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.

Prerequisites

This tool is available on the x86 Host System and NVIDIA DRIVE^™ OS Linux & QNX.

Running the Tool

Playing Sensors Listed in Rig File

Run the tool by executing:

export CUDA_VISIBLE_DEVICES=1
./replayer --rig=<pathToRigConfigurationFile> 
           [--rig-sensor-filter=<sensor name filter REGEX, e.g., 'camera|lidar']
           [--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]
           --can0dbc=[path to dbc]
           --can1dbc=[path to dbc]
           --can2dbc=[path to dbc]
           --can3dbc=[path to dbc]
           --rig-sensor-filter=[optional]: regex to filter sensor names (sensors with matching names will be kept).? This has the same effect as providing a rig with a subset of sensors, allowing to restrict the replay on this subset.?
           --ultrasonic=[path to USS data]

where

--camera=[path to video]
        Description:

Output

Replayer Tool