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ApolloAuto / apollo

An open autonomous driving platform
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Sensor fusion configuration #9589

Open raduButucelea23 opened 5 years ago

raduButucelea23 commented 5 years ago

Dear Apollo community,

Could you please advise on how to configure the fusion element of the perception controller and enable different types of sensors? By default, I see that the fusion is being set-up in pairs lidar - radar and camera - lidar and the outputs are being transmitted through 2 separate channels:

  1. /perception/obstacles
  2. /apollo/perception/obstacles

How can we enable data fusion between all 3 types of sensors with output on a single channel?

Thank you,

================================== OS Platform and Distribution: Ubuntu 14.04 Apollo version: Apollo 3.5 Sensor set configuration: 128 VLS , 12mm + 6mm Leopard cameras and Conti ARS front Radar

techoe commented 5 years ago

/perception/obstacles is temporary output for camera detection results. /apollo/perception/obstacles is the final output fusing all sensors. Configuration can be done by editing the sensor_meta.pt file and other processors in dag. Please followall conf files starting from /apollo/modules/perception/production/launch/perception.launch