Apollo2.0自动驾驶之apollo/modules/prediction/common/perception_gflags.cc

最新推荐文章于 2023-07-31 14:32:35 发布

北漠苍狼1746430162

最新推荐文章于 2023-07-31 14:32:35 发布

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  /****************Apollo源码分析**************************** 
 
   Copyright 2018 The File Authors & zouyu. All Rights Reserved. 
 
   Contact with: 1746430162@qq.com 181663309504 
 
   源码主要是c++实现的，也有少量python，git下载几百兆，其实代码不太多，主要是地图和数据了大量空间，主要程序
在apollo/modules目录中， 
 
   我们把它分成以下几部分（具体说明见各目录下的modules）： 
 
   感知：感知当前位置，速度，障碍物等等 
 
   Apollo/modules/perception 
 
   预测：对场景下一步的变化做出预测 
 
   Apollo/modules/prediction 
 
   规划： 
 
   (1) 全局路径规划：通过起点终点计算行驶路径 
 
   Apollo/modules/routing 
 
   (2) 规划当前轨道：通过感知，预测，路径规划等信息计算轨道 
 
   Apollo/modules/planning 
 
   (3) 规划转换成命令：将轨道转换成控制汽车的命令（加速，制动，转向等） 
 
   Apollo/modules/control 
 
   其它 
 
   (1) 输入输出 
 
   i. Apollo/modules/drivers 设备驱动 
 
   ii. Apollo/modules/localization 位置信息 
 
   iii. Apollo/modules/monitor 监控模块 
 
   iv. Apollo/modules/canbus 与汽车硬件交互 
 
   v. Apollo/modules/map 地图数据 
 
   vi. Apollo/modules/third_party_perception 三方感知器支持 
 
   (2) 交互 
 
   i. Apollo/modules/dreamview 可视化模块 
 
   ii. Apollo/modules/hmi 把汽车当前状态显示给用户 
 
   (3) 工具 
 
   i. Apollo/modules/calibration 标注工具 
 
   ii. Apollo/modules/common 支持其它模块的公共工具 
 
   iii. Apollo/modules/data 数据工具 
 
   iv. Apollo/modules/tools 一些Python工具 
 
   (4) 其它 
 
   i. Apollo/modules/elo 高精度定位系统，无源码，但有文档 
 
   ii. Apollo/modules/e2e 收集传感器数据给PX2,ROS 
 
    自动驾驶系统先通过起点终点规划出整体路径（routing）；然后在行驶过程中感知（perception）当前环境
（识别车辆行人路况标志等），并预测下一步发展；然后把已知信息都传入规划模块（planning），规划出之后的轨道；
控制模块（control）将轨道数据转换成对车辆的控制信号，通过汽车交互模块（canbus）控制汽车． 
 
  我觉得这里面算法技术含量最高的是感知perception和规划planning，具体请见本博客中各模块的分析代码。 
 
  /****************************************************************************************

/******************************************************************************
 * Copyright 2017 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/

#include "modules/perception/common/perception_gflags.h"

DEFINE_string(perception_adapter_config_filename,
              "modules/perception/conf/adapter.conf",
              "The adapter config filename");

/// lib/config_manager/config_manager.cc
DEFINE_string(config_manager_path, "./conf/config_manager.config",
              "The ModelConfig config paths file.");
DEFINE_string(work_root, "modules/perception", "Project work root direcotry.");

/// obstacle/base/object.cc
DEFINE_bool(is_serialize_point_cloud, false,
            "serialize and output object cloud");

/// obstacle/onboard/hdmap_input.cc
DEFINE_double(map_radius, 60.0, "get map radius of car center");
DEFINE_int32(map_sample_step, 1, "step for sample road boundary points");

/// obstacle/onboard/lidar_process.cc
DEFINE_bool(enable_hdmap_input, false, "enable hdmap input for roi filter");
DEFINE_string(onboard_roi_filter, "DummyROIFilter", "onboard roi filter");
DEFINE_string(onboard_segmentor, "DummySegmentation", "onboard segmentation");
DEFINE_string(onboard_object_builder, "DummyObjectBuilder",
              "onboard object builder");
DEFINE_string(onboard_tracker, "DummyTracker", "onboard tracker");
DEFINE_string(onboard_type_fuser, "DummyTypeFuser", "onboard type fuser");

DEFINE_int32(tf2_buff_in_ms, 10, "the tf2 buff size in ms");
DEFINE_int32(localization_buffer_size, 40, "localization buffer size");
DEFINE_string(lidar_tf2_frame_id, "novatel", "the tf2 transform frame id");
DEFINE_string(lidar_tf2_child_frame_id, "velodyne64",
              "the tf2 transform child frame id");
DEFINE_string(obstacle_module_name, "perception_obstacle",
              "perception obstacle module name");
DEFINE_bool(enable_visualization, false, "enable visualization for debug");

/// obstacle/perception.cc
DEFINE_string(dag_config_path, "./conf/dag_streaming.config",
              "Onboard DAG Streaming config.");

/// obstacle/onboard/radar_process_subnode.cc
DEFINE_string(onboard_radar_detector, "DummyRadarDetector",
              "onboard radar detector");
DEFINE_string(radar_tf2_frame_id, "novatel", "the tf2 transform frame id");
DEFINE_string(radar_tf2_child_frame_id, "radar",
              "the tf2 transform child frame id");
DEFINE_double(front_radar_forward_distance, 120.0,
              "get front radar forward distancer");
DEFINE_string(radar_extrinsic_file,
              "modules/perception/data/params/radar_extrinsics.yaml",
              "radar extrinsic file");
DEFINE_string(short_camera_extrinsic_file,
              "modules/perception/data/params/short_camera_extrinsics.yaml",
              "short_camera extrinsic file");

DEFINE_string(front_camera_extrinsics_file,
              "modules/perception/data/params/front_camera_extrinsics.yaml",
              "front_camera extrinsic file");
DEFINE_string(front_camera_intrinsics_file,
              "modules/perception/data/params/front_camera_intrinsics.yaml",
              "front_camera intrinsic file");

/// obstacle/onboard/fusion_subnode.cc
DEFINE_string(onboard_fusion, "ProbabilisticFusion",
              "fusion name which enabled onboard");

DEFINE_double(query_signal_range, 100.0, "max distance to front signals");
DEFINE_bool(output_raw_img, false, "write raw image to disk");
DEFINE_bool(output_debug_img, false, "write debug image to disk");

/// Temporarily change Kalman motion fusion to config here.
DEFINE_double(q_matrix_coefficient_amplifier, 0.5,
              "Kalman fitler matrix Q coeffcients");
DEFINE_double(r_matrix_amplifier, 1, "Kalman fitler matrix r coeffcients");
DEFINE_double(p_matrix_amplifier, 1, "Kalman fitler matrix p coeffcients");

DEFINE_double(a_matrix_covariance_coeffcient_1, 0.05,
              "Kalman fitler matrix a coeffcients, a_matrix_(0, 2)");
DEFINE_double(a_matrix_covariance_coeffcient_2, 0.05,
              "Kalman fitler matrix a coeffcients, a_matrix_(1, 3)");

/// calibration_config_manager.cc
DEFINE_int32(obs_camera_detector_gpu, 0, "device id for camera detector");

// obstacle/onboard/lane_post_processing_subnode.cc
DEFINE_string(onboard_lane_post_processor, "CCLanePostProcessor",
              "onboard lane post-processing algorithm name");

/// visualization
DEFINE_bool(show_front_radar_raw, false, "");
DEFINE_bool(show_back_radar_raw, false, "");

DEFINE_bool(show_radar_objects, false, "");
DEFINE_bool(show_front_radar_objects, false, "");
DEFINE_bool(show_back_radar_objects, false, "");

DEFINE_bool(show_camera_objects2d, false, "");
DEFINE_bool(show_camera_objects, false, "");
DEFINE_bool(show_camera_parsing, false, "");

DEFINE_bool(show_fused_objects, false, "");

DEFINE_bool(show_fusion_association, false, "");

DEFINE_bool(capture_screen, false, "");

DEFINE_string(screen_output_dir, "./", "");

DEFINE_string(frame_visualizer, "GLFusionVisualizer", "");

DEFINE_double(car_length, 3.564, "car_length");
DEFINE_double(car_width, 1.620, "car_width");

 
  /****************************************************************************** 
 
   * Copyright 2017 The Apollo Authors. All Rights Reserved. 
 
   * 
 
   * Licensed under the Apache License, Version 2.0 (the "License"); 
 
   * you may not use this file except in compliance with the License. 
 
   * You may obtain a copy of the License at 
 
   * 
 
   * http://www.apache.org/licenses/LICENSE-2.0 
 
   * 
 
   * Unless required by applicable law or agreed to in writing, software 
 
   * distributed under the License is distributed on an "AS IS" BASIS, 
 
   * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 
 
   * See the License for the specific language governing permissions and 
 
   * limitations under the License. 
 
   *****************************************************************************/ 
 
  #include 
    
  "modules/perception/common/perception_gflags.h" 
  //这是上一个博客里提到的头文件 
 
  DEFINE_string 
  (perception_adapter_config_filename, 
 
  "modules/perception/conf/adapter.conf" 
  , 
 
  "The adapter config filename" 
  ); 
 
  //下面就是 adapter.conf这个文件，里面包含了点云、定位、雷达、图像、 交通灯等等消息  
 
  // config: { 
 
  // type: POINT_CLOUD 
 
  // mode: RECEIVE_ONLY 
 
  // message_history_limit: 1 
 
  // } 
 
  // config: { 
 
  // type: LOCALIZATION 
 
  // mode: RECEIVE_ONLY 
 
  // message_history_limit: 1 
 
  // } 
 
  // config: { 
 
  // type: CONTI_RADAR 
 
  // mode: RECEIVE_ONLY 
 
  // message_history_limit: 2 
 
  // } 
 
  // config { 
 
  // type: PERCEPTION_OBSTACLES 
 
  // mode: PUBLISH_ONLY 
 
  // message_history_limit: 50 
 
  // } 
 
  // config: { 
 
  // type: IMAGE_SHORT 
 
  // mode: RECEIVE_ONLY 
 
  // message_history_limit: 5 
 
  // } 
 
  // config { 
 
  // type: IMAGE_LONG 
 
  // mode: RECEIVE_ONLY 
 
  // message_history_limit: 5 
 
  // } 
 
  // config { 
 
  // type: TRAFFIC_LIGHT_DETECTION 
 
  // mode: PUBLISH_ONLY 
 
  // message_history_limit: 50 
 
  // } 
 
  //is_ros: true 
 
  /// lib/config_manager/config_manager.cc 
 
  DEFINE_string 
  (config_manager_path,  
  "./conf/config_manager.config" 
  , 
 
  "The ModelConfig config paths file." 
  ); 
 
  DEFINE_string 
  (work_root,  
  "modules/perception" 
  ,  
  "Project work root direcotry." 
  ); 
 
  /// obstacle/base/object.cc 
 
  DEFINE_bool 
  (is_serialize_point_cloud,  
  false 
  , 
 
  "serialize and output object cloud" 
  ); 
 
  /// obstacle/onboard/hdmap_input.cc//高清地图的输入 
 
  DEFINE_double 
  (map_radius,  
  60.0 
  ,  
  "get map radius of car center" 
  ); 
 
  DEFINE_int32 
  (map_sample_step,  
  1 
  ,  
  "step for sample road boundary points" 
  ); 
 
  /// obstacle/onboard/lidar_process.cc 
 
  DEFINE_bool 
  (enable_hdmap_input,  
  false 
  ,  
  "enable hdmap input for roi filter" 
  ); 
 
  DEFINE_string 
  (onboard_roi_filter,  
  "DummyROIFilter" 
  ,  
  "onboard roi filter" 
  ); 
 
  DEFINE_string 
  (onboard_segmentor,  
  "DummySegmentation" 
  ,  
  "onboard segmentation" 
  ); 
 
  DEFINE_string 
  (onboard_object_builder,  
  "DummyObjectBuilder" 
  , 
 
  "onboard object builder" 
  ); 
 
  DEFINE_string 
  (onboard_tracker,  
  "DummyTracker" 
  ,  
  "onboard tracker" 
  ); 
 
  DEFINE_string 
  (onboard_type_fuser,  
  "DummyTypeFuser" 
  ,  
  "onboard type fuser" 
  ); 
 
  DEFINE_int32 
  (tf2_buff_in_ms,  
  10 
  ,  
  "the tf2 buff size in ms" 
  ); 
 
  DEFINE_int32 
  (localization_buffer_size,  
  40 
  ,  
  "localization buffer size" 
  ); 
 
  DEFINE_string 
  (lidar_tf2_frame_id,  
  "novatel" 
  ,  
  "the tf2 transform frame id" 
  ); 
 
  DEFINE_string 
  (lidar_tf2_child_frame_id,  
  "velodyne64" 
  , 
 
  "the tf2 transform child frame id" 
  ); 
 
  DEFINE_string 
  (obstacle_module_name,  
  "perception_obstacle" 
  , 
 
  "perception obstacle module name" 
  ); 
 
  DEFINE_bool 
  (enable_visualization,  
  false 
  ,  
  "enable visualization for debug" 
  ); 
 
  /// obstacle/perception.cc 
 
  DEFINE_string 
  (dag_config_path,  
  "./conf/dag_streaming.config" 
  , 
 
  "Onboard DAG Streaming config." 
  ); 
 
  /// obstacle/onboard/radar_process_subnode.cc 
 
  DEFINE_string 
  (onboard_radar_detector,  
  "DummyRadarDetector" 
  , 
 
  "onboard radar detector" 
  ); 
 
  DEFINE_string 
  (radar_tf2_frame_id,  
  "novatel" 
  ,  
  "the tf2 transform frame id" 
  ); 
 
  DEFINE_string 
  (radar_tf2_child_frame_id,  
  "radar" 
  , 
 
  "the tf2 transform child frame id" 
  ); 
 
  DEFINE_double 
  (front_radar_forward_distance,  
  120.0 
  , 
 
  "get front radar forward distancer" 
  ); 
 
  DEFINE_string 
  (radar_extrinsic_file, 
 
  "modules/perception/data/params/radar_extrinsics.yaml" 
  , 
 
  "radar extrinsic file" 
  ); 
 
  DEFINE_string 
  (short_camera_extrinsic_file, 
 
  "modules/perception/data/params/short_camera_extrinsics.yaml" 
  , 
 
  "short_camera extrinsic file" 
  ); 
 
  DEFINE_string 
  (front_camera_extrinsics_file, 
 
  "modules/perception/data/params/front_camera_extrinsics.yaml" 
  , 
 
  "front_camera extrinsic file" 
  ); 
 
  DEFINE_string 
  (front_camera_intrinsics_file, 
 
  "modules/perception/data/params/front_camera_intrinsics.yaml" 
  , 
 
  "front_camera intrinsic file" 
  ); 
 
  /// obstacle/onboard/fusion_subnode.cc 
 
  DEFINE_string 
  (onboard_fusion,  
  "ProbabilisticFusion" 
  , 
 
  "fusion name which enabled onboard" 
  ); 
 
  DEFINE_double 
  (query_signal_range,  
  100.0 
  ,  
  "max distance to front signals" 
  ); 
 
  DEFINE_bool 
  (output_raw_img,  
  false 
  ,  
  "write raw image to disk" 
  ); 
 
  DEFINE_bool 
  (output_debug_img,  
  false 
  ,  
  "write debug image to disk" 
  ); 
 
  /// Temporarily change Kalman motion fusion to config here. 
 
  DEFINE_double 
  (q_matrix_coefficient_amplifier,  
  0.5 
  , 
 
  "Kalman fitler matrix Q coeffcients" 
  ); 
 
  DEFINE_double 
  (r_matrix_amplifier,  
  1 
  ,  
  "Kalman fitler matrix r coeffcients" 
  ); 
 
  DEFINE_double 
  (p_matrix_amplifier,  
  1 
  ,  
  "Kalman fitler matrix p coeffcients" 
  ); 
 
  DEFINE_double 
  (a_matrix_covariance_coeffcient_1,  
  0.05 
  , 
 
  "Kalman fitler matrix a coeffcients, a_matrix_(0, 2)" 
  ); 
 
  DEFINE_double 
  (a_matrix_covariance_coeffcient_2,  
  0.05 
  , 
 
  "Kalman fitler matrix a coeffcients, a_matrix_(1, 3)" 
  ); 
 
  /// calibration_config_manager.cc 
 
  DEFINE_int32 
  (obs_camera_detector_gpu,  
  0 
  ,  
  "device id for camera detector" 
  ); 
 
  // obstacle/onboard/lane_post_processing_subnode.cc 
 
  DEFINE_string 
  (onboard_lane_post_processor,  
  "CCLanePostProcessor" 
  , 
 
  "onboard lane post-processing algorithm name" 
  ); 
 
  /// visualization 
 
  DEFINE_bool 
  (show_front_radar_raw,  
  false 
  ,  
  "" 
  ); 
 
  DEFINE_bool 
  (show_back_radar_raw,  
  false 
  ,  
  "" 
  ); 
 
  DEFINE_bool 
  (show_radar_objects,  
  false 
  ,  
  "" 
  ); 
 
  DEFINE_bool 
  (show_front_radar_objects,  
  false 
  ,  
  "" 
  ); 
 
  DEFINE_bool 
  (show_back_radar_objects,  
  false 
  ,  
  "" 
  ); 
 
  DEFINE_bool 
  (show_camera_objects2d,  
  false 
  ,  
  "" 
  ); 
 
  DEFINE_bool 
  (show_camera_objects,  
  false 
  ,  
  "" 
  ); 
 
  DEFINE_bool 
  (show_camera_parsing,  
  false 
  ,  
  "" 
  ); 
 
  DEFINE_bool 
  (show_fused_objects,  
  false 
  ,  
  "" 
  ); 
 
  DEFINE_bool 
  (show_fusion_association,  
  false 
  ,  
  "" 
  ); 
 
  DEFINE_bool 
  (capture_screen,  
  false 
  ,  
  "" 
  ); 
 
  DEFINE_string 
  (screen_output_dir,  
  "./" 
  ,  
  "" 
  ); 
 
  DEFINE_string 
  (frame_visualizer,  
  "GLFusionVisualizer" 
  ,  
  "" 
  ); 
 
  DEFINE_double 
  (car_length,  
  3.564 
  ,  
  "car_length" 
  ); 
 
  DEFINE_double 
  (car_width,  
  1.620 
  ,  
  "car_width" 
  );