Fix perception offline visualizer

.gitmodules

@@ -1,7 +1,7 @@
 [submodule "lg_pkgs/lgsvl_msgs"]
 	path = lgsvl_pkgs/lgsvl_msgs
-	url = ../lgsvl_msgs.git
+	url = https://github.com/lgsvl/lgsvl_msgs.git
 	branch = apollo_3_5
 [submodule "modules/map/data/san_francisco"]
 	path = modules/map/data/san_francisco
-	url = ../apollo-simulator-map.git
+	url = https://github.com/lgsvl/apollo-simulator-map.git

README.md

@@ -119,7 +119,7 @@ To launch apollo, first launch and enter a container as described in the previou
 * Open Apollo dreamview in a browser by navigating to: `localhost:8888`
     - Select the `XE_Rigged_Apollo3.5` vehicle and `San Francisco` map in the top right corner.
     - Open the **Module Controller** tab (on the left bar).
-    - Enable **Localization**, **Transform**, **Perception**, **Traffic Light**, **Planning**, **Prediction**, **Routing**.
+    - Enable **Localization**, **Transform**, **Perception**, **Prediction**, **Routing**, **Planning**.
     - Navigate to the **Route Editing** tab.
     - Select a destination by clicking on a lane line and clicking **Submit Route**.
     - Enable **Control** in **Module Controller** tab.

modules/common/data/vehicle_param.pb.txt

@@ -1,8 +1,4 @@
 vehicle_param {
-  brand: LINCOLN_MKZ
-  vehicle_id {
-    other_unique_id: "mkz7"
-  }
   front_edge_to_center: 3.705
   back_edge_to_center: 0.995
   left_edge_to_center: 1.03
@@ -19,7 +15,4 @@ vehicle_param {
   steer_ratio: 11.4213198
   wheel_base: 2.837007
   wheel_rolling_radius: 0.33
-
-  brake_deadzone: 15.5
-  throttle_deadzone: 18.0
 }

modules/control/conf/navigation_lincoln.pb.txt

@@ -94,6 +94,8 @@ lat_controller_conf {
 }
 lon_controller_conf {
   ts: 0.01
+  brake_deadzone: 15.5
+  throttle_deadzone: 18.0
   speed_controller_input_limit: 2.0
   station_error_limit: 2.0
   preview_window: 20.0

modules/drivers/velodyne/params/velodyne128_height.yaml

@@ -0,0 +1,4 @@
+vehicle:
+  parameters:
+    height: 1.91
+    height_var: 0.0047

modules/drivers/velodyne/params/velodyne128_novatel_extrinsics.yaml

@@ -0,0 +1,18 @@
+header:
+  seq: 0
+  stamp:
+    secs: 0
+    nsecs: 0
+  frame_id: novatel
+child_frame_id: velodyne128
+transform:
+  translation:
+    x: 0
+    y: 0.9807289
+    z: 2.312
+  rotation:
+    x: 0
+    y: 0
+    z: 0.7071068
+    w: 0.7071068
+

modules/drivers/velodyne/params/velodyne64_height.yaml

@@ -0,0 +1,4 @@
+vehicle:
+  parameters:
+    height: 1.91
+    height_var: 0.0047

modules/localization/msf/params/velodyne_params/velodyne128_height.yaml

@@ -0,0 +1,4 @@
+vehicle:
+  parameters:
+    height: 1.91
+    height_var: 0.0047

modules/localization/msf/params/velodyne_params/velodyne128_novatel_extrinsics.yaml

@@ -0,0 +1,18 @@
+header:
+  seq: 0
+  stamp:
+    secs: 0
+    nsecs: 0
+  frame_id: novatel
+child_frame_id: velodyne128
+transform:
+  translation:
+    x: 0
+    y: 0.9807289
+    z: 2.312
+  rotation:
+    x: 0
+    y: 0
+    z: 0.7071068
+    w: 0.7071068
+

modules/perception/data/params/front_6mm_extrinsics.yaml

@@ -15,7 +15,4 @@ transform:
     y: -0.5
     z: 0.5
     w: -0.5
-  euler_angles_degree:
-    pitch: -90.0
-    yaw: -90.0
-    roll: 0.0
+

modules/perception/data/params/radar_extrinsics.yaml

@@ -0,0 +1,17 @@
+header:
+  seq: 0
+  stamp:
+    secs: 0
+    nsecs: 0
+  frame_id: front_6mm
+child_frame_id: radar
+transform:
+  translation:
+    x: 0
+    y: 1.011
+    z: 2.472
+  rotation:
+    x: 0.5
+    y: -0.5
+    z: 0.5
+    w: 0.5

modules/perception/data/params/radar_front_extrinsics.yaml

@@ -0,0 +1,18 @@
+header:
+  seq: 0
+  stamp:
+    secs: 0
+    nsecs: 0
+  frame_id: velodyne128
+child_frame_id: radar_front
+transform:
+  translation:
+    x: 2.63992
+    y: 0
+    z: -1.623
+  rotation:
+    x: 0
+    y: 0
+    z: 0
+    w: 1
+

modules/perception/data/params/start_leopard.launch

@@ -0,0 +1,67 @@
+<launch>
+  <arg name="traffic_short_topic_name" default="/apollo/sensor/camera/traffic/image_short" />
+  <arg name="traffic_long_topic_name" default="/apollo/sensor/camera/traffic/image_long" />
+  <arg name="front_obstacle_6mm_topic_name" default="/apollo/sensor/camera/obstacle/front_6mm" />
+  <arg name="frame_rate" default="30"/>
+
+  <group ns="camera_long">
+    <node pkg="nodelet" type="nodelet" name="camera_nodelet_manager" args="manager" respawn="true" />
+
+    <node pkg="nodelet" type="nodelet" name="sensor_camera_traffic_long" output="screen"
+          args="load usb_cam/UsbCamNodelet camera_nodelet_manager" respawn="true" >
+      <param name="video_device" value="/dev/camera/trafficlights" />
+    	<param name="image_width" value="1920" />
+    	<param name="image_height" value="1080" />
+    	<param name="pixel_format" value="rgb24" />
+      <param name="frame_rate" value="$(arg frame_rate)" />
+    	<param name="camera_frame_id" value="usb_cam" />
+    	<param name="io_method" value="mmap"/>
+      <param name="camera_timeout" value="2000" />
+      <param name="error_code" value="11" />
+      <param name="camera_info_url" type="string" value="long_camera_intrinsics.yaml" />
+      <remap from="/camera_long/image_raw0" to="$(arg traffic_long_topic_name)" />
+      <remap from="/apollo/sensor/camera/traffic/camera_info" to="$(arg traffic_long_topic_name)/camera_info" />
+    </node>
+  </group>
+
+  <group ns="camera_short">
+    <node pkg="nodelet" type="nodelet" name="camera_nodelet_manager" args="manager" respawn="true" />
+
+    <node pkg="nodelet" type="nodelet" name="sensor_camera_traffic_short" output="screen"
+          args="load usb_cam/UsbCamNodelet camera_nodelet_manager" respawn="true" >
+      <param name="video_device" value="/dev/camera/obstacle" />
+    	<param name="image_width" value="1920" />
+    	<param name="image_height" value="1080" />
+    	<param name="pixel_format" value="rgb24" />
+      <param name="frame_rate" value="$(arg frame_rate)" />
+    	<param name="camera_frame_id" value="usb_cam" />
+    	<param name="io_method" value="mmap"/>
+      <param name="camera_timeout" value="2000" />
+      <param name="error_code" value="14" />
+	    <param name="camera_info_url" type="string" value="short_camera_intrinsics.yaml" />
+      <remap from="/camera_short/image_raw0" to="$(arg traffic_short_topic_name)" />
+      <remap from="/apollo/sensor/camera/traffic/camera_info" to="$(arg traffic_short_topic_name)/camera_info" />
+    </node>
+  </group>
+
+  <group ns="camera_obstacle">
+    <node pkg="nodelet" type="nodelet" name="camera_nodelet_manager" args="manager" respawn="true" />
+
+    <node pkg="nodelet" type="nodelet" name="sensor_camera_obstacle" output="screen"
+          args="load usb_cam/UsbCamNodelet camera_nodelet_manager" respawn="true" >
+      <param name="video_device" value="/dev/camera/lanemark" />
+    	<param name="image_width" value="1920" />
+    	<param name="image_height" value="1080" />
+    	<param name="pixel_format" value="rgb24" />
+      <param name="frame_rate" value="$(arg frame_rate)" />
+    	<param name="camera_frame_id" value="usb_cam" />
+    	<param name="io_method" value="mmap"/>
+      <param name="camera_timeout" value="2000" />
+      <param name="error_code" value="14" />
+	    <param name="camera_info_url" type="string" value="front_camera_intrinsics.yaml" />
+      <remap from="/camera_obstacle/image_raw0" to="$(arg front_obstacle_6mm_topic_name)" />
+      <remap from="/apollo/sensor/camera/traffic/camera_info" to="$(arg front_obstacle_6mm_topic_name)/camera_info" />
+    </node>
+  </group>
+
+</launch>

modules/perception/data/params/start_obstacle_camera.launch

@@ -0,0 +1,26 @@
+<launch>
+  <arg name="front_obstacle_6mm_topic_name" default="/apollo/sensor/camera/obstacle/front_6mm" />
+  <arg name="frame_rate" default="30"/>
+
+
+  <group ns="camera_obstacle">
+    <node pkg="nodelet" type="nodelet" name="camera_nodelet_manager" args="manager" respawn="true" />
+
+    <node pkg="nodelet" type="nodelet" name="sensor_camera_obstacle" output="screen"
+          args="load usb_cam/UsbCamNodelet camera_nodelet_manager" respawn="true" >
+      <param name="video_device" value="/dev/camera/lanemark" />
+    	<param name="image_width" value="1920" />
+    	<param name="image_height" value="1080" />
+    	<param name="pixel_format" value="rgb24" />
+      <param name="frame_rate" value="$(arg frame_rate)" />
+    	<param name="camera_frame_id" value="usb_cam" />
+    	<param name="io_method" value="mmap"/>
+      <param name="camera_timeout" value="2000" />
+      <param name="error_code" value="14" />
+	    <param name="camera_info_url" type="string" value="front_camera_intrinsics.yaml" />
+      <remap from="/camera_obstacle/image_raw0" to="$(arg front_obstacle_6mm_topic_name)" />
+      <remap from="/apollo/sensor/camera/traffic/camera_info" to="$(arg front_obstacle_6mm_topic_name)/camera_info" />
+    </node>
+  </group>
+
+</launch>

modules/perception/data/params/velodyne128_height.yaml

@@ -0,0 +1,4 @@
+vehicle:
+  parameters:
+    height: 1.91
+    height_var: 0.0047

modules/perception/data/params/velodyne128_novatel_extrinsics.yaml

@@ -0,0 +1,18 @@
+header:
+  seq: 0
+  stamp:
+    secs: 0
+    nsecs: 0
+  frame_id: novatel
+child_frame_id: velodyne128
+transform:
+  translation:
+    x: 0
+    y: 0.9807289
+    z: 2.312
+  rotation:
+    x: 0
+    y: 0
+    z: 0.7071068
+    w: 0.7071068
+

modules/perception/data/params/velodyne64_height.yaml

@@ -0,0 +1,4 @@
+vehicle:
+  parameters:
+    height: 1.91
+    height_var: 0.0047

modules/perception/data/params/velodyne64_novatel_extrinsics_example.yaml

@@ -0,0 +1,18 @@
+header:
+  seq: 0
+  stamp:
+    secs: 0
+    nsecs: 0
+  frame_id: novatel
+child_frame_id: velodyne64
+transform:
+  translation:
+    x: 0
+    y: 0.9807289
+    z: 2.312
+  rotation:
+    x: 0
+    y: 0
+    z: 0.7071068
+    w: 0.7071068
+

modules/perception/production/conf/perception/camera/fusion_camera_detection_component.pb.txt

@@ -8,7 +8,7 @@ image_channel_num : 3
 enable_undistortion : false
 enable_visualization : true
 output_final_obstacles : true
-output_obstacles_channel_name : "/perception/obstacles"
+output_obstacles_channel_name : "/apollo/perception/obstacles"
 camera_perception_viz_message_channel_name : "/perception/inner/camera_viz_msg"
 prefused_channel_name : "/perception/inner/PrefusedObjects"
 default_camera_pitch : 0.0

modules/perception/production/data/perception/camera/models/yolo_obstacle_detector/3d-r4-half-config.pt

@@ -1,11 +1,12 @@
 model_param {
   model_name: "./3d-r4-half"
-  model_type: "RTNetInt8"
+  #model_type: "RTNetInt8"
+  model_type: "CaffeNet"
   weight_file: "deploy.model"
   proto_file: "deploy.pt"
   anchors_file: "anchors.txt"
   types_file: "types.txt"
-  calibratetable_root: "./3d-r4-half"
+  #calibratetable_root: "./3d-r4-half"
   confidence_threshold: 0.4
   offset_ratio: 0.288889
   cropped_ratio: 0.711111

scripts/perception_offline_visualizer.sh

@@ -16,11 +16,18 @@
 # limitations under the License.
 ###############################################################################
 
-
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
 
 source "${DIR}/apollo_base.sh"
-# run function from apollo_base.sh
-# run command_name module_name
-run perception "$@" --dag_config_path=/apollo/modules/perception/conf/dag_camera_obstacle_vis.config \
---alsologtostderr=1 --v=4
+
+if [ $# -ne 1 ] ; then
+   echo "usage $0 start/stop"
+   exit 1;
+fi
+
+cmd=$1
+
+cyber_launch $cmd /apollo/modules/perception/production/launch/perception_camera.launch
+cyber_launch $cmd /apollo/modules/perception/production/launch/perception_trafficlight_vis.launch
+cyber_launch $cmd /apollo/modules/drivers/tools/image_decompress/launch/image_decompress.launch
+cyber_launch $cmd /apollo/modules/transform/launch/static_transform.launch