perception-tools

Introduction

perception-tools provides debug tools for perception modules.

Directory Structure

tools
├── BUILD
├── README.md
├── common
├── cyberfile.xml
├── exporter         // message decompression tool
├── offline
└── offline_camera_detection  // camera offline detection tool

exporter

exporter is used to subscribe and save lidar/camera messages.

shell

cd /apollo

# run
/apollo/bazel-bin/modules/perception/tools/exporter/msg_exporter modules/perception/tools/exporter/export_msg.config

Messages are saved in a folder named by the corresponding channel.

Parameters

Write the channel names to be subscribed to in the export_msg.config file. Line breaks are required between multiple channels.

Offline_camera_detection

offline_camera_detection is used to test camera image detection. Its input is an image and its output are detected 2D bounding boxes.

shell

cd modules/perception/tools/offline_camera_detection

# run
bash offline_camera_detection.sh --config_file=yolo.pb.txt --detector_name=YoloObstacleDetector

The detection results are saved in the data/output directory

Parameters

The supported parameters are as follows.

Parameter type	Parameter name	Default value	Description
int32	height	1080	image height
int32	width	1920	image width
int32	gpu_id	0	gpu id
string	dest_dir	data/output	output dir
string	dist_type	""	dist pred type: H-on-h, H-from-h
string	kitti_dir	""	pre-detected obstacles (skip Detect)
string	root_dir	/apollo/modules/perception/tools/offline_camera_detection/	image root dir
string	image_ext	.jpg	extension of image name
string	config_path	perception/camera_detection_multi_stage/data	config path
string	config_file	yolox3d.pb.txt	config file
string	camera_name	front_6mm	camera name
string	detector_name	Yolox3DObstacleDetector	detector name