# Apollo-Note

**Repository Path**: rgbitx/apollo-note

## Basic Information

- **Project Name**: Apollo-Note
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2021-02-19
- **Last Updated**: 2021-02-19

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# Apollo 3.0阅读笔记

本文档主要介绍Apollo 3.0软件平台，其中各个模块结构与功能的纤细介绍。文档的目录结构为：

- [Apollo 3.0 软件结构简介](https://github.com/YannZyl/Apollo-Note/blob/master/docs/apollo_software_arch.md)
	- [软件结构图](https://github.com/YannZyl/Apollo-Note/blob/master/docs/apollo_software_arch.md/#软件结构图)
	- [感知模块: Perception](https://github.com/YannZyl/Apollo-Note/blob/master/docs/apollo_software_arch.md/#感知模块)
	- [预测模块: Prediction](https://github.com/YannZyl/Apollo-Note/blob/master/docs/apollo_software_arch.md/#预测模块)
	- [路由模块: Routing](https://github.com/YannZyl/Apollo-Note/blob/master/docs/apollo_software_arch.md/#路由模块)
	- [规划模块: Planning](https://github.com/YannZyl/Apollo-Note/blob/master/docs/apollo_software_arch.md/#规划模块)
	- [控制模块: Control](https://github.com/YannZyl/Apollo-Note/blob/master/docs/apollo_software_arch.md/#控制模块)
	- [控制区域网络模块: CanBus](https://github.com/YannZyl/Apollo-Note/blob/master/docs/apollo_software_arch.md/#控制区域网络模块)
	- [高精地图模块: HD-Map](https://github.com/YannZyl/Apollo-Note/blob/master/docs/apollo_software_arch.md/#高精地图模块)
	- [定位模块: Localization](https://github.com/YannZyl/Apollo-Note/blob/master/docs/apollo_software_arch.md/#定位模块)
- [感知模块笔记](https://github.com/YannZyl/Apollo-Note/blob/master/docs/perception/perception_arch.md)
	- [代码层次结构](https://github.com/YannZyl/Apollo-Note/blob/master/docs/perception/perception_software_arch.md)
		- [(子过程)Topic注册管理器初始化](https://github.com/YannZyl/Apollo-Note/blob/master/docs/perception/perception_software_arch.md/#注册管理器初始化)
		- [(子过程)ShareData共享数据类初始化](https://github.com/YannZyl/Apollo-Note/blob/master/docs/perception/perception_software_arch.md/#共享数据类初始化)
		- [(子过程)SubNode子节点类初始化](https://github.com/YannZyl/Apollo-Note/blob/master/docs/perception/perception_software_arch.md/#子节点类初始化)
		- [(子过程)DAG有向图初始化](https://github.com/YannZyl/Apollo-Note/blob/master/docs/perception/perception_software_arch.md/#有向图初始化)
		- [(子过程)DAG整体运行实现感知](https://github.com/YannZyl/Apollo-Note/blob/master/docs/perception/perception_software_arch.md/#DAG运行)
		- [(补充)消息发布与订阅](https://github.com/YannZyl/Apollo-Note/blob/master/docs/perception/perception_software_arch.md/#消息发布与接收)
	- [激光雷达障碍物感知: LiDAR Obstacle Perception](https://github.com/YannZyl/Apollo-Note/blob/master/docs/perception/obstacles_lidar_arch.md)
		- [(子过程)高精地图ROI过滤器](https://github.com/YannZyl/Apollo-Note/blob/master/docs/perception/obstacles_lidar_1_hdmap.md)
		- [(子过程)基于卷积神经网络分割](https://github.com/YannZyl/Apollo-Note/blob/master/docs/perception/obstacles_lidar_2_cnn.md)
		- [(子过程)MinBox障碍物边框构建](https://github.com/YannZyl/Apollo-Note/blob/master/docs/perception/obstacles_lidar_3_minibox.md)
		- [(子过程)HM对象跟踪](https://github.com/YannZyl/Apollo-Note/blob/master/docs/perception/obstacles_lidar_4_hmtrack.md)
		- [(子过程)跟踪信息融合](https://github.com/YannZyl/Apollo-Note/blob/master/docs/perception/obstacles_lidar_5_fusion.md)
	- [雷达障碍物感知: Radar Obstacle Perception](https://github.com/YannZyl/Apollo-Note/blob/master/docs/perception/obstacles_radar_arch.md)
	- [障碍物结果融合: Result Fusion](https://github.com/YannZyl/Apollo-Note/blob/master/docs/perception/obstacles_fusion_arch.md)
	- [信号灯预处理: Traffic Light Preprocess](https://github.com/YannZyl/Apollo-Note/blob/master/docs/perception/traffic_lights_preprocess.md)
	- [信号灯处理: Traffic Light Process](https://github.com/YannZyl/Apollo-Note/blob/master/docs/perception/traffic_lights_process.md)
	- CameraProcessSubnode(将逐步更新)
	- CIPVSubnode(将逐步更新)
	- LanePostProcessingSubnode(将逐步更新)
	- UltrasonicObstacleSubnode(将逐步更新)
	- AsyncFusionSubnode(将逐步更新)
	- VisualizationSubnode(将逐步更新)
- [预测模块笔记](https://github.com/YannZyl/Apollo-Note/blob/master/docs/prediction/prediction_arch.md)
	- [(候选车道生成)ContainerManager管理器](https://github.com/YannZyl/Apollo-Note/blob/master/docs/prediction/container_manager.md)
	- [(车道概率评估)EvaluatorManager管理器](https://github.com/YannZyl/Apollo-Note/blob/master/docs/prediction/evaluator_manager.md)
	- [(预测轨迹拟合)PredictorManager管理器](https://github.com/YannZyl/Apollo-Note/blob/master/docs/prediction/predictor_manager.md)
- [规划模块笔记](https://github.com/YannZyl/Apollo-Note/blob/master/docs/planning/planning_arch.md)
	- [(组件)车辆状态提供器: VehicleStateProvider](https://github.com/YannZyl/Apollo-Note/blob/master/docs/planning/vehicle_state_provider.md)
	- [(组件)规划与控制地图: Pnc Map](https://github.com/YannZyl/Apollo-Note/blob/master/docs/planning/pnc_map.md)
	- [(组件)指引线提供器: ReferenceLineProvider](https://github.com/YannZyl/Apollo-Note/blob/master/docs/planning/reference_line_provider.md)
	- [(组件)障碍物&参考线&交通规则融合器：Frame类](https://github.com/YannZyl/Apollo-Note/blob/master/docs/planning/frame.md)
	- [(组件)EM规划器：EMPlanner](https://github.com/YannZyl/Apollo-Note/blob/master/docs/planning/em_planner.md)
	- [(总流程)无人车轨迹规划机制](https://github.com/YannZyl/Apollo-Note/blob/master/docs/planning/planning_progress.md)

References：

- [感知模块：相机标定 Camera Calibration](https://blog.csdn.net/honyniu/article/details/51004397)
- [感知模块：ROS tf坐标系介绍](http://wiki.ros.org/tf/Tutorials#Learning_tf)
- [感知模块：ROS tf坐标系转换Example](http://wiki.ros.org/navigation/Tutorials/RobotSetup/TF)
- [感知模块：ROS&&PCL PointCloud点云介绍](http://wiki.ros.org/pcl/Overview)
- [感知模块：扫描线算法](https://www.jianshu.com/p/d9be99077c2b)
- [感知模块：并查集算法](https://www.cnblogs.com/shadowwalker9/p/5999029.html)
- [感知模块：二分图匹配-匈牙利算法](https://en.wikipedia.org/wiki/Hungarian_algorithm)
- [感知模块：维特比Viterbi算法](https://zh.wikipedia.org/wiki/%E7%BB%B4%E7%89%B9%E6%AF%94%E7%AE%97%E6%B3%95)