chore: switch lidar detection to lidar segmentation & remove all torc…

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 {

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"

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"
+      }
+    }
+  }
+}

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

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
-}
+# obstacle_conf {
+#   obstacle_type: VEHICLE
+#   interactive_tag: INTERACTION
+#   evaluator_type: JOINTLY_PREDICTION_PLANNING_EVALUATOR
+#   predictor_type: EXTRAPOLATION_PREDICTOR
+# }