Meta-MJ
commented
1 year ago @daohu527
Open Meta-MJ opened 1 year ago
Meta-MJ
commented
1 year ago @daohu527
daohu527
commented
1 year ago I will check and feedback soon
1、运行dag_streaming_bev_camera.dag时，以下的CameraBevDetectionComponent::Init()可以正常通过。
bool CameraBevDetectionComponent::Init() {
if (InitConfig() != cyber::SUCC) { AERROR << "InitConfig() failed."; return false; } writer = node->CreateWriter(output_obstacles_channelname);
sensorframewriter =
node_->CreateWriter(prefused_channelname);
camera_vizwriter = node_->CreateWriter(
camera_perception_viz_message_channelname);
camera_debugwriter =
node_->CreateWriter(
camera_debug_channelname);
if (InitSensorInfo() != cyber::SUCC) {
AERROR << "InitSensorInfo() failed.";
return false;
}
if (InitAlgorithmPlugin() != cyber::SUCC) {
AERROR << "InitAlgorithmPlugin() failed.";
return false;
}
if (InitCameraFrames() != cyber::SUCC) {
AERROR << "InitCameraFrames() failed.";
return false;
}
// if (InitProjectMatrix() != cyber::SUCC) {
// AERROR << "InitProjectMatrix() failed.";
// return false;
// }
// if (InitCameraListeners() != cyber::SUCC) {
// AERROR << "InitCameraListeners() failed.";
// return false;
// }
if (InitBevCameraListeners() != cyber::SUCC) {
AERROR << "InitBevCameraListeners() failed.";
return false;
}
// if (InitMotionService() != cyber::SUCC) { // AERROR << "InitMotionService() failed."; // return false; // }
// SetCameraHeightAndPitch();
// Init visualizer // TODO(techoe, yg13): homography from image to ground should be // computed from camera height and pitch. // Apply online calibration to adjust pitch/height automatically // Temporary code is used here for test
return true; }
2、此时终端打印出：
I0824 15:40:15.215029 32647 scheduler.cc:55] [mainboard]create croutine: CameraBevDetectionComponent_/apollo/sensor/camera/CAMFRONT/image I0824 15:40:15.215256 32647 scheduler.cc:55] [mainboard]create croutine: CameraBevDetectionComponent/apollo/sensor/camera/CAM_FRONTLEFT/image I0824 15:40:15.215435 32647 scheduler.cc:55] [mainboard]create croutine: CameraBevDetectionComponent/apollo/sensor/camera/CAM_FRONTRIGHT/image I0824 15:40:15.215595 32647 scheduler.cc:55] [mainboard]create croutine: CameraBevDetectionComponent/apollo/sensor/camera/CAM_BACKLEFT/image I0824 15:40:15.215750 32647 scheduler.cc:55] [mainboard]create croutine: CameraBevDetectionComponent/apollo/sensor/camera/CAM_BACKRIGHT/image I0824 15:40:15.215905 32647 scheduler.cc:55] [mainboard]create croutine: CameraBevDetectionComponent/apollo/sensor/camera/CAMBACK/image I0824 15:40:15.216084 32647 scheduler.cc:55] [mainboard]create croutine: CameraBevDetectionComponent/apollo/sensor/camera/CAM_FRONT/image,/apollo/sensor/camera/CAM_FRONT_LEFT/image,/apollo/sensor/camera/CAM_FRONT_RIGHT/image,/apollo/sensor/camera/CAM_BACK_LEFT/image,/apollo/sensor/camera/CAM_BACK_RIGHT/image,/apollo/sensor/camera/CAM_BACK/image I0824 15:40:15.216187 32647 scheduler.cc:55] [mainboard]create croutine: CameraBevDetectionComponent
3、当我启动经adataset转换后的nuscenes record后，发现函数无法进入到CameraBevDetectionComponent::Proc()中去。