launching perception_camera.launch does not publish lane detections

[josh-wende]

According to docs/howto/how_to_run_perception_module_on_your_local_computer.md, running cyber_launch start /apollo/modules/perception/production/launch/perception_camera.launch should run obstacle and lane detection. And indeed, both objects and lanes are drawn in the visualization debug image. However, the FusionCameraDetectionComponent alone does not publish to the /perception/lanes channel, and has no writer configured to do so.

What does the FusionCameraDetectionComponent do with lanes and why does it run the images through the lane detector NN if it does not output the final results? If I run mainboard -d ./modules/perception/production/dag/dag_streaming_perception_lane.dag, lanes are published, but if both are running then is the same image getting sent through the NN twice? If so, is there a way to remove this redundancy?

[liouyx]

You'd better use cyber_launch start /apollo/modules/perception/production/launch/perception_camera.launch, in perception_camera.launch, there are two dag files launched, dag_streaming_obstacle_detection.dag and dag_motion_service.dag.

[liouyx]

Closed due to inactivity. If the problem persists, pls feel free to reopen it or create a new one and refer to it.