使用离线数据测试apollo7.0_cyber_launch lidar

https://zhuanlan.zhihu.com/p/510712104

cd /apollo/

视觉测试：

1.启动dreamview,并选择车辆和地图

 ./scripts/bootstrap.sh 
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2.启动transform模块

 cyber_launch start /apollo/modules/transform/launch/static_transform.launch
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3.启动图像压缩模块

 cyber_launch start modules/drivers/tools/image_decompress/launch/image_decompress.launch
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4.启动障碍物检测模块

 修改配置文件第10行和11行的内容
    vim modules/perception/production/conf/perception/camera/fusion_camera_detection_component.pb.txt
    为：
    output_final_obstacles : true
    output_obstacles_channel_name : "/apollo/perception/obstacles"
   启动模块
    mainboard -d modules/perception/production/dag/dag_streaming_perception_camera.dag
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5.查看

5.1 查看日志

tail -f /apollo/data/log/mainboard.INFO
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5.2 显存不再变化

watch -n 0.1 nvidia-smi
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可以看一下之前显存是怎么变化的
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6.播放离线数据,开始检测

cyber_recorder play -f /apollo/data/bag/demo_sensor_data_for_vision.record  --loop
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激光测试：

激光雷达要参照感知测试文档：

1.启动dreamview,并选择车辆和地图

 ./scripts/bootstrap.sh 
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2.启动transform模块

 cyber_launch start /apollo/modules/transform/launch/static_transform.launch
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3.启动障碍物检测模块

3.1在global_flagfile.txt 中加入：

--pointcloud_topic=/apollo/sensor/velodyne64/compensator/PointCloud2
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3.2 将/apollo/modules/common/data/global_flagfile.txt中增加数据包中 pointcloud_topic 数据：

--pointcloud_topic=/apollo/sensor/velodyne64/compensator/PointCloud2 :

         #--pointcloud_topic=/apollo/sensor/velodyne64/compensator/PointCloud2
   	 config_file_path: "/apollo/modules/perception/production/conf/perception/lidar/velodyne64_detection_conf.pb.txt"
         flag_file_path: "/apollo/modules/perception/production/conf/perception/perception_common.flag"
         readers {
        	channel: "/apollo/sensor/velodyne64/compensator/PointCloud2"
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3.3启动模块

mainboard -d /apollo/modules/perception/production/dag/dag_streaming_perception_lidar.dag
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3.4 或启动launch 文件

cyber_launch start /apollo/modules/perception/production/launch/perception_lidar.launch
停止该节点是时候：cyber_launch stop /apollo/modules/perception/production/launch/perception_lidar.launch
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4.查看

4.1 查看日志

tail -f /apollo/data/log/mainboard.INFO
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4.2 显存不再变化

watch -n 0.1 nvidia-sm

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5.播放离线数据,开始检测

cyber_recorder play -f /apollo/data/bag/demo_sensor_data_for_vision.record --loop
或者：

cyber_recorder play -f /apollo/data/bag/sensor_rgb.record -k /perception/vehicle/obstacles /apollo/perception/obstacles /apollo/perception/traffic_light /apollo/prediction

6.重现演示要先关闭节点

cyber_launch stop

7 日志查看：

/apollo/data/log/mainboard.log.INFO.时间

8 测试结果，报错误了。

RuntimeError: CUDA out of memory. Tried to allocate 108.00 MiB (GPU 0; 7.93 GiB total capacity; 1.90 GiB already allocated; 66.56 MiB free; 1.95 GiB reserved in total by PyTorch)

[perception_lidar]

看一下节点订阅关系，看一下GPU的占有率.
重启之后，GPU没有报问题。
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