ApolloAuto
No obstacle information during perception : multi sensor fusion
Information:
Apollo Version: 9.0
Hardware Environment: orin & X86
record file : sensor_rgb.record
Issue Description:
I have confirmed that both the centerpoint and camera perception modules are functioning normally when tested individually.
During tests on sensor_rgb.record, the following observations were made:
When using the following lines for camera perception testing, the camera perception works perfectly with a frame rate of 8.
When using following lines for lidar perception testing, the centerpoint perception also works perfectly with a frame rate of 10.
As for fusion module, if I do not load the Sunnyvale map, the fusion seems to work normally, but the frame rate for obstacles is lower, around 5
However, once I load the Sunnyvale map, there is almost no data output in the perception channels. Apart from occasionally seeing one or two obstacles at a great distance in the channels, the dreamview does not display any obstacles at all, and the frame rate for obstacles is only 1-3.
Could you please advise on what might be causing this issue?Thank you very much.
It doesn’t look like a common phenomenon, the issue only occurred in the Sunnyvale map. Once I used the pose data from sensor_rgb.record to build a new map, the issue seemed to be resolved.
It doesn’t look like a common phenomenon, the issue only occurred in the Sunnyvale map. Once I used the pose data from sensor_rgb.record to build a new map, the issue seemed to be resolved.
What vehicle configuration are you using? I did not find the Vehicle configuration: Perception Test V1 according to the instructions.
