/dvs/git/dirty/gitlab-master_av/dw/sdk/tools/replayer/README-replayer.md

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# Copyright (c) 2019-2020, NVIDIA CORPORATION.  All rights reserved.

@page dwx_replayer_tool Replayer Tool
@tableofcontents

@section dwx_replayer_tool_description Description

The Replayer tool replays sensor data captured with the @ref dwx_recording_tools, and visualizes all recorded data in the rig configuration file. The visualization settings for each individual sensor is specified in the command line.

@note SW Release Applicability: This tool is available in both <b>NVIDIA DriveWorks</b> and <b>NVIDIA DRIVE Software</b> releases.

@section dwx_replayer_tool_prerequisites Prerequisites

This tool is available on the x86 Host System and NVIDIA DRIVE<sup>&trade;</sup> OS Linux.

On DRIVE platforms it is only supported on iGPU.
To specify the iGPU, you must prepend `CUDA_VISIBLE_DEVICES=1` before the tool command.

@section dwx_replayer_tool_usage Running the Tool

@subsection dwx_replayer_tool_rigfile Playing Sensors Listed in Rig File

Run the tool by executing:

    export CUDA_VISIBLE_DEVICES=1
    ./replayer --rig=<pathToRigConfigurationFile> [motion-compensation=1]

@subsection dwx_replayer_tool_individual Playing Individual Sensors

Run the tool by executing:

    ./replayer --camera=[path to video]
                    --timestamp=[path to timestamp]
                --can=[path to CAN data]
                --candbc=[path to DBC file]
               --imu=[path to IMU data]
                --gps=[path to GPS data]
                --lidar=[path to Lidar data]
               --radar=[path to Radar data]
               --motion-compensation=[0|1]

Where:

     --motion-compensation=[0|1]
        Description: Enables or disables motion compensation to lidar points with the IMU motion model.

@section dwx_recording_tools_output Output

![Replayer Tool](tool_replayer.png)