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665f765f
编写于
12月 26, 2017
作者:
X
xiaohuitu
提交者:
Jiangtao Hu
12月 26, 2017
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电子邮件补丁
差异文件
perception: fix export_sensor_data bug and fix visualizing first frame bug
上级
ad8e8e17
变更
7
隐藏空白更改
内联
并排
Showing
7 changed file
with
30 addition
and
89 deletion
+30
-89
modules/perception/obstacle/lidar/visualizer/opengl_visualizer/opengl_visualizer.cc
...e/lidar/visualizer/opengl_visualizer/opengl_visualizer.cc
+0
-5
modules/perception/obstacle/onboard/obstacle_perception.cc
modules/perception/obstacle/onboard/obstacle_perception.cc
+6
-3
modules/perception/obstacle/onboard/obstacle_perception.h
modules/perception/obstacle/onboard/obstacle_perception.h
+1
-0
modules/perception/tool/export_sensor_data/conf/export_sensor_data.flag
...tion/tool/export_sensor_data/conf/export_sensor_data.flag
+15
-72
modules/perception/tool/export_sensor_data/export_sensor_data.cc
.../perception/tool/export_sensor_data/export_sensor_data.cc
+1
-1
modules/perception/tool/offline_visualizer_tool/conf/offline_sequential_obstacle_perception_test.flag
...ool/conf/offline_sequential_obstacle_perception_test.flag
+4
-4
modules/perception/tool/offline_visualizer_tool/offline_sequential_obstacle_perception_test.cc
...lizer_tool/offline_sequential_obstacle_perception_test.cc
+3
-4
未找到文件。
modules/perception/obstacle/lidar/visualizer/opengl_visualizer/opengl_visualizer.cc
浏览文件 @
665f765f
...
...
@@ -46,11 +46,6 @@ bool OpenglVisualizer::Init() {
}
void
OpenglVisualizer
::
Render
(
const
FrameContent
&
content
)
{
Eigen
::
Vector3d
camera_world_pos
(
camera_center_world_
.
x
,
camera_center_world_
.
y
,
camera_center_world_
.
z
);
Eigen
::
Vector3d
camera_scene_center
(
view_point_world_
.
x
,
view_point_world_
.
y
,
view_point_world_
.
z
);
Eigen
::
Vector3d
camera_up_vector
(
up_world_
.
x
,
up_world_
.
y
,
up_world_
.
z
);
opengl_vs_
->
SetCameraPara
(
Eigen
::
Vector3d
(
camera_center_world_
.
x
,
camera_center_world_
.
y
,
camera_center_world_
.
z
),
...
...
modules/perception/obstacle/onboard/obstacle_perception.cc
浏览文件 @
665f765f
...
...
@@ -44,7 +44,7 @@ ObstacleShowType GetObstacleShowType(const std::string& show_type_string) {
}
}
ObstaclePerception
::
ObstaclePerception
()
{}
ObstaclePerception
::
ObstaclePerception
()
:
lidar_pose_inited_
(
false
)
{}
ObstaclePerception
::~
ObstaclePerception
()
{}
...
...
@@ -140,6 +140,7 @@ bool ObstaclePerception::Process(SensorRawFrame* frame,
if
(
obstacle_show_type_
==
SHOW_LIDAR
)
{
frame_content_
.
SetTrackedObjects
(
sensor_objects
->
objects
);
}
lidar_pose_inited_
=
true
;
}
}
else
if
(
frame
->
sensor_type_
==
RADAR
)
{
/// radar obstacle detection
...
...
@@ -190,8 +191,10 @@ bool ObstaclePerception::Process(SensorRawFrame* frame,
return
true
;
}
}
frame_visualizer_
->
UpdateCameraSystem
(
&
frame_content_
);
frame_visualizer_
->
Render
(
frame_content_
);
if
(
lidar_pose_inited_
)
{
frame_visualizer_
->
UpdateCameraSystem
(
&
frame_content_
);
frame_visualizer_
->
Render
(
frame_content_
);
}
}
return
true
;
...
...
modules/perception/obstacle/onboard/obstacle_perception.h
浏览文件 @
665f765f
...
...
@@ -58,6 +58,7 @@ class ObstaclePerception {
std
::
unique_ptr
<
OpenglVisualizer
>
frame_visualizer_
=
nullptr
;
ObstacleShowType
obstacle_show_type_
;
FrameContent
frame_content_
;
bool
lidar_pose_inited_
;
DISALLOW_COPY_AND_ASSIGN
(
ObstaclePerception
);
};
// class ObstaclePerception
...
...
modules/perception/tool/export_sensor_data/conf/export_sensor_data.flag
浏览文件 @
665f765f
...
...
@@ -3,81 +3,16 @@
--config_manager_path=conf/config_manager.config
####################################################################
# Flags from
obstacle/lidar/test/offline_lidar_perception_test.cpp
# Flags from
tool/export_sensor_data/export_sensor_data.cc
# pcd path
# type: string
# default: /apollo/data/
pcd
/
--
pcd_path=/apollo/data/pcd
/
# default: /apollo/data/
lidar
/
--
lidar_path=/apollo/data/lidar
/
#
pose
path
#
radar
path
# type: string
# default: /apollo/data/pose/
--pose_path=/apollo/data/pose/
# output path
# type: string
# default: /apollo/data/output/
--save_obstacles=false
--output_path=/apollo/data/output/
# enable visualization
# type: bool
# default: true
--enable_visualization=true
####################################################################
# Flags from obstacle/onboard/hdmap_input.cc
# roi distance of car center
# type: double
# default: 60.0
--map_radius=60.0
# step for sample road boundary points
# type: int32
# default: 1
--map_sample_step=1
--flagfile=modules/common/data/global_flagfile.txt
####################################################################
# Flags from obstacle/onboard/lidar_process.cc
# enable hdmap input for roi filter
# type: bool
# default: false
--enable_hdmap_input=true
# roi filter before GroundDetector.
# type: string
# candidate: DummyROIFilter, HdmapROIFilter
--onboard_roi_filter=HdmapROIFilter
# the segmentation algorithm for onboard
# type: string
# candidate: DummySegmentation, CNNSegmentation
--onboard_segmentor=CNNSegmentation
# the object build algorithm for onboard
# type: string
# candidate: DummyObjectBuilder, MinBoxObjectBuilder
--onboard_object_builder=MinBoxObjectBuilder
# the tracking algorithm for onboard
# type: string
# candidate: DummyTracker, HmObjectTracker
--onboard_tracker=HmObjectTracker
--onboard_radar_detector=ModestRadarDetector
# the perception module's output topic name.
# type: string
# default: perception_obstacle
--obstacle_module_name=perception_obstacle
# Query Ros TF timeout in ms. ros::Duration time.
# type: int
# default: 10
--tf2_buff_in_ms=10
# default: /apollo/data/radar/
--radar_path=/apollo/data/radar/
# ros TF2 quary frame id. tf2_buffer.lookupTransform.
# type: string
...
...
@@ -89,4 +24,12 @@
# default: velodyne64
--lidar_tf2_child_frame_id=velodyne64
--v=4
# radar tf2 frame_id
# type: string
# default: novatel
--radar_tf2_frame_id=novatel
# radar tf2 child frame id
# type: string
# default: radar
--radar_tf2_child_frame_id=radar
modules/perception/tool/export_sensor_data/export_sensor_data.cc
浏览文件 @
665f765f
...
...
@@ -101,7 +101,7 @@ void ExportSensorData::WriteVelocityInfo(const std::string &file_pre,
AINFO
<<
"Failed to write velocity."
;
}
fout
<<
std
::
setprecision
(
16
)
<<
seq_num
<<
" "
<<
timestamp
<<
" "
<<
velocity
(
0
)
<<
" "
<<
velocity
(
1
)
<<
" "
<<
velocity
(
2
);
<<
velocity
(
0
)
<<
" "
<<
velocity
(
1
)
<<
" "
<<
velocity
(
2
)
<<
std
::
endl
;
fout
.
close
();
}
...
...
modules/perception/tool/offline_visualizer_tool/conf/offline_sequential_obstacle_perception_test.flag
浏览文件 @
665f765f
...
...
@@ -7,13 +7,13 @@
# /offline_sequential_obstacle_perception_test.cc
# lidar data path
# type: string
# default:
./modules/perception/tool/export_sensor_
data/lidar/
--lidar_path=
./modules/perception/tool/export_sensor_
data/lidar/
# default:
/apollo/
data/lidar/
--lidar_path=
/apollo/
data/lidar/
# radar data path
# type: string
# default:
./modules/perception/tool/export_sensor_
data/radar/
--radar_path=
./modules/perception/tool/export_sensor_
data/radar/
# default:
/apollo/
data/radar/
--radar_path=
/apollo/
data/radar/
# the radar detector for onboard
# type: string
...
...
modules/perception/tool/offline_visualizer_tool/offline_sequential_obstacle_perception_test.cc
浏览文件 @
665f765f
...
...
@@ -29,10 +29,8 @@
#include "pcl/io/pcd_io.h"
DECLARE_string
(
flagfile
);
DEFINE_string
(
lidar_path
,
"./modules/perception/tool/export_sensor_data/lidar/"
,
"lidar path"
);
DEFINE_string
(
radar_path
,
"./modules/perception/tool/export_sensor_data/radar/"
,
"radar path"
);
DEFINE_string
(
lidar_path
,
"/apollo/data/lidar/"
,
"lidar path"
);
DEFINE_string
(
radar_path
,
"/apollo/data/radar/"
,
"radar path"
);
namespace
apollo
{
namespace
perception
{
...
...
@@ -185,6 +183,7 @@ class SequentialPerceptionTest {
<<
"Pass file: "
<<
file_path
;
return
false
;
}
AINFO
<<
"Process radar"
;
/// read pose and timestamp
Eigen
::
Matrix4d
pose
;
...
...
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