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pointcloud_preprocess.zip
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更新日期:2025-09-22

apollo自动驾驶-感知-点云预处理：pointcloud-preprocess

资源文件列表(大概)

文件名
大小
pointcloud_preprocess/
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pointcloud_preprocess/data.xlsx
14.71MB
pointcloud_preprocess/perception.log.INFO.20250115-203823.31959
252.72MB
pointcloud_preprocess/pointcloud_preprocess/
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pointcloud_preprocess/pointcloud_preprocess/BUILD
2.38KB
pointcloud_preprocess/pointcloud_preprocess/conf/
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pointcloud_preprocess/pointcloud_preprocess/conf/pointcloud_preprocess_config.pb.txt
266B
pointcloud_preprocess/pointcloud_preprocess/cyberfile.xml
1.53KB
pointcloud_preprocess/pointcloud_preprocess/dag/
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pointcloud_preprocess/pointcloud_preprocess/dag/pointcloud_preprocess.dag
519B
pointcloud_preprocess/pointcloud_preprocess/data/
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pointcloud_preprocess/pointcloud_preprocess/data/pointcloud_preprocessor.pb.txt
563B
pointcloud_preprocess/pointcloud_preprocess/interface/
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pointcloud_preprocess/pointcloud_preprocess/interface/base_pointcloud_preprocessor.h
2.91KB
pointcloud_preprocess/pointcloud_preprocess/launch/
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pointcloud_preprocess/pointcloud_preprocess/launch/pointcloud_preprocess.launch
680B
pointcloud_preprocess/pointcloud_preprocess/pointcloud_preprocess_component.cc
7.96KB
pointcloud_preprocess/pointcloud_preprocess/pointcloud_preprocess_component.h
2.76KB
pointcloud_preprocess/pointcloud_preprocess/preprocessor/
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pointcloud_preprocess/pointcloud_preprocess/preprocessor/pointcloud_preprocessor.cc
9.2KB
pointcloud_preprocess/pointcloud_preprocess/preprocessor/pointcloud_preprocessor.h
2.89KB
pointcloud_preprocess/pointcloud_preprocess/preprocessor/pointcloud_preprocessor_test.cc
4.65KB
pointcloud_preprocess/pointcloud_preprocess/preprocessor/proto/
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pointcloud_preprocess/pointcloud_preprocess/preprocessor/proto/BUILD
344B
pointcloud_preprocess/pointcloud_preprocess/preprocessor/proto/pointcloud_preprocessor_config.proto
530B
pointcloud_preprocess/pointcloud_preprocess/proto/
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pointcloud_preprocess/pointcloud_preprocess/proto/BUILD
445B
pointcloud_preprocess/pointcloud_preprocess/proto/pointcloud_preprocess_component_config.proto
339B
pointcloud_preprocess/pointcloud_preprocess/README.md
3.71KB
pointcloud_preprocess/pp.m
706B
pointcloud_preprocess/坐标变换.png
438.85KB
pointcloud_preprocess/过滤.png
237.33KB

资源内容介绍

apollo自动驾驶-感知-点云预处理：pointcloud-preprocess
# perception-pointcloud-preprocess## IntroductionThe point cloud preprocessing module preprocesses the point cloud data output by the driver. Deleting nan value points,points that are too far away, points scanned onto the self vehicle, and point that are too high.## Directory Structure```├── pointcloud_preprocess // point cloud preprocess component ├── conf // configuration folder ├── dag // module startup file ├── data // module configuration parameters ├── launch // launch file ├── interface // preprocess interface ├── proto // preprocess module configuration proto file ├── preprocessor // preprocess method ├── pointcloud_preprocess_component.cc // component entrance ├── pointcloud_preprocess_component.h ├── cyberfile.xml // package management file ├── README.md // readme file └── BUILD // compile file```## Modules### PointCloudPreprocessComponentapollo::perception::lidar::PointCloudPreprocessComponent#### Input| Name | Type | Description | Input channal || ----- | ----------------------------- | ------------------- | ------------- || `msg` | `apollo::drivers::PointCloud` | point cloud message | /apollo/sensor/velodyne64/compensator/PointCloud2 |Point cloud data from driver: If there is one lidar, output point cloud after motion compensation. If there are multiplelidars, concatenate the point clouds into one frame after motion compensation. The default trigger channel is `/apollo/sensor/velodyne64/compensator/PointCloud2`. The detailed input channel information is in `modules/perception/pointcloud_preprocess/dag/pointcloud_preprocess.dag` file.#### Output| Name | Type | Description | Output channal || ------- | ------------------------------------------------ | ------------------- | -------------- || `frame` | `apollo::perception::onboard::LidarFrameMessage` | lidar frame message | /perception/lidar/pointcloud_preprocess |>Note: The output channel is structure type data. The message is defined in the `modules/perception/common/onboard/inner_component_messages/lidar_inner_component_messages.h` file. The output channel message data can be subscribed by components in the same process. The detailed output channel information is in `modules/perception/pointcloud_preprocess/conf/pointcloud_preprocess_config.pb.txt` file.#### How to Launch1. Add vehicle parameter configuration file to `modules/perception/data/params`, corresponding frame_id and sensor_name, launch transform```bashcyber_launch start modules/transform/launch/static_transform.launch```2. `Modify modules/perception/launch/perception_lidar.launch`- select the dag file to start, use `modules/perception/pointcloud_preprocess/dag/pointcloud_preprocess.dag` here- modify msg_adapter. It is used to wrap messages sent by other steps as `/apollo/perception/obstacles`, this can be used for individual debugging. Modify relevant channel configurations in `modules/perception/data/flag/perception_common.flag`3. Modify parameters of `modules/perception/pointcloud_preprocess/conf/pointcloud_preprocess_config.pb.txt`- sensor_name: sensor name- lidar_query_tf_offset: tf time offset- output_channel_name: output channel name- plugin_param: plugin parameters - name: method name - config_path: configuration file path - config_file: configuration file name4. Launch point cloud preprocess component```bashcyber_launch start modules/perception/pointcloud_preprocess/launch/pointcloud_preprocess.launch```

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