perception/camera_detection_component.cy.config"
-    receiver : {
-      inchannelnames : ["/perception/inner/camera_viz_msg"]
-      inqosfilter : "PassThrough"
-    }
-  }
-
-  channels {
-    channelname : "/sensor/camera/traffic/image_short"
-    msgtype : "adu.common.sensor.Image"
-  }
-
-  channels {
-    channelname : "/sensor/camera/obstacle/image_narrow"
-    msgtype : "adu.common.sensor.Image"
-  }
-
-  channels {
-    channelname : "/perception/obstacles"
-    msgtype : "adu.common.perception.PerceptionObstacles"
-  }
-
-  channels {
-    channelname : "/perception/inner/PrefusedObjects"
-    msgtype : "SensorFrameMessage"
-  }
-
-  channels {
-    channelname : "/perception/inner/camera_viz_msg"
-    msgtype : "CameraPerceptionVizMessage"
-  }
-
-  channels {
-    channelname : "/perception/obstacles_camera_debug"
-    msgtype : "adu.common.perception.camera.CameraDebug"
-  }
-}

modules/perception/production/data/perception/camera/params/front_12mm_extrinsics.yaml

-#child_frame_id: onsemi_narrow
 child_frame_id: front_12mm
 transform:
   rotation:

modules/perception/production/data/perception/camera/params/front_6mm_extrinsics.yaml

@@ -4,7 +4,6 @@ header:
     secs: 0
     nsecs: 0
   frame_id: velodyne128
-#child_frame_id: onsemi_obstacle
 child_frame_id: front_6mm
 transform:
   translation:

modules/perception/production/data/perception/camera/params/onsemi_narrow_extrinsics.yaml

-child_frame_id: onsemi_narrow
+child_frame_id: front_12mm
 transform:
   rotation:
     z: -0.4907472563510946

modules/perception/production/data/perception/camera/params/onsemi_obstacle_extrinsics.yaml

@@ -4,7 +4,7 @@ header:
     secs: 0
     nsecs: 0
   frame_id: velodyne64
-child_frame_id: onsemi_obstacle
+child_frame_id: front_6mm
 transform:
   rotation:
     x: -0.5085689478608929

modules/perception/production/data/perception/camera/params/onsemi_obstacle_intrinsics.yaml

@@ -3,7 +3,7 @@ header:
   stamp: 
     secs: 0
     nsecs:         0
-  frame_id: onsemi_obstacle
+  frame_id: front_6mm
 height: 1080
 width: 1920
 distortion_model: plumb_bob

modules/perception/production/data/perception/camera/params/onsemi_traffic_extrinsics.yaml

@@ -2,7 +2,7 @@ header:
   stamp:
     secs: 0
     nsecs: 0
-  frame_id: onsemi_obstacle
+  frame_id: front_6mm
   seq: 0
 child_frame_id: onsemi_traffic
 transform:

modules/perception/production/data/perception/camera/sensor_meta_camera.pt

@@ -5,13 +5,13 @@ sensor_meta {
 }
 
 sensor_meta {
-    name: "onsemi_narrow"
+    name: "front_12mm"
     type: MONOCULAR_CAMERA
     orientation: FRONT
 }
 
 sensor_meta {
-    name: "onsemi_obstacle"
+    name: "front_6mm"
     type: MONOCULAR_CAMERA
     orientation: FRONT
 }

modules/perception/production/data/perception/fusion/dst_existance_fusion.pt

@@ -9,10 +9,10 @@ camera_valid_dist {
   valid_dist: 150
 }
 camera_valid_dist {
-  camera_name: "onsemi_obstacle"
+  camera_name: "front_6mm"
   valid_dist: 110
 }
 camera_valid_dist {
-  camera_name: "onsemi_narrow"
+  camera_name: "front_12mm"
   valid_dist: 150
 }

modules/perception/production/data/perception/fusion/dst_type_fusion.pt

@@ -19,14 +19,14 @@ lidar_params {
 }
 
 camera_params {
-  name: "onsemi_obstacle"
+  name: "front_6mm"
   valid_dist: 110
   reliability: 0.95
   reliability_for_unknown: 0.2
 }
 
 camera_params {
-  name: "onsemi_narrow"
+  name: "front_12mm"
   valid_dist: 150
   reliability: 0.5
   reliability_for_unknown: 0.2

modules/perception/production/launch/perception.launch

@@ -10,7 +10,14 @@
          
     <module>
         <name>perception</name>
-        <dag_conf>dag_streaming_perception.dag</dag_conf>
+        <dag_conf>/apollo/modules/perception/production/dag/dag_streaming_perception.dag</dag_conf>
+        <!-- if not set, use default process -->
+        <process_name>perception</process_name>
+        <version>1.0.0</version>
+    </module>
+    <module>
+        <name>perception_camera</name>
+        <dag_conf>/apollo/modules/perception/production/dag/dag_streaming_perception_camera.dag</dag_conf>
         <!-- if not set, use default process -->
         <process_name>perception</process_name>
         <version>1.0.0</version>

modules/perception/production/launch/perception_camera_viz.launch

-<!--this file list the modules which will be loaded dynamicly and 
-    their process name to be running in -->
-
-<cyber>
-    <desc>cyber modules list config</desc>
-    <version>1.0.0</version>
-
-    <!-- sample module config, and the files should have relative path like
-         ./bin/cyber_launch
-         ./bin/mainboard 
-         ./conf/dag_streaming_0.conf -->
-
-    <module>
-        <name>perception_camera_viz</name>
-        <dag_conf>dag_streaming_perception_camera_viz.dag</dag_conf>
-        <!-- if not set, use default process -->
-        <process_name></process_name>
-        <version>1.0.0</version>
-    </module>
-
-</cyber>