no objects detected/tracked with cnnseg64_caffe in apollo9

[CesarLiu]

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System information

• OS Platform and Distribution (e.g., Linux Ubuntu 18.04):Linux Ubuntu 22.04
• Apollo installed from (source or binary): source
• Apollo version (3.5, 5.0, 5.5, 6.0):9.0
• Output of apollo.sh config if on master branch: ./apollo.sh config [INFO] Apollo Environment Settings: [INFO] APOLLO_ROOT_DIR: /apollo [INFO] APOLLO_CACHE_DIR: /apollo/.cache [INFO] APOLLO_IN_DOCKER: true [INFO] APOLLO_VERSION: merge_from_fortiss-2024-04-05-4862676a9a [INFO] DOCKER_IMG: dev-x86_64-18.04-20230831_1143 [INFO] APOLLO_ENV: STAGE=dev USE_ESD_CAN=false [INFO] USE_GPU_HOST: 1 [INFO] USE_GPU_TARGET: 1 [INFO] GPU_PLATFORM: NVIDIA [INFO] Configure .apollo.bazelrc in non-interactive mode [INFO] You have bazel 5.2.0 installed. [INFO] Found possible Python library paths: /usr/local/lib/python3.6/dist-packages /usr/lib/python3/dist-packages [INFO] Found CUDA 11.1 in: /usr/local/cuda-11.1/targets/x86_64-linux/lib /usr/local/cuda-11.1/targets/x86_64-linux/include [INFO] Found cuDNN 8 in: /usr/lib/x86_64-linux-gnu /usr/include [INFO] Found TensorRT 7 in: /usr/lib/x86_64-linux-gnu /usr/include/x86_64-linux-gnu [ OK ] Successfully configured .apollo.bazelrc in non-interactive mode. [INFO] Usage: /apollo/scripts/apollo_config.sh [Options] [INFO] Options: [INFO] -i|--interactive Run in interactive mode [INFO] -n|--noninteractive Run in non-interactive mode [INFO] -h|--help Show this message and exit

Steps to reproduce the issue:

• Please use bullet points and include as much details as possible:
• change the lidar detection model to cnnseg64_caffe, and start the perception_lidar.launch
• The channel /apollo/perception/obstacles has the famerate of about 10 Hz, same as raw data, which means the whole pipeline works well,
• cyber_monitor goes into the channel, no obstacle detected there

Supporting materials (screenshots, command lines, code/script snippets):

ChannelName: /apollo/perception/obstacles
MessageType: apollo.perception.PerceptionObstacles
FrameRatio: 10.29
RawMessage Size: 43 Bytes
header:
  timestamp_sec: 1712580426.101719856
  module_name: perception_obstacle
  sequence_num: 563
  lidar_timestamp: 0
  camera_timestamp: 0
  radar_timestamp: 0
error_code: OK
``