Apollo自动驾驶传感器标定指南：一站式服务与工具详解

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"《Apollo传感器标定指南》是一份专注于自动驾驶技术领域的技术文档，主要讲解了如何准确地标定不同传感器之间的内在参数（Intrinsic Parameters）和外在参数（Extrinsic Parameters）。在自动驾驶系统中，激光雷达(LiDAR)与组合惯性测量单元(IMU)等传感器的配合至关重要，它们的数据融合对于高精度地图制作、激光点云定位及物体检测任务是不可或缺的。 该指南首先阐述了传感器标定的基本概念，即通过收集数据来确定每个传感器的内参，如相机的焦距、主点和畸变系数，以及不同传感器间的相对位置。它强调了Apollo平台提供的云端标定服务，这一服务使得开发者无需在本地或车辆上进行繁琐的标定过程，极大地提高了跨平台标定的便捷性和效率，降低了开发难度。 指南详细介绍了三种主要的标定工具：相机到相机标定（Camera-to-Camera Calibration）、相机到激光雷达标定（Camera-to-LiDAR Calibration）以及雷达到相机标定（Radar-to-Camera Calibration），针对IMU与车辆平台的标定也有所涉及。这些工具作为可执行程序集成在Apollo中，用户只需启动即可执行标定任务。 特别指出，对于Velodyne HDL-64的用户，依然可以选择使用Apollo的标定服务，而无需依赖特定的工具包。标定完成后，用户通常会得到以.yaml格式存储的结果，这方便后续的验证和应用。标定所需的相机内参可以从ROS Camera Calibration Tools和MATLAB的Camera Calibration Toolbox等外部工具获取。 为了便于使用，指南提供了具体的步骤指导，包括下载和安装标定工具，并将其放置在$APOLLO_HOME/modules/calibration目录下，确保所有必要的标定信息都在合适的位置。总结来说，这份指南为自动驾驶系统的传感器标定提供了一套完整且实用的解决方案，有助于提升整个系统的性能和可靠性。"

技术文档 _ Apollo Cyber调度器.pdf

2022-04-17 上传
Apollo Cyber RT框架核心理念和Scheduler模块详解 Apollo Cyber RT框架是百度自研得无人车计算任务实时并行计算框架，作为Apollo 3.5的一部分已经开放给开发者们。Cyber RT框架的核心部分是Scheduler模块，它将...

技术文档 _ Apollo的坐标系.pdf

2022-04-17 上传
Apollo坐标系是自动驾驶技术的核心组成部分，它涉及到多种坐标系的使用。本文将详细介绍 Apollo坐标系中的几个关键概念，包括全球地理坐标系、局部坐标系、UTM 坐标系和车辆坐标系。 一、全球地理坐标系 全球地理...

进阶课程⑩ _ Apollo地图采集方案.pdf

2022-04-17 上传
综上所述，自动驾驶地图采集是一个复杂的过程，涉及多种传感器的综合运用、高精度定位技术以及严格的传感器标定。不同厂商通过各自的技术优势，为自动驾驶提供了高精度、实时更新的地图服务，推动了整个行业的快速...

for topic, msg, t in bag.read_messages(): File "/home/baidu/anaconda3/envs/python36/lib/python3.6/site-packages/rosbag/bag.py", line 2696, in read_messages yield self.seek_and_read_message_data_record((entry.chunk_pos, entry.offset), raw, return_connection_header) File "/home/baidu/anaconda3/envs/python36/lib/python3.6/site-packages/rosbag/bag.py", line 2859, in seek_and_read_message_data_record msg_type = _get_message_type(connection_info) File "/home/baidu/anaconda3/envs/python36/lib/python3.6/site-packages/rosbag/bag.py", line 1910, in _get_message_type message_type = genpy.dynamic.generate_dynamic(info.datatype, info.msg_def)[info.datatype] File "/home/baidu/anaconda3/envs/python36/lib/python3.6/site-packages/genpy/dynamic.py", line 180, in generate_dynamic mod = __import__(os.path.basename(tmp_file.name)[:-3]) File "/tmp/genpy_zyoi0xpr/tmpxiplcd9k.py", line 10 class ___apollo.test.CaseSample(genpy.Message): ^ SyntaxError: invalid syntax

2023-07-04 上传
根据错误提示，有一个类名为"___apollo.test.CaseSample"的消息类型生成时出现了无效的语法。可能有几个原因导致这个错误： 1. 类名中包含了无效字符或特殊字符。 2. 类名中使用了保留字或关键字。 3. 类名中存在...

root@in_dev_docker:/apollo# bash scripts/msf_create_lossless_map.sh /apollo/hdmap/pcd_apollo/ 50 /apollo/hdmap/ /apollo/bazel-bin WARNING: Logging before InitGoogleLogging() is written to STDERR E0715 22:08:35.399576 6436 lossless_map_creator.cc:162] num_trials = 1 Pcd folders are as follows: /apollo/hdmap/pcd_apollo/ Resolution: 0.125 Dataset: /apollo/hdmap/pcd_apollo Dataset: /apollo/hdmap/pcd_apollo/ Loaded the map configuration from: /apollo/hdmap//lossless_map/config.xml. Saved the map configuration to: /apollo/hdmap//lossless_map/config.xml. Saved the map configuration to: /apollo/hdmap//lossless_map/config.xml. E0715 22:08:35.767315 6436 lossless_map_creator.cc:264] ieout_poses = 1706 Failed to find match for field 'intensity'. Failed to find match for field 'timestamp'. E0715 22:08:35.769896 6436 velodyne_utility.cc:46] Un-organized-point-cloud E0715 22:08:35.781770 6436 lossless_map_creator.cc:275] Loaded 245443D Points at Trial: 0 Frame: 0. F0715 22:08:35.781791 6436 base_map_node_index.cc:101] Check failed: false *** Check failure stack trace: *** scripts/msf_create_lossless_map.sh: line 11: 6436 Aborted (core dumped) $APOLLO_BIN_PREFIX/modules/localization/msf/local_tool/map_creation/lossless_map_creator --use_plane_inliers_only true --pcd_folders $1 --pose_files $2 --map_folder $IN_FOLDER --zone_id $ZONE_ID --coordinate_type UTM --map_resolution_type single root@in_dev_docker:/apollo# bash scripts/msf_create_lossless_map.sh /apollo/hdmap/pcd_apollo/ 50 /apollo/hdmap/

2023-07-16 上传
/apollo/hdmap/pcd_apollo/ Resolution: 0.125 Dataset: /apollo/hdmap/pcd_apollo Dataset: /apollo/hdmap/pcd_apollo/ Loaded the map configuration from: /apollo/hdmap//lossless_map/config.xml. Saved the ...

/apollo/bazel-bin WARNING: Logging before InitGoogleLogging() is written to STDERR E0715 22:08:35.399576 6436 lossless_map_creator.cc:162] num_trials = 1 Pcd folders are as follows: /apollo/hdmap/pcd_apollo/ Resolution: 0.125 Dataset: /apollo/hdmap/pcd_apollo Dataset: /apollo/hdmap/pcd_apollo/ Loaded the map configuration from: /apollo/hdmap//lossless_map/config.xml. Saved the map configuration to: /apollo/hdmap//lossless_map/config.xml. Saved the map configuration to: /apollo/hdmap//lossless_map/config.xml. E0715 22:08:35.767315 6436 lossless_map_creator.cc:264] ieout_poses = 1706 Failed to find match for field 'intensity'. Failed to find match for field 'timestamp'. E0715 22:08:35.769896 6436 velodyne_utility.cc:46] Un-organized-point-cloud E0715 22:08:35.781770 6436 lossless_map_creator.cc:275] Loaded 245443D Points at Trial: 0 Frame: 0. F0715 22:08:35.781791 6436 base_map_node_index.cc:101] Check failed: false *** Check failure stack trace: *** scripts/msf_create_lossless_map.sh: line 11: 6436 Aborted (core dumped) $APOLLO_BIN_PREFIX/modules/localization/msf/local_tool/map_creation/lossless_map_creator --use_plane_inliers_only true --pcd_folders $1 --pose_files $2 --map_folder $IN_FOLDER --zone_id $ZONE_ID --coordinate_type UTM --map_resolution_type single

2023-07-16 上传
根据您提供的信息，看起来您遇到了一些错误...4. 查看相关文档或论坛，了解其他用户是否遇到类似的问题，并尝试找到解决方案。 如果您需要更详细的帮助，建议您向Apollo开发团队或相关社区提问，以获取更专业的支持。

在ros项目中添加发送websocket wss消息的功能，修改如下代码并在CmakeLists.txt中添加依赖，实现将serialized_data发送到wss://autopilot-test.t3go.cn:443/api/v1/vehicle/push/message/LFB1FV696M2L43840。main.cpp：#include "ros/ros.h" #include "std_msgs/String.h" #include <boost/thread/locks.hpp> #include <boost/thread/shared_mutex.hpp> #include "third_party/apollo/proto/perception/perception_obstacle.pb.h" #include "t3_perception.pb.h" apollo::perception::PerceptionObstacles perception_obstacles_; void perceptionCallback(const std_msgs::String& msg) { ROS_WARN("t3 perceptionCallback parse"); if (perception_obstacles_.ParseFromString(msg.data)) { double timestamp = perception_obstacles_.header().timestamp_sec(); ROS_INFO("t3 perceptionCallback timestamp %f count:%d", timestamp, perception_obstacles_.perception_obstacle().size()); std::string data; perception_obstacles_.SerializeToString(&data); VehData veh_data; veh_data.set_messagetype(5); veh_data.set_messagedes("PerceptionObstacles"); veh_data.set_contents(data); std::string serialized_data; veh_data.SerializeToString(&serialized_data); } else { ROS_ERROR("t3 perceptionCallback parse fail!"); } } int main(int argc, char **argv) { ros::init(argc, argv, "listener"); ros::NodeHandle n; ros::Subscriber sub = n.subscribe("/perception_node/perception_objects", 1000, perceptionCallback); ros::spin(); return 0; }CMakeLists.txt：cmake_minimum_required(VERSION 3.0.2) project(t3) find_package(catkin REQUIRED COMPONENTS roscpp rospy pcl_ros std_msgs third_party ) find_package(Protobuf REQUIRED) include_directories(${Protobuf_INCLUDE_DIRS} ${CMAKE_CURRENT_BINARY_DIR}/..) find_package(Boost REQUIRED) include_directories(${Boost_INCLUDE_DIRS}) set(ixwebsocket_INCLUDE_DIR "/usr/local/include/ixwebsocket") set(ixwebsocket_LIBRARIES "/usr/local/lib/libixwebsocket.a") include_directories(${ixwebsocket_INCLUDE_DIR}) include_directories(${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_INCLUDE_DESTINATION}/${PROJECT_NAME}) include_directories(${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_INCLUDE_DESTINATION}/smartview) catkin_package(INCLUDE_DIRS ${PROJECT_INCLUDE_DIRS} DEPENDS ${GFLAGS_LIBRARIES} ) include_directories( ${catkin_INCLUDE_DIRS} ${PROTOBUF_INCLUDE_DIR} ${PROJECT_SOURCE_DIR}/.. ) add_executable(${PROJECT_NAME}_node src/main.cpp ) add_dependencies(${PROJECT_NAME}_node ${catkin_EXPORTED_TARGETS}) target_link_libraries(${PROJECT_NAME}_node ${catkin_LIBRARIES} ${PROTOBUF_LIBRARIES} smartview_proto ) install(TARGETS ${PROJECT_NAME}_node ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} )

2023-06-09 上传
#include "third_party/apollo/proto/perception/perception_obstacle.pb.h" #include "t3_perception.pb.h" #include <ixwebsocket/IXWebSocket.h> using namespace ix; apollo::perception::...

def main(args, rest_args): cfg = Config(path=args.cfg) model = cfg.model model.eval() if args.quant_config: quant_config = get_qat_config(args.quant_config) cfg.model.build_slim_model(quant_config['quant_config']) if args.model is not None: load_pretrained_model(model, args.model) arg_dict = {} if not hasattr(model.export, 'arg_dict') else model.export.arg_dict args = parse_model_args(arg_dict) kwargs = {key[2:]: getattr(args, key[2:]) for key in arg_dict} model.export(args.save_dir, name=args.save_name, **kwargs) if args.export_for_apollo: if not isinstance(model, BaseDetectionModel): logger.error('Model {} does not support Apollo yet!'.format( model.class.name)) else: generate_apollo_deploy_file(cfg, args.save_dir) if name == 'main': args, rest_args = parse_normal_args() main(args, rest_args)这段代码中哪几句代码是def main(args, rest_args): cfg = Config(path=args.cfg) model = cfg.model model.eval() if args.quant_config: quant_config = get_qat_config(args.quant_config) cfg.model.build_slim_model(quant_config['quant_config']) if args.model is not None: load_pretrained_model(model, args.model) arg_dict = {} if not hasattr(model.export, 'arg_dict') else model.export.arg_dict args = parse_model_args(arg_dict) kwargs = {key[2:]: getattr(args, key[2:]) for key in arg_dict} model.export(args.save_dir, name=args.save_name, **kwargs) if args.export_for_apollo: if not isinstance(model, BaseDetectionModel): logger.error('Model {} does not support Apollo yet!'.format( model.class.name)) else: generate_apollo_deploy_file(cfg, args.save_dir) if name == 'main': args, rest_args = parse_normal_args() main(args, rest_args)这段代码中哪几句代码是def main(args, rest_args): cfg = Config(path=args.cfg) model = cfg.model model.eval() if args.quant_config: quant_config = get_qat_config(args.quant_config) cfg.model.build_slim_model(quant_config['quant_config']) if args.model is not None: load_pretrained_model(model, args.model) arg_dict = {} if not hasattr(model.export, 'arg_dict') else model.export.arg_dict args = parse_model_args(arg_dict) kwargs = {key[2:]: getattr(args, key[2:]) for key in arg_dict} model.export(args.save_dir, name=args.save_name, **kwargs) if args.export_for_apollo: if not isinstance(model, BaseDetectionModel): logger.error('Model {} does not support Apollo yet!'.format( model.class.name)) else: generate_apollo_deploy_file(cfg, args.save_dir) if name == 'main': args, rest_args = parse_normal_args() main(args, rest_args)这段代码中哪几句是将训练时保存的动态图模型文件导出成推理引擎能够加载的静态图模型文件

2023-05-28 上传
这段代码中的以下几句是将训练时保存的动态图模型文件导出成推理引擎能够加载的静态图模型文件： ``` arg_dict = {} if not hasattr(model.export, 'arg_dict') else model.export.arg_dict args = parse_model_...

xmelab: *E,CUVMUR (/lsc/projects/apollo/users/jjiang1/verif/verif_apollo/verif_hardip/mppcie8l/src/project_benches/mppcie8l/tb/testbench/rtl_struct_define.sv,77|15): instance 'hdl_top.gfor_struct_eth_xgmii_cib_quad[0].i_gear_rx' of design unit 'eth_gmii_gear_rx_2x1' is unresolved in 'worklib.hdl_top:sv'.

2023-07-25 上传
这个错误消息表明在 Verilog 设计中，位于 'hdl_top.gfor_struct_eth_xgmii_cib_quad[0].i_gear_rx' 实例的 'eth_gmii_gear_rx_2x1' 设计单元在 'worklib.hdl_top:sv' 中未解析。 要解决这个问题，您可以尝试以下几...

/apollo/bazel-bin WARNING: Logging before InitGoogleLogging() is written to STDERR E0607 13:23:56.281872 47757 lossless_map_creator.cc:162] num_trials = 1 Pcd folders are as follows: /apollo/hdmap/air/pcd_apollo/ Resolution: 0.125 Dataset: /apollo/hdmap/air/pcd_apollo/ Dataset: /apollo/hdmap/air/pcd_apollo/ Dataset: /apollo/hdmap/air/pcd_apollo/ Loaded the map configuration from: /apollo/hdmap/air//lossless_map/config.xml. Saved the map configuration to: /apollo/hdmap/air//lossless_map/config.xml. Saved the map configuration to: /apollo/hdmap/air//lossless_map/config.xml. E0607 13:23:56.706698 47757 lossless_map_creator.cc:264] ieout_poses = 2186 Failed to find match for field 'intensity'. Failed to find match for field 'timestamp'. E0607 13:23:56.708952 47757 velodyne_utility.cc:46] Un-organized-point-cloud E0607 13:23:56.719892 47757 lossless_map_creator.cc:275] Loaded 144353D Points at Trial: 0 Frame: 0. F0607 13:23:56.719911 47757 base_map_node_index.cc:101] Check failed: false *** Check failure stack trace: *** scripts/msf_create_lossless_map.sh: line 11: 47757 Aborted (core dumped) $APOLLO_BIN_PREFIX/modules/localization/msf/local_tool/map_creation/lossless_map_creator --use_plane_inliers_only true --pcd_folders $1 --pose_files $2 --map_folder $IN_FOLDER --zone_id $ZONE_ID --coordinate_type UTM --map_resolution_type single

2023-06-08 上传
这段代码似乎是关于自动驾驶系统中的地图构建和定位相关的内容，其中使用了Velodyne激光雷达获取点云数据，并将其加载到地图中。但是在处理过程中出现了一些错误，如无法匹配点云数据中的“强度”和“时间戳”字段等...
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