perception: fix export_sensor_data bug and fix visualizing first frame bug

modules/perception/obstacle/lidar/visualizer/opengl_visualizer/opengl_visualizer.cc

@@ -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

@@ -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
@@ -190,9 +191,11 @@ bool ObstaclePerception::Process(SensorRawFrame* frame,
         return true;
       }
     }
+    if (lidar_pose_inited_) {
       frame_visualizer_->UpdateCameraSystem(&frame_content_);
       frame_visualizer_->Render(frame_content_);
     }
+  }
 
   return true;
 }

modules/perception/obstacle/onboard/obstacle_perception.h

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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;