apollo自动驾驶-感知-雷达目标跟踪：lidar-tracking-注释版

# perception-common ## Introduction `perception-common` is a library that other modules in perception depend on. It mainly includes public algorithm libraries, maps, inference and interface definitions. ## Directory Structure ``` common ├── BUILD ├── README.md ├── algorithm // algorithm library ├── base // common data structure ├── camera // camera data structure ├── cyberfile.xml ├── hdmap // hdmap wrapper ├── inference // model inference and acceleration ├── interface ├── lib ├── lidar // lidar data structure ├── onboard ├── perception_gflags.cc ├── perception_gflags.h ├── proto ├── radar // radar data structure ├── util.cc └── util.h ``` ## Global gflag configuration Global configuration is defined in the gflag file, including`modules/perception/common/perception_gflags.h`。 | parameter name | default value | meaning | | ---------------------------- | --------------------------------------------------------------------------------------------------------------------- | ------------------------------------ | | obs_sensor_intrinsic_path | /apollo/modules/perception/data/params | Sensor internal parameter path | | obs_sensor_meta_file | sensor_meta.pb.txt | Sensor meta file name | | enable_base_object_pool | enable_base_object_pool | Enable object pool | | config_manager_path | ./ | Configuration manager path | | work_root | /apollo/modules/perception | Work list | | lidar_sensor_name | velodyne128 | lidar sensor name | | use_trt | false | Whether to use tensorrt| | trt_precision | 1 | Precision of tensorrt, 0: 32float, 1: kInt8， 2: kHalf| | trt_use_static | true | Whether to load tensorrt graph optimization from disk path | | use_calibration | true | Whether to use a correction table | | use_dynamicshape | true | Whether to use dynamic shapes | | collect_shape_info | true | Whether to collect dynamic shape information | | dynamic_shape_file | /apollo/modules/perception/lidar_detection/data/center_point_paddle/pillar_20_0625/collect_shape_info_3lidar_20.pbtxt | Dynamic file path | | object_template_file | object_template.pb.txt | Object template configuration file | | hdmap_sample_step | 5 | High-precision map sampling rate | ### Modify configuration The global configuration is modified in `/apollo/modules/perception/data/flag/perception_common.flag`. For example, if we want to modify the value of `obs_enable_hdmap_input` to false, we can add it to the file: ```bash --obs_enable_hdmap_input=false