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体验新版 GitCode,发现更多精彩内容 >>
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1faf3e7a
编写于
9月 25, 2020
作者:
J
Jiahao Chen (Jerold)
提交者:
GitHub
9月 25, 2020
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差异文件
Perception: simplify dag to release GPU memory (#12677)
上级
e260fd09
变更
3
隐藏空白更改
内联
并排
Showing
3 changed file
with
39 addition
and
64 deletion
+39
-64
modules/perception/production/dag/dag_streaming_perception.dag
...es/perception/production/dag/dag_streaming_perception.dag
+13
-25
modules/perception/production/dag/dag_streaming_perception_lgsvl.dag
...ception/production/dag/dag_streaming_perception_lgsvl.dag
+13
-26
modules/perception/production/dag/dag_streaming_perception_lidar.dag
...ception/production/dag/dag_streaming_perception_lidar.dag
+13
-13
未找到文件。
modules/perception/production/dag/dag_streaming_perception.dag
浏览文件 @
1faf3e7a
module_config {
module_library : "/apollo/bazel-bin/modules/perception/onboard/component/libperception_component_lidar.so"
components {
components {
class_name : "DetectionComponent"
config {
name: "Velodyne128Detection"
...
...
@@ -13,17 +13,6 @@ module_config {
}
}
components {
class_name : "DetectionComponent"
config {
name: "Velodyne16Detection"
config_file_path: "/apollo/modules/perception/production/conf/perception/lidar/velodyne16_detection_conf.pb.txt"
readers {
channel: "/apollo/sensor/lidar16/compensator/PointCloud2"
}
}
}
components {
class_name : "RecognitionComponent"
config {
...
...
@@ -67,22 +56,21 @@ module_config {
}
}
}
}
module_config {
module_library : "/apollo/bazel-bin/modules/v2x/fusion/apps/libv2x_fusion_component.so"
module_library : "/apollo/bazel-bin/modules/v2x/fusion/apps/libv2x_fusion_component.so"
components {
class_name : "V2XFusionComponent"
config {
name : "v2x_fusion"
flag_file_path : "/apollo/modules/v2x/conf/v2x_fusion_tracker.conf"
readers: [
{
channel: "/perception/vehicle/obstacles"
}
]
}
components {
class_name : "V2XFusionComponent"
config {
name : "v2x_fusion"
flag_file_path : "/apollo/modules/v2x/conf/v2x_fusion_tracker.conf"
readers: [
{
channel: "/perception/vehicle/obstacles"
}
]
}
}
}
modules/perception/production/dag/dag_streaming_perception_lgsvl.dag
浏览文件 @
1faf3e7a
module_config {
module_library : "/apollo/bazel-bin/modules/perception/onboard/component/libperception_component_lidar.so"
components {
components {
class_name : "DetectionComponent"
config {
name: "Velodyne128Detection"
...
...
@@ -13,17 +13,6 @@ module_config {
}
}
components {
class_name : "DetectionComponent"
config {
name: "Velodyne16Detection"
config_file_path: "/apollo/modules/perception/production/conf/perception/lidar/velodyne16_detection_conf.pb.txt"
readers {
channel: "/apollo/sensor/lidar16/compensator/PointCloud2"
}
}
}
components {
class_name : "RecognitionComponent"
config {
...
...
@@ -67,23 +56,21 @@ module_config {
}
}
}
}
module_config {
module_library : "/apollo/bazel-bin/modules/v2x/fusion/apps/libv2x_fusion_component.so"
module_library : "/apollo/bazel-bin/modules/v2x/fusion/apps/libv2x_fusion_component.so"
components {
class_name : "V2XFusionComponent"
config {
name : "v2x_fusion"
flag_file_path : "/apollo/modules/v2x/conf/v2x_fusion_tracker.conf"
readers: [
{
channel: "/perception/vehicle/obstacles"
}
]
}
components {
class_name : "V2XFusionComponent"
config {
name : "v2x_fusion"
flag_file_path : "/apollo/modules/v2x/conf/v2x_fusion_tracker.conf"
readers: [
{
channel: "/perception/vehicle/obstacles"
}
]
}
}
}
modules/perception/production/dag/dag_streaming_perception_lidar.dag
浏览文件 @
1faf3e7a
module_config {
module_library : "/apollo/bazel-bin/modules/perception/onboard/component/libperception_component_lidar.so"
components {
components {
class_name : "DetectionComponent"
config {
name: "Velodyne128Detection"
...
...
@@ -39,18 +39,18 @@ module_config {
}
module_config {
module_library : "/apollo/bazel-bin/modules/v2x/fusion/apps/libv2x_fusion_component.so"
module_library : "/apollo/bazel-bin/modules/v2x/fusion/apps/libv2x_fusion_component.so"
components {
class_name : "V2XFusionComponent"
config {
name : "v2x_fusion"
flag_file_path : "/apollo/modules/v2x/conf/v2x_fusion_tracker.conf"
readers: [
{
channel: "/perception/vehicle/obstacles"
}
]
}
components {
class_name : "V2XFusionComponent"
config {
name : "v2x_fusion"
flag_file_path : "/apollo/modules/v2x/conf/v2x_fusion_tracker.conf"
readers: [
{
channel: "/perception/vehicle/obstacles"
}
]
}
}
}
\ No newline at end of file
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