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Posted Dec 6, 2022 Updated Feb 6, 2023
By printeger
6 min read

A

APOLLO

play .record

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cyber_recorder play -f sensor_rgb.record -loop 
cyber_visualizer  ### channle 监控
cyber_monitor -c ChannelName

sdk/repo download

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cd omnisense && ./tools/build.bash init all

启动数据集

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	source /apollo/cyber/setup.bash 
	1 改launch/conf/driver_01_debug.pb.txt    --------------------data route
	2 改launch/dag/driver_single_debug.dag   -------------------config_file_path
	3 改launch/intergration_single_lidar_debug.launch  ------------master    .dag_path
	4 cyber_launch start modules/omnisense/launch/integration_single_lidar_debug.launch
	5 http://viewer.innovusion.info/v60/?url=127.0.0.1&port=8003/stream&autoplay=1.0

点云录制

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	1. get_pcd/01.get_pcd.pb.txt   ----------channel1: dynamic_points  ----- channel2: static_points     channel3: -----enable_channel1_get_pcd:true
	2. .dag修改路径 ### orders

root@in-dev-docker:/apollo# ./apollo.sh build_opt omnisense cyber

root@in-dev-docker:/apollo/modules/omnisense# git branch

  • master

    root@in-dev-docker:/apollo/modules/omnisense# git checkout dev Branch ‘dev’ set up to track remote branch ‘dev’ from ‘origin’. Switched to a new branch ‘dev’ root@in-dev-docker:/apollo/modules/omnisense# cd - /apollo

    root@in-dev-docker:/apollo# ./modules/omnisense/tools/build.bash build all

    xng@xng:~/CODE/OmniSense2.0/apollo$ ./docker/scripts/dev_into.sh

B

C

CUDA

pytorch 对应 cuda版本

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import torch
print(torch.version.cuda)

CUDA

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export PATH=/usr/local/cuda/bin:$PATH
export LD_LIBRARY_PATH=/usr/local/cuda/lib64:$LD_LIBRARY_PATH

cudnn .tar install

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sudo cp cudnn-*-archive/include/cudnn*.h /usr/local/cuda/include 
sudo cp -P cudnn-*-archive/lib/libcudnn* /usr/local/cuda/lib64 
sudo chmod a+r /usr/local/cuda/include/cudnn*.h /usr/local/cuda/lib64/libcudnn* # D ## Docker ### docker 可视化

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// RVIZ cannot display
docker run --add-host=demo:172.16.115.75 -it --name osrf_melodic_full --net host --add-host $(hostname):127.0.0.1 --gpus all -v /tmp/.x11-unix:/tmp/.x11-unix -e DISPLAY=unix$DISPLAY -e GDK_SCALE -e GDK_DPI_SCALE -v /home/xng/CODE/osrf_melodic_full/:/home osrf/ros:melodic-desktop-full /bin/bash

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docker run –name ContainerName –gpus all –network host –env=DISPLAY –env=NVIDIA_DRIVER_CAPABILITIES=all -env=NVIDIA-VISIBLE_DEVICES=all –env=QT_X11_NO_MITSHM=1 -v /tmp/.X11-unix:/tmp/.X11-unix:rw –runtime=nvidia –privileged -it DockerImage

Cannot access GPU from within container. Please install latest Docker and NVIDIA Container Toolkit as described by:

  • https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/install-guide.html#docker

报错Failed to connect. Is Docker running

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Error: connect EACCES /var/run/docker.sock
sudo groupadd docker          #添加docker用户组
sudo gpasswd -a $USER docker  #将当前用户添加至docker用户组
newgrp docker                 #更新docker用户组
在终端打开vsode
code

docker container 查看/启动/进入

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 	docker container ls --all 
	docker start apollo_dev_root
	docker ps 
	sudo docker exec -it ae76016acd18 /bin/bash

	source /apollo/cyber/setup.bash

docker group

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sudo groupadd docker
sudo usermod -aG docker $USER
newgrp docker

docker images / container

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docker pull
docker run -it {name}:
docker exec -it {ID} /bin/bash

docker 拷贝本地文件到容器/容器到本地文件

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docker cp 你的文件路径 容器长ID/name:docker容器路径 # E ## ERROR

EVO

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evo_ape tum 0_odom 5_imu_pose_after_trans.txt -va -r full -p --plot_mode xy`

evo_traj kitti KITTI_00_ORB.txt KITTI_00_SPTAM.txt --ref=KITTI_00_gt.txt -p --plot_mode=xz

evo_rpe tum 0_odom 5_imu_pose_after_trans.txt -r full -p --plot_mode xy

F

G

GDB

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gdb -q --args /apollo/bazel-bin/cyber/mainboard/mainboard -d /apollo/modules/omnisense/pose_monitor/dag/inno_pose_monitor.dag

./bazel-bin/modules/omnisense/gps_info_capture/ins_posetrans_test

GIT

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git init
touch Readme_new
git  add .
git  commit -m '提交的备注信息'
git  push -u origin dev
git remote add origin https://github.com/你的github用户名/你的github仓库.git  
git push origin master
git pull origin master
更新远程分支列表
git remote update origin --prune

查看所有分支
git branch -a

删除远程分支Chapater6
git push origin --delete Chapater6

删除本地分支 Chapater6
git branch -d  Chapater6
    
    //at your own branch
    git add <change>
    git commit -m "***"
    // checkout to destieny branch
    git checkout autonoumous_driving
    git pull
    // back to own branch
    git checkout ad_posemonitor
    git merge autonoumous_driving
    // fix conflict in vscode
    git commit -m "***"
    git push


    .gitignore文件不起作用的解决方法
    # 0. 进入项目路径
    # 1. 清除本地当前的Git缓存
    git rm -r --cached .
    # 2. 应用.gitignore等本地配置文件重新建立Git索引
    git add .
    # 3. （可选）提交当前Git版本并备注说明
    git commit -m 'update .gitignore'

从bitbucket下载：

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ssh-add ~/key
git clone -b dev git@bitbucket.org:ivusw/omnisense.git
git pull" 来更新您的本地分支
git reset HEAD <文件>..." 以取消暂存
git stash  暂存
git pull   将远程存储库中的更改合并到当前分支中。 ---------- # H

I

INNOVUSION

falcon-ros:

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//改ipv4:10.42.0.91
http://10.42.0.91:8675/config.pyhtml
//驱动版本是否匹配？/关网页点云
//不匹配：
~/falcon-lidar-sdk/build$ ./download-sdk-release.py ros-melodic-innovusion-driver-release-2.5.0-rc260-public.deb
sudo dpkg -l | grep inno
sudo dpkg -r ros-melodic-innovusion-driver-public //卸载旧驱动
sudo dpkg -i  ros-melodic-innovusion-driver-release-2.5.0-rc260-public.deb
roslaunch innovusion_pointcloud innovusion_points.launch device_ip:=10.42.0.91

rosbag record /ivpoints   -o /home/xng/data/name.bag
//bag2pcd
rosrun pcl_ros bag_to_pcd <input_file.bag> <topic> <output_directory> # J

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P

python

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        # os.path.dirname (file)返回的是.py文件的目录
        # os.path.abspath (file)返回的是.py文件的绝对路径
        os.path.dirname(os.path.abspath(__file__))
        import os

        print('***获取当前目录***')
        print("当前目录是:{}".format(os.getcwd()))
        print("当前目录是:{}".format(os.path.abspath(os.path.dirname(__file__))))
        print('***获取上级目录***')
        print("上级目录是:{}".format(os.path.abspath(os.path.dirname(os.path.dirname(__file__)))))
        print("上级目录是:{}".format(os.path.abspath(os.path.dirname(os.getcwd()))))
        print("上级目录是:{}".format(os.path.abspath(os.path.join(os.getcwd(), ".."))))
        print('***获取上上级目录***')
        print("上上级目录是:{}".format(os.path.abspath(os.path.join(os.getcwd(), "../.."))))
        //拼接文件路径
        sys.path.append()

Q

R

ROS

fixed frame trans

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rosrun tf static_transform_publisher 0.0 0.0 0.0 0.0 0.0.0 base_link innovusion 100

Rosbag to pcd/txt:

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rosrun pcl_ros bag_to_pcd <input_file.bag> <topic> <output_directory>

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rosbag play XXX.bag
rosrun pcl_ros pointcloud_to_pcd input:=/velodyne_points
  • rosbag topic to txt:
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rostopic echo -b filename.bag -p /topic > txtname.txt

查看frame_id

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rostopic echo /topic | grep frame_id -------------- # S

T

torch

  • numpy2torch / torch2numpy
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tor_datas = torch.from_numpy(data)
tor2numpy=tor_arr.numpy(

U

V

W

X

Y

Z

Lookup
Dict
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