Perception module involves tracking ?

[rlaehddls9]

env : ubuntu 18.04, apollo v6.0

Hello I run the lidar perception module by using this page.(https://github.com/ApolloAuto/apollo/blob/master/docs/howto/how_to_run_perception_module_on_your_local_computer.md)
Below is the result video. (I got raw data with hesai64)

perception_module.mov

In step 8, I run
cyber_launch start /apollo/modules/perception/production/launch/perception_lidar.launch
In this case, perception_lidar.launch file has a tracking module?
If not, how can I run the perception module with tracking ? (I want to run lidar perception with tracking)

[daohu527]

The lidar module is default with tracking.

You can confirm it by checking the ID on the obstacle. If the ID does not change, it means it is work. If the ID of the same obstacle changes frequently, it means it is not work.

Your video resolution is too low to see clearly!

[rlaehddls9]

Hello daohu527, Thanks for the reply.

This video is part of the full video. There are quite a few cases where the bounding box is recognized and then disappears and then reappears, but the ID value is changing every time it happens. It seems that tracking is not being applied in this case, how to solve it?

You can see ID change in this video.

Prob.mp4

[rlaehddls9]

This is the cyber_monitor for the perception module video above.

[daohu527]

Why the /apollo/sensor/hesai64/PointCloud2 frequency is doubled.

I think the tracking is already in effect, because you can see that the id of the obstacle that has not disappeared is constant.

So the remaining question is why the obstacle disappears?

[rlaehddls9]

rawdata.mp4

This video is raw data of using hesai lidar.
When I saw raw data, I can't find any problem in this case.
In generally, how obstacle disappearing problems are happened?

Why the /apollo/sensor/hesai64/PointCloud2 frequency is doubled.
I can't understand this comment. Is that any prob?

[daohu527]

/apollo/sensor/hesai64/PointCloud2 frequency is normally 10HZ, but the frequency in your screenshots is 20HZ. The strange thing is that if the frequency of /apollo/sensor/hesai64/PointCloud2 is 20HZ, then the frequency of /apollo/perception/obstacles should also be 20HZ

You should check the frequency and find out if there is an error message data\log

[rlaehddls9]

How can I check and change the frequency ?

(You should check the frequency and find out if there is an error message data\log)

Also How can I check an error message data\log ... ?
As far as I can see, there was no error message when running the perception module.

I'm not familiar with Apollo yet, so please understand that the question is inexperienced...

[daohu527]

From the above information, I can’t tell what the problem is, you need to try to analyze it

[rlaehddls9]

Thanks for your reply !

[rlaehddls9]

@daohu527
Through lidar settings, /apollo/sensor/hesai64/PointCloud2 frquency was changed to 10HZ.

But the frequency of /apollo/perception/obstacles is about 8Hz, is this difference causing the problem of objects disappearing?

The problem that the bounding box of an object is drawn well, disappears right next to the vehicle and then reappears. Do you know the common cause?

[rlaehddls9]

https://drive.google.com/file/d/1TObm97yCTQ60ODfKXIRuTcfvVa-bpg5P/view?usp=sharing

https://drive.google.com/file/d/1TObm97yCTQ60ODfKXIRuTcfvVa-bpg5P/view?usp=sharing

This is a video of running the perception module on the raw data received by hesai pandar64.

You can see the problem that the bounding box of an object is drawn well first, but disappears right next to the vehicle and then reappears.

If you have a solution, please let me know, I would appreciate it.

[daohu527]

I don't know what the problem is, why is the system localization frequency is 200? Are you sure you only activate Apollo, or additional changes. Also the /apollo/prediction is 20, because the input of prediction is perception, the frequency of prediction will not be higher than that of the perception module.

I guess there are duplicate news releases, and the current frame is overwritten

/apollo/canbus/chassis
/apollo/localization/pose

Please try to analyze. Pasting the video blindly did not help analyze the problem!

[rlaehddls9]

Ok, Thanks for your reply.

I try to analyze the prob!