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The perception module requires Nvidia GPU and CUDA installed to run the perception algorithms with Caffe. We have already installed the CUDA and Caffe libraries in the released docker. However, the Nvidia GPU driver is not installed in the released dev docker image. To run the perception module with CUDA acceleration, we suggest to install the exactly same version of Nvidia driver in the docker as the one installed in your host machine, and build Apollo with GPU option.
We provide a step-by-step instruction on running perception module with Nvidia GPU as below:
Get into the docker container via:
$APOLLO_HOME/docker/scripts/dev_start.sh
$APOLLO_HOME/docker/scripts/dev_into.sh
Build Apollo
./apollo.sh build_opt_gpu
Run bootstrap.sh
bootstrap.sh
Launch Dreamview from your web browser by typing following address http://localhost:8888/
Select your car and map using the dropdowm options in the top right corner in Dreamview
Select the transform button in Dreamview or type the following command in your terminal
cyber_launch start /apollo/modules/transform/launch/static_transform.launch
If the image is compressed, launch the image decompression module
cyber_launch start modules/drivers/tools/image_decompress/launch/image_decompress.launch
Launch the perception modules
cyber_launch start /apollo/modules/perception/production/launch/perception_all.launch
cyber_launch start /apollo/modules/perception/production/launch/perception_camera.launch
If you want to visualize camera-based results overlaid on the captured image and in bird view, mark enable_visualization: true
in ‘modules/perception/production/conf/perception/camera/fusion_camera_detection_component.pb.txt
befor executing the above command. It will pop up when you play recorded data in point 9
Also, If you want to enable CIPO, add ‘enable_cipv: true’ as a new line in the same file
mainboard -d ./modules/perception/production/dag/dag_streaming_perception_lane.dag
If you want to visualize lane results overlaid on the captured image and in bird view, mark enable_visualization: true
in modules/perception/production/conf/perception/camera/lane_detection_component.config
before executing the above command. It will pop up when you play recorded data in point 9
cyber_launch start /apollo/modules/perception/production/launch/perception_trafficlight.launch
If you want to visualize the traffic light detection results overlaid on the captured image, mark —start_visualizer=true
in apollo/modules/perception/production/conf/perception/perception_common.flag
before executing the above command. It will pop up when you play recorded data in point 9
Play your recorded bag
cyber_recorder play -f /apollo/data/bag/anybag -r 0.2
Please note that the Nvidia driver should be installed appropriately even if the perception module is running in Caffe CPU_ONLY mode (i.e., using ./apollo.sh build
or ./apollo.sh build_opt
to build the perception module). Please see the detailed instruction of perception module in the perception README.
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