Perception lidar

.apollo.bazelrc

@@ -1,4 +1,24 @@
-build --action_env PYTHON_BIN_PATH="/usr/bin/python3"
-build --action_env PYTHON_LIB_PATH="/usr/lib/python3/dist-packages"
-build --python_path="/usr/bin/python3"
-# build --config=tensorrt
+startup --output_user_root="/apollo/.cache/bazel"
+common --distdir="/apollo/.cache/distdir"
+
+build --action_env PYTHON_BIN_PATH="/usr/bin/python3.6"
+build --action_env PYTHON_LIB_PATH="/usr/local/lib/python3.6/dist-packages"
+build --python_path="/usr/bin/python3.6"
+build:gpu --config=cuda
+build:gpu --config=tensorrt
+
+build --action_env CUDA_TOOLKIT_PATH="/usr/local/cuda-10.2"
+build --action_env TF_CUDA_COMPUTE_CAPABILITIES="3.7,5.2,6.0,6.1,7.0,7.2,7.5"
+build --action_env GCC_HOST_COMPILER_PATH="/usr/bin/x86_64-linux-gnu-gcc-7"
+
+# This config refers to building with CUDA available.
+build:using_cuda --define=using_cuda=true
+build:using_cuda --action_env TF_NEED_CUDA=1
+build:using_cuda --crosstool_top=@local_config_cuda//crosstool:toolchain
+
+# This config refers to building CUDA with nvcc.
+build:cuda --config=using_cuda
+build:cuda --define=using_cuda_nvcc=true
+
+build:tensorrt --action_env TF_NEED_TENSORRT=1
+build:teleop --define WITH_TELEOP=true

.github/workflows/ccpp.yml

@@ -21,4 +21,4 @@ jobs:
     - name: Pull and Create Container
       run: bash docker/scripts/cyber_start.sh
     - name: Build
-      run: docker exec -u $USER apollo_cyber_$USER bash -c "./apollo.sh build"
+      run: docker exec -u $USER apollo_cyber_$USER bash -c "./apollo.sh build_gpu"

README.md

@@ -36,7 +36,7 @@ build all modules
 
 
 ```bash
-bash apollo.sh build
+bash apollo.sh build_gpu
 ```
 
 

docker/scripts/cyber_start.sh

@@ -20,13 +20,15 @@ source "${APOLLO_ROOT_DIR}/scripts/apollo.bashrc"
 
 # CACHE_ROOT_DIR="${APOLLO_ROOT_DIR}/.cache"
 
-VERSION_X86_64="diamond-auto-x86_64-18.04-20201125_1739"
+VERSION_X86_64="diamond-auto-x86_64-18.04-20210119_1643"
 VERSION_AARCH64="diamond-auto-aarch64-18.04-20200925_1309"
 VERSION_LOCAL_CYBER="local_cyber_dev"
 CYBER_CONTAINER="apollo_cyber_${USER}"
 CYBER_INSIDE="in_cyber_docker"
 
 DOCKER_REPO="hotzoneauto2020/diamond-auto"
+#DOCKER_REPO="sunzengpeng/ubuntu_docker"
+#DOCKER_REPO="apolloauto/apollo"
 DOCKER_RUN_CMD="docker run"
 DOCKER_PULL_CMD="docker pull"
 

modules/control/BUILD

@@ -30,6 +30,7 @@ cc_library(
         "//modules/drivers/proto:wheelangle_cc_proto",
         "//modules/drivers/proto:parking_cc_proto",
         "//modules/common/adapters:adapter_gflags",
+        "//modules/perception/proto:obst_box_cc_proto",
         "@com_github_gflags_gflags//:gflags",
     ],
 )

modules/drivers/robosense/BUILD

@@ -5,6 +5,7 @@ package(default_visibility = ["//visibility:public"])
 cc_binary(
     name = "librobosense_driver_component.so",
     linkopts = ["-shared"],
+    linkshared = True,
     linkstatic = False,
     deps = [":driver"],
 )

modules/drivers/velodyne/driver/BUILD

@@ -6,6 +6,7 @@ package(default_visibility = ["//visibility:public"])
 cc_binary(
     name = "libvelodyne_driver_component.so",
     linkopts = ["-shared"],
+    linkshared = True,
     linkstatic = False,
     deps = [":velodyne_driver_component_lib"],
 )

modules/perception/conf/lidar_poindcloud_conf.pb.txt

@@ -0,0 +1,4 @@
+obst_output_channel: "/diamond/perception/Obstacles"
+save_pcd_file: false
+save_pcd_path_front: "/apollo/modules/perception/data/lidar_front.pcd"
+save_pcd_path_rear: "/apollo/modules/perception/data/lidar_rear.pcd"

modules/perception/conf/tracker_config.pb.txt

@@ -0,0 +1,24 @@
+name: "HmObjectTracker"
+version: "1.1.0" 
+matcher_method: HUNGARIAN_MATCHER
+filter_method: KALMAN_FILTER 
+track_cached_history_size_maximum: 5
+track_consecutive_invisible_maximum: 1
+track_visible_ratio_minimum: 0.6
+collect_age_minimum: 0
+collect_consecutive_invisible_maximum: 0
+acceleration_noise_maximum: 5
+speed_noise_maximum: 0.4
+match_distance_maximum: 4.0
+location_distance_weight: 0.6
+direction_distance_weight: 0.2
+bbox_size_distance_weight: 0.1
+point_num_distance_weight: 0.1
+histogram_distance_weight: 0.5
+histogram_bin_size: 10
+use_adaptive: true
+measurement_noise: 0.4
+initial_velocity_noise: 5.0
+xy_propagation_noise: 10.0 
+z_propagation_noise: 10.0
+breakdown_threshold_maximum: 10.0

modules/perception/dag/lidar_point_pillars.dag

@@ -0,0 +1,17 @@
+# Define all coms in DAG streaming.
+module_config {
+    module_library : "/apollo/bazel-bin/modules/perception/lidar_point_pillars/point_pillars_detection.so"
+    components {
+        class_name : "PointPillarsDetection"
+        config {
+            name : "point_detect"
+            config_file_path: "/apollo/modules/perception/conf/lidar_poindcloud_conf.pb.txt"
+            readers {
+                channel: "/diamond/sensor/lidar/front/PointCloud2"
+            }
+            readers {
+                channel: "/diamond/sensor/lidar/rear/PointCloud2"
+            }
+        }
+    }
+}

modules/perception/lidar_pointcloudcluster/lidar_pointcloudcluster.dag → modules/perception/dag/lidar_pointcloudcluster.dag

@@ -2,9 +2,10 @@
 module_config {
     module_library : "/apollo/bazel-bin/modules/perception/lidar_pointcloudcluster/lidar_pointcloudcluster.so"
     components {
-        class_name : "lidar_pointcloudcluster"
+        class_name : "Lidar_pointcloudcluster"
         config {
             name : "lidar_front"
+            config_file_path: "/apollo/modules/perception/conf/lidar_poindcloud_conf.pb.txt"
             readers {
                 channel: "/diamond/sensor/lidar/front/PointCloud2"
             }

modules/perception/launch/lidar_point_pillars.launch

@@ -0,0 +1,7 @@
+<cyber>
+    <module>
+        <name>common</name>
+        <dag_conf>/apollo/modules/perception/dag/lidar_point_pillars.dag</dag_conf>
+        <process_name>lidar_point_pillars</process_name>
+    </module>
+</cyber>

modules/perception/lidar_pointcloudcluster/lidar_pointcloudcluster.launch → modules/perception/launch/lidar_pointcloudcluster.launch

@@ -1,7 +1,7 @@
 <cyber>
     <module>
         <name>common</name>
-        <dag_conf>/apollo/modules/perception/lidar_pointcloudcluster/lidar_pointcloudcluster.dag</dag_conf>
+        <dag_conf>/apollo/modules/perception/dag/lidar_pointcloudcluster.dag</dag_conf>
         <process_name>lidar_pointcloudcluster</process_name>
     </module>
 </cyber>

modules/perception/lidar_point_pillars/BUILD

@@ -0,0 +1,139 @@
+load("@rules_cc//cc:defs.bzl", "cc_library", "cc_binary")
+load("@local_config_cuda//cuda:build_defs.bzl", "cuda_library")
+load("//tools:cpplint.bzl", "cpplint")
+
+package(default_visibility = ["//visibility:public"])
+
+cc_binary(
+    name = "point_pillars_detection.so",
+    linkopts = ["-shared"],
+    linkshared = True,
+    linkstatic = False,
+    deps = [":point_pillars_detection"],
+)
+
+cc_library(
+    name = "point_pillars_detection",
+    srcs = [
+        "point_pillars_detection.cc",
+    ],
+    hdrs = [
+        "point_pillars_detection.h",
+    ],
+    deps = [
+        ":point_pillars",
+        "//cyber",
+        "//modules/drivers/proto:pointcloud_cc_proto",
+        "//modules/perception/proto:obst_box_cc_proto",
+        "//modules/perception/proto:lidar_pointcloud_conf_cc_proto",
+        "//modules/perception/lidar_pointcloud_tracking:hm_tracker",
+        "//modules/perception/lidar_pointcloud_tracking/common:object",
+        "//modules/perception/lidar_pointcloud_tracking:min_box",
+        "//modules/common/time",
+        "@eigen",
+        "@pcl",
+        "@local_config_vtk//:vtk",
+    ],
+    alwayslink = True,
+)
+
+cc_library(
+    name = "params",
+    hdrs = ["params.h"],
+)
+
+cc_library(
+    name = "point_pillars",
+    srcs = [
+        "point_pillars.cc",
+    ],
+    hdrs = [
+        "point_pillars.h",
+    ],
+    deps = [
+        ":anchor_mask_cuda",
+        ":common",
+        ":nms_cuda",
+        ":params",
+        ":postprocess_cuda",
+        ":preprocess_points",
+        ":scatter_cuda",
+        "//cyber/common",
+        "//third_party:libtorch",
+        "@local_config_cuda//cuda:cudart",
+        "@local_config_tensorrt//:tensorrt",
+    ],
+    alwayslink = True,
+)
+
+cc_library(
+    name = "preprocess_points",
+    srcs = [
+        "preprocess_points.cc",
+    ],
+    hdrs = [
+        "preprocess_points.h",
+    ],
+    deps = [
+        ":common",
+        ":preprocess_points_cuda",
+    ],
+)
+
+cc_library(
+    name = "common",
+    hdrs = ["common.h"],
+)
+
+cuda_library(
+    name = "anchor_mask_cuda",
+    srcs = ["anchor_mask_cuda.cu"],
+    hdrs = ["anchor_mask_cuda.h"],
+    deps = [
+        ":common",
+        "@local_config_cuda//cuda:cudart",
+    ],
+)
+
+cuda_library(
+    name = "nms_cuda",
+    srcs = ["nms_cuda.cu"],
+    hdrs = ["nms_cuda.h"],
+    deps = [
+        ":common",
+        "@local_config_cuda//cuda:cudart",
+    ],
+)
+
+cuda_library(
+    name = "postprocess_cuda",
+    srcs = ["postprocess_cuda.cu"],
+    hdrs = ["postprocess_cuda.h"],
+    deps = [
+        ":common",
+        ":nms_cuda",
+        "@local_config_cuda//cuda:cudart",
+    ],
+)
+
+cuda_library(
+    name = "preprocess_points_cuda",
+    srcs = ["preprocess_points_cuda.cu"],
+    hdrs = ["preprocess_points_cuda.h"],
+    deps = [
+        ":common",
+        "@local_config_cuda//cuda:cudart",
+    ],
+)
+
+cuda_library(
+    name = "scatter_cuda",
+    srcs = ["scatter_cuda.cu"],
+    hdrs = ["scatter_cuda.h"],
+    deps = [
+        ":common",
+        "@local_config_cuda//cuda:cudart",
+    ],
+)
+
+cpplint()