Traffic Cones not detected by perception module

[MartinaB85]

System information

• OS Platform and Distribution: Linux Ubuntu 18.04
• Lgsvl simulator release-2020-06
• Map: any map
• Apollo 5.0

Steps to reproduce the issue:

• Launch Lgsvl simulator with Python API
• Select SF map or any. Place traffic cones on road in front of ego vehicle
• Launch Apollo 5.0 and activate lidar, camera and radar in dreamview
• Run the simulation

Issue:

Even if the camera shows the cones and the lidar and radar should detect the cones, the apollo car drives through the cones, and no obstacle is visualized or detected by the perception module. Is it something related to the dimensions of the ROI or to any distance parameter?

Any suggestions is appreciated.

Thank you very much,

Martina

[jeroldchen]

@MartinaB85 Among all the perception submodules, camera perception detects traffic cones best. I wonder if you have launched camera perception. Perception button on Dreamview is used to launch lidar & radar perception, camera not included. To launch camera perception, you can run this command cyber_launch start modules/perception/production/launch/perception_camera.launch in apollo root dir.

[MartinaB85]

Thank you for your reply. I did launch the camera module, but even if it does (apparently) detect the traffic cones as you can see in the picture in attached, after setting up a route, the car does not take any action to avoid them and just drives through them.