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Feature Issue template #2

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18 tasks done
johnzjq opened this issue Mar 21, 2023 · 0 comments
Open
18 tasks done

Feature Issue template #2

johnzjq opened this issue Mar 21, 2023 · 0 comments
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good first issue Good for newcomers
Milestone
Warmup

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@johnzjq
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johnzjq commented Mar 21, 2023 •
edited by Kururinnpa
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Function of this feature

使用40线激光雷达与16线激光雷达获取一帧点云，完成该帧点云中行人、自行车、机动车的检测。Belonging to Epic: carla-simulator#34

Tasks1 点云拼接

  • 解析40线激光雷达发送过来的数据包
  • 解析16线激光雷达发送过来的数据包
  • 将40线激光雷达的多个数据包拼接为一帧完整的点云
  • 将16线激光雷达的多个数据包拼接为一帧完整的点云
  • 完成对40线激光雷达的标定与校准
  • 完成对16线激光雷达的标定与校准
  • 完成帧点云数据的发送

Unit Tests

  • 输入为40/16激光雷达发送的package，返回package的点云数据和其他所需数据
  • 输入为null，不返回任何数据
  • 输入为多个package解析的点云数据，返回一帧完整的点云
  • 输入为一帧40线激光雷达点云，发送点云数据，其他模块可以正确接收
  • 连续输入40线激光雷达点云，可以持续发送点云数据，不会丢包

Tasks2 物体检测

  • 完成帧点云数据的接收
  • 检测点云数据中的物体

Unit Tests

  • 可以接收点云拼接模块返回的点云帧
  • 测试激光雷达点云在现有模型上的效果，输入为一帧激光雷达点云，返回点云中检测到物体的类别、中心点、长宽高列表。
  • 输入为null，物体检测模块输出error，不返回任何结果
  • 输入裁剪点云，物体检测模块返回剩余点云中检测到物体的类别、中心点、长宽高列表
@johnzjq johnzjq added the good first issue Good for newcomers label Mar 21, 2023
@johnzjq johnzjq mentioned this issue Mar 21, 2023
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9 tasks
@johnzjq johnzjq modified the milestones: 完成Issue撰写, Warmup Apr 4, 2023
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