Replayer Tool

Table of Contents

• Description
• Prerequisites
• Running the Tool
  • Playing Sensors Listed in Rig File
  • Playing Individual Sensors
• Output

Description

The Replayer tool replays sensor data captured with the 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 NVIDIA DriveWorks and NVIDIA DRIVE Software releases.

Prerequisites

This tool is available on the x86 Host System and NVIDIA DRIVE^™ 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.

Running the Tool

Playing Sensors Listed in Rig File

Run the tool by executing:

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

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.

Output

Replayer Tool