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feat: add Apollo 11.0 bev+occ
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‎modules/perception/camera_detection_occupancy/BUILD‎

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load("//tools:apollo_package.bzl", "apollo_cc_binary", "apollo_cc_library", "apollo_cc_test", "apollo_component", "apollo_package")
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load("//tools:cpplint.bzl", "cpplint")
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load("@local_config_cuda//cuda:build_defs.bzl", "cuda_library")
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load("//tools/platform:build_defs.bzl", "if_profiler")
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package(default_visibility = ["//visibility:public"])
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PERCEPTION_COPTS = ['-DMODULE_NAME=\\"perception\\"']
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filegroup(
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name = "camera_detection_occupancy",
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srcs = glob([
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"conf/**",
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"dag/**",
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"data/**",
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]),
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)
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apollo_cc_library(
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name = "apollo_perception_camera_detection_occupancy",
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srcs = [
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"detector/bevformer/bevformer_obstacle_detector.cc",
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"detector/bevformer/preprocess.cc",
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"tracker/camera_tracker/camera_tracker.cc",
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"tracker/common/camera_track_manager.cc",
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"tracker/common/camera_track.cc",
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"tracker/filter/adaptive_kalman_filter.cc",
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"tracker/matcher/hm_matcher.cc",
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"interface/base_obstacle_detector.cc",
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"interface/base_matcher.cc",
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],
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hdrs = [
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"camera_frame.h",
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"detector/bevformer/bevformer_obstacle_detector.h",
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"detector/bevformer/preprocess.h",
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"tracker/camera_tracker/camera_tracker.h",
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"tracker/common/camera_track_manager.h",
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"tracker/common/camera_track.h",
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"tracker/filter/adaptive_kalman_filter.h",
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"tracker/matcher/hm_matcher.h",
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"interface/base_obstacle_detector.h",
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"interface/base_matcher.h",
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"interface/base_filter.h",
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"interface/base_tracker.h",
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"utils/utils.h",
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],
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copts = PERCEPTION_COPTS + if_profiler(),
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deps = [
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"//cyber",
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"//modules/common_msgs/sensor_msgs:sensor_image_cc_proto",
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"//modules/perception/camera_detection_occupancy/detector/bevformer/proto:model_param_cc_proto",
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"//modules/perception/camera_detection_occupancy/proto:matcher_config_proto",
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"//modules/perception/camera_detection_occupancy/proto:tracker_config_proto",
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"//modules/perception/camera_detection_occupancy/proto:camera_detection_occupancy_cc_proto",
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"//modules/perception/common:perception_common_util",
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"//modules/perception/common/base:apollo_perception_common_base",
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"//modules/perception/common/camera:apollo_perception_common_camera",
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"//modules/perception/lidar_detection:apollo_perception_lidar_detection",
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"//modules/perception/common/inference:apollo_perception_common_inference",
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"//modules/perception/common/lib:apollo_perception_common_lib",
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"//modules/perception/common/onboard:apollo_perception_common_onboard",
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"//modules/perception/common/proto:model_info_cc_proto",
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"//modules/perception/common/proto:model_process_cc_proto",
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"@com_google_protobuf//:protobuf",
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"@com_github_jbeder_yaml_cpp//:yaml-cpp",
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"@eigen",
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"@opencv//:imgproc",
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],
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)
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apollo_cc_library(
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name = "camera_detection_occupancy_component",
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srcs = [
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"camera_detection_occupancy_component.cc",
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],
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hdrs = [
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"camera_detection_occupancy_component.h",
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],
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copts = PERCEPTION_COPTS + if_profiler(),
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deps = [
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":apollo_perception_camera_detection_occupancy",
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"//cyber",
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"//modules/common_msgs/sensor_msgs:sensor_image_cc_proto",
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"//modules/perception/camera_detection_occupancy/proto:matcher_config_proto",
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"//modules/perception/camera_detection_occupancy/proto:tracker_config_proto",
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"//modules/perception/camera_detection_occupancy/proto:camera_detection_occupancy_cc_proto",
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"//modules/perception/lidar_detection:apollo_perception_lidar_detection",
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"//modules/perception/common:perception_common_util",
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"//modules/perception/common/base:apollo_perception_common_base",
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"//modules/perception/common/camera:apollo_perception_common_camera",
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"//modules/perception/common/onboard:apollo_perception_common_onboard",
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"@com_github_jbeder_yaml_cpp//:yaml-cpp",
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],
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)
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apollo_package()
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cpplint()

‎modules/perception/camera_detection_occupancy/README.md‎

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# Apollo BEV+OCC 检测模块
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## 系统要求
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### 推荐环境
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- **建议使用 Apollo 11.0 包管理模式**
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**重要提示**：为获得最佳性能和兼容性，建议用户通过 Apollo 11.0 的包管理系统安装和使用 BEV+OCC 功能，而不是自行编译源码。
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## 文档与支持
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### 关键链接
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- [Apollo 11.0 包管理安装教程](https://apollo.baidu.com/community/Apollo-Homepage-Document?doc=BYFxAcGcC4HpYIbgPYBtXIHQCMEEsATAV0wGNkBbWA5UyRFdZWVBEAU0hFgoIH0adPgCY%2BADwCiAVnEBBCeIAcATnETFcgMxKZkgGxKAwkoDsa3YoAi45WdGSLxsYt0SzY%2BXICMa98oAMSgYALF7%2B2NhemsLBJsrCYZqKwors7AikBIp6miYmpFJSXpigFKhAA)
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- [Apollo 11.0视觉检测与占据栅格模型介绍及教程](https://apollo.baidu.com/community/Apollo-Homepage-Document?doc=BYFxAcGcC4HpYIbgPYBtXIHQCMEEsATAV0wGNkBbWA5UyRFdZWVBEAU0hFgoIH0adPgCY%2BADwCiAVnEAhAILiAnABZxEgOzK1Y%2BQA51M3ROUnJBsbK2WZoyUdkBhcXoAMhlwDFlARnUXZdzE9AGY%2BKVIEADM9KRD2AgA2KJCpPQI9RKVhPR9sFWFhEMSsjQ0fTFAKVCA)
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### 模型文件
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- **BEV+OCC 模型下载**：[apollo_bevnet.onnx](https://apollo-perception.bj.bcebos.com/v1/park_model/apollo_bevnet.onnx?authorization=bce-auth-v1%2F58ab9c524850484da494659d339218ee%2F2026-02-27T10%3A03%3A44Z%2F-1%2Fhost%2F472626abb13a136f1f96e04442123fddac9d1464e07360feeb933779be866dae)
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**模型存放路径**：请将下载的 `apollo_bevnet.onnx` 文件放置在 `modules/perception/data/models/apollo_bevnet_onnx` 目录中。
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---
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# Apollo BEV+OCC Detection Module
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## System Requirements
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### Recommended Environment
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- **Recommended to use Apollo 11.0 Package Management**
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**Important Note**: For optimal performance and compatibility, it is recommended to install and use BEV+OCC functionality through Apollo 11.0's package management system rather than compiling from source.
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## Documentation & Support
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### Key Links
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- [Apollo 11.0 Package Management Installation Tutorial](https://apollo.baidu.com/community/Apollo-Homepage-Document?doc=BYFxAcGcC4HpYIbgPYBtXIHQCMEEsATAV0wGNkBbWA5UyRFdZWVBEAU0hFgoIH0adPgCY%2BADwCiAVnEBBCeIAcATnETFcgMxKZkgGxKAwkoDsa3YoAi45WdGSLxsYt0SzY%2BXICMa98oAMSgYALF7%2B2NhemsLBJsrCYZqKwors7AikBIp6miYmpFJSXpigFKhAA)
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- [Apollo 11.0 Visual Detection and Occupancy Grid Model Introduction & Tutorial](https://apollo.baidu.com/community/Apollo-Homepage-Document?doc=BYFxAcGcC4HpYIbgPYBtXIHQCMEEsATAV0wGNkBbWA5UyRFdZWVBEAU0hFgoIH0adPgCY%2BADwCiAVnEAhAILiAnABZxEgOzK1Y%2BQA51M3ROUnJBsbK2WZoyUdkBhcXoAMhlwDFlARnUXZdzE9AGY%2BKVIEADM9KRD2AgA2KJCpPQI9RKVhPR9sFWFhEMSsjQ0fTFAKVCA)
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### Model Files
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- **BEV+OCC Model Download**: [apollo_bevnet.onnx](https://apollo-perception.bj.bcebos.com/v1/park_model/apollo_bevnet.onnx?authorization=bce-auth-v1%2F58ab9c524850484da494659d339218ee%2F2026-02-27T10%3A03%3A44Z%2F-1%2Fhost%2F472626abb13a136f1f96e04442123fddac9d1464e07360feeb933779be866dae)
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**Model Storage Path**: Please place the downloaded `apollo_bevnet.onnx` file in the `modules/perception/data/models/apollo_bevnet_onnx` directory.

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