How to test DNN in Perception module

[1Jyfc]

Hi! I'm going to do something on Perception module in Dreamview with LGSVL. I'd like to test DNN models of camera and LiDAR, but I failed to find any doc about how to change map in detail to confuse camera. Besides, there're some problems on launching perception submodules.

System information

• OS Platform and Distribution (e.g., Linux Ubuntu 18.04): 18.04
• Apollo installed from (source or binary): source
• Apollo version (3.5, 5.0, 5.5, 6.0): 6.0
• Output of apollo.sh config if on master branch:

Steps to reproduce the issue:

I try to work on DNNs in Perception module in Dreamview with LGSVL. Maybe modifying the input in detail is a good way, but I failed to find any doc. I think I need some help on how to change the surroundings (like slightly change the road sign) and get the dynamic output of DNNs. Is there any suggestion? Thanks a lot. And sorry to bother you if there exist some docs that I missed.

Besides, in how_to_run_perception_module_on_your_local_computer.md, when I run: cyber_launch start /apollo/modules/perception/production/launch/perception_camera.launch

Things will fail and go like this:

However, it is OK when: cyber_launch start /apollo/modules/perception/production/launch/perception_all.launch

Is there any solution? Thanks a lot.

[jeroldchen]

Camera perception is in process of refactoring and not ready in Apollo 6.0 . You can try using our former versions. Thank you for your interest in Apollo.

[1Jyfc]

Camera perception is in process of refactoring and not ready in Apollo 6.0 . You can try using our former versions. Thank you for your interest in Apollo.

Thanks for reply. I tried Apollo 5.5, with the same problem happened. Moreover, before v5.5 LGSVL cannot be used. Since I can't launch camera module only, is there any possibility that I run the whole perception module and test the DNNs? thx