From 054a1b473f76d134c705fdd33f883d5f83a851d3 Mon Sep 17 00:00:00 2001 From: Soon Lan Date: Tue, 30 Dec 2025 16:30:00 +0800 Subject: [PATCH] chore: switch lidar detection to lidar segmentation & remove all torch model on prediction --- .../dreamview/conf/hmi_modes/lite.pb.txt | 2 +- .../lidar/lidar_segmentation_conf.pb.txt | 8 ++ .../production/dag/lidar_segmentation.dag | 37 ++++++ .../modules/prediction/conf/prediction.conf | 1 + .../prediction/conf/prediction_conf.pb.txt | 112 +++++++++--------- 5 files changed, 103 insertions(+), 57 deletions(-) create mode 100644 confs/dkit/modules/perception/production/conf/perception/lidar/lidar_segmentation_conf.pb.txt create mode 100644 confs/dkit/modules/perception/production/dag/lidar_segmentation.dag diff --git a/confs/dkit/modules/dreamview/conf/hmi_modes/lite.pb.txt b/confs/dkit/modules/dreamview/conf/hmi_modes/lite.pb.txt index 4ee56a6..4ea423a 100644 --- a/confs/dkit/modules/dreamview/conf/hmi_modes/lite.pb.txt +++ b/confs/dkit/modules/dreamview/conf/hmi_modes/lite.pb.txt @@ -40,7 +40,7 @@ cyber_modules { cyber_modules { key: "Lidar Perception" value: { - dag_files: "/apollo/modules/perception/production/dag/dag_streaming_perception_lidar.dag" + dag_files: "/apollo/modules/perception/production/dag/lidar_segmentation.dag" } } cyber_modules { diff --git a/confs/dkit/modules/perception/production/conf/perception/lidar/lidar_segmentation_conf.pb.txt b/confs/dkit/modules/perception/production/conf/perception/lidar/lidar_segmentation_conf.pb.txt new file mode 100644 index 0000000..eae3cd0 --- /dev/null +++ b/confs/dkit/modules/perception/production/conf/perception/lidar/lidar_segmentation_conf.pb.txt @@ -0,0 +1,8 @@ +ensor_name: "rslidar_up" +detector_name: "LidarObstacleDetection" +enable_hdmap: true +lidar_query_tf_offset: 0 +lidar2novatel_tf2_child_frame_id: "rslidar_up" +output_channel_name: "/perception/inner/DetectionObjects" +lidar_detection_conf_dir : "/apollo/modules/perception/pipeline/config" +lidar_detection_conf_file : "lidar_segmentation_pipeline.pb.txt" diff --git a/confs/dkit/modules/perception/production/dag/lidar_segmentation.dag b/confs/dkit/modules/perception/production/dag/lidar_segmentation.dag new file mode 100644 index 0000000..77dbcf4 --- /dev/null +++ b/confs/dkit/modules/perception/production/dag/lidar_segmentation.dag @@ -0,0 +1,37 @@ +module_config { + module_library : "/apollo/bazel-bin/modules/perception/onboard/component/libperception_component_lidar.so" + + components { + class_name : "LidarDetectionComponent" + config { + name: "LidarDetection" + config_file_path: "/apollo/modules/perception/production/conf/perception/lidar/lidar_segmentation_conf.pb.txt" + flag_file_path: "/apollo/modules/perception/production/conf/perception/perception_common.flag" + readers { + channel: "/apollo/sensor/rslidar/up/PointCloud2" + } + } + } + + components { + class_name : "LidarTrackingComponent" + config { + name: "LidarTrackingComponent" + config_file_path: "/apollo/modules/perception/production/conf/perception/lidar/recognition_conf.pb.txt" + readers { + channel: "/perception/inner/DetectionObjects" + } + } + } + + components { + class_name: "MultiSensorFusionComponent" + config { + name: "SensorFusion" + config_file_path: "/apollo/modules/perception/production/conf/perception/fusion/fusion_component_conf.pb.txt" + readers { + channel: "/perception/inner/PrefusedObjects" + } + } + } +} diff --git a/confs/dkit/modules/prediction/conf/prediction.conf b/confs/dkit/modules/prediction/conf/prediction.conf index f3cb9f3..fd7dc00 100644 --- a/confs/dkit/modules/prediction/conf/prediction.conf +++ b/confs/dkit/modules/prediction/conf/prediction.conf @@ -16,3 +16,4 @@ --max_caution_thread_num=4 --slow_obstacle_speed_threshold=3.1 +--use_cuda=false diff --git a/confs/dkit/modules/prediction/conf/prediction_conf.pb.txt b/confs/dkit/modules/prediction/conf/prediction_conf.pb.txt index 82eec00..7711639 100644 --- a/confs/dkit/modules/prediction/conf/prediction_conf.pb.txt +++ b/confs/dkit/modules/prediction/conf/prediction_conf.pb.txt @@ -9,56 +9,56 @@ topic_conf { prediction_topic: "/apollo/prediction" storytelling_topic: "/apollo/storytelling" } -obstacle_conf { - obstacle_type: VEHICLE - obstacle_status: ON_LANE - priority_type: CAUTION - evaluator_type: VECTORNET_EVALUATOR - predictor_type: EXTRAPOLATION_PREDICTOR -} -obstacle_conf { - obstacle_type: VEHICLE - obstacle_status: ON_LANE - priority_type: NORMAL - evaluator_type: CRUISE_MLP_EVALUATOR - predictor_type: MOVE_SEQUENCE_PREDICTOR -} -obstacle_conf { - obstacle_type: VEHICLE - obstacle_status: IN_JUNCTION - priority_type: CAUTION - evaluator_type: VECTORNET_EVALUATOR - predictor_type: EXTRAPOLATION_PREDICTOR -} -obstacle_conf { - obstacle_type: VEHICLE - obstacle_status: IN_JUNCTION - priority_type: NORMAL - evaluator_type: JUNCTION_MLP_EVALUATOR - predictor_type: LANE_SEQUENCE_PREDICTOR -} -obstacle_conf { - obstacle_type: VEHICLE - obstacle_status: OFF_LANE - predictor_type: FREE_MOVE_PREDICTOR -} -obstacle_conf { - obstacle_type: PEDESTRIAN - obstacle_status: MOVING - evaluator_type: SEMANTIC_LSTM_EVALUATOR - predictor_type: FREE_MOVE_PREDICTOR -} -obstacle_conf { - obstacle_type: BICYCLE - obstacle_status: ON_LANE - evaluator_type: CYCLIST_KEEP_LANE_EVALUATOR - predictor_type: LANE_SEQUENCE_PREDICTOR -} -obstacle_conf { - obstacle_type: BICYCLE - obstacle_status: OFF_LANE - predictor_type: FREE_MOVE_PREDICTOR -} +# obstacle_conf { +# obstacle_type: VEHICLE +# obstacle_status: ON_LANE +# priority_type: CAUTION +# evaluator_type: VECTORNET_EVALUATOR +# predictor_type: EXTRAPOLATION_PREDICTOR +# } +# obstacle_conf { +# obstacle_type: VEHICLE +# obstacle_status: ON_LANE +# priority_type: NORMAL +# evaluator_type: CRUISE_MLP_EVALUATOR +# predictor_type: MOVE_SEQUENCE_PREDICTOR +# } +# obstacle_conf { +# obstacle_type: VEHICLE +# obstacle_status: IN_JUNCTION +# priority_type: CAUTION +# evaluator_type: VECTORNET_EVALUATOR +# predictor_type: EXTRAPOLATION_PREDICTOR +# } +# obstacle_conf { +# obstacle_type: VEHICLE +# obstacle_status: IN_JUNCTION +# priority_type: NORMAL +# evaluator_type: JUNCTION_MLP_EVALUATOR +# predictor_type: LANE_SEQUENCE_PREDICTOR +# } +# obstacle_conf { +# obstacle_type: VEHICLE +# obstacle_status: OFF_LANE +# predictor_type: FREE_MOVE_PREDICTOR +# } +# obstacle_conf { +# obstacle_type: PEDESTRIAN +# obstacle_status: MOVING +# evaluator_type: SEMANTIC_LSTM_EVALUATOR +# predictor_type: FREE_MOVE_PREDICTOR +# } +# obstacle_conf { +# obstacle_type: BICYCLE +# obstacle_status: ON_LANE +# evaluator_type: CYCLIST_KEEP_LANE_EVALUATOR +# predictor_type: LANE_SEQUENCE_PREDICTOR +# } +# obstacle_conf { +# obstacle_type: BICYCLE +# obstacle_status: OFF_LANE +# predictor_type: FREE_MOVE_PREDICTOR +# } obstacle_conf { obstacle_type: UNKNOWN obstacle_status: ON_LANE @@ -70,9 +70,9 @@ obstacle_conf { obstacle_status: OFF_LANE predictor_type: FREE_MOVE_PREDICTOR } -obstacle_conf { - obstacle_type: VEHICLE - interactive_tag: INTERACTION - evaluator_type: JOINTLY_PREDICTION_PLANNING_EVALUATOR - predictor_type: EXTRAPOLATION_PREDICTOR -} \ No newline at end of file +# obstacle_conf { +# obstacle_type: VEHICLE +# interactive_tag: INTERACTION +# evaluator_type: JOINTLY_PREDICTION_PLANNING_EVALUATOR +# predictor_type: EXTRAPOLATION_PREDICTOR +# }