Build Apollo 2.5 with Perception Visualizer

Requirement

GPU: GTX-1080 or GTX-1080TI
OS: Ubuntu 16.04.7 (https://releases.ubuntu.com/16.04/)
Apollo 2.5: https://github.com/ApolloAuto/apollo/tree/r2.5.0
Rosbag file: https://github.com/ApolloAuto/apollo/releases/download/v2.5.0/demo_2.5.bag. After downloading, move the file to apollo/data/bag

Step 1: Setup Environment

Host Machine:

Install Nvidia driver:

 sudo add-apt-repository ppa:graphics-drivers/ppa
 sudo apt-get update
 sudo apt-get install nvidia-384

Install Cuda-8.0:
- Follow this instruction: https://rodrigodzf.github.io/setup/cuda/2019/04/15/cuda-setup.html
Install Docker:
- Follow this instruction: https://docs.docker.com/engine/install/ubuntu/

Docker

Go to apollo folder. Open file ./docker/script/dev_start.sh, then adding two lines in command docker run -it
```
-v /usr/src:/usr/src
-v /lib/modules:/lib/modules
```

Start and get into the docker with root authority

./docker/scripts/dev_start.sh
docker exec -it apollo_dev /bin/bash

If you receive the error 408 timeout when run dev_start.sh, please follow this instruction to set network mtu to 1200 (http://www.microhowto.info/howto/change_the_mtu_of_a_network_interface.html)
Install nvidia-384 driver and CUDA-8.0: same as host machine.
Install cuDNN (you may need to create an Nvidia developer account to download the install file, so I upload it to Teams https://teams.microsoft.com/_#/files/General?threadId=19%3A5f36071370c94195b1175facc74ff92a%40thread.tacv2&ctx=channel&context=cudnn7&rootfolder=%252Fsites%252FVinAI-AutoPilot%252FShared%2520Documents%252FGeneral%252FPlatformTeam%252FApollo%2520study%252FInstallation%2520file%252Fcudnn7). After download:
```
sudo dpkg -i libcudnn7*.deb
```
Install GLFW3.2: Please use the script in this folder https://teams.microsoft.com/_#/files/General?threadId=19%3A5f36071370c94195b1175facc74ff92a%40thread.tacv2&ctx=channel&context=Installation%2520file&rootfolder=%252Fsites%252FVinAI-AutoPilot%252FShared%2520Documents%252FGeneral%252FPlatformTeam%252FApollo%2520study%252FInstallation%2520file.
Create config file in /usr/local/cuda/ with name nvblas.conf. Put this line into the file:
```
NVBLAS_CPU_BLAS_LIB  /usr/lib/libopenblas.so 
```

Run:

export NVBLAS_CONFIG_FILE=/usr/local/cuda/nvblas.conf

Commit a new docker image (in host):
```
docker commit CONTAINER_ID apolloauto/apollo:NEW_DOCKER_IMAGE_TAG
```
You can get container id by using the command below and find apollo_dev docker:
```
docker container list
```

Exit docker then start the new docker image (in host) and get into docker:

./docker/scripts/dev_start.sh -l -t NEW_DOCKER_IMAGE_TAG
./docker/scripts/dev_into.sh

Step 2: Build source code:

Modify and remove unused code:

Go to file ./modules/perception/obstacle/onboard/visualization_subnode.cc. Remove those lines:

if (lidar_event_id_ != -1 || fusion_event_id_ != -1) {
    lidar_object_data_ = dynamic_cast<LidarObjectData*>(
        shared_data_manager_->GetSharedData("LidarObjectData"));
    if (lidar_object_data_ == nullptr) {
      AERROR << "Failed to get LidarObjectData.";
      return false;
    }
    AINFO << "Init shared datas successfully, data: "
          << lidar_object_data_->name();
  }

scene_shared_data_ = dynamic_cast<SceneSharedData*>(
     shared_data_manager_->GetSharedData("SceneSharedData"));

 if (scene_shared_data_ == nullptr) {
   AERROR << "Failed to get SceneSharedData.";
   return false;
 }

SubnodeHelper::ProduceSharedDataKey(trigger_ts, trigger_device_id,
                                         &data_key_sensor);
SetLidarContent(data_key_sensor, content, timestamp);

AINFO << "set lidar content";
SubnodeHelper::ProduceSharedDataKey(trigger_ts, trigger_device_id,
                                           &data_key_sensor);
SetLidarContent(data_key_sensor, content, timestamp);

Go to file ./modules/perception/onboard/event_manager.cc. Add those lines below line 94, above queue->pop(event);
```
if(queue->size() == 0){
    return true;
}
```
Go to file ./modules/perception/obstacle/camera/visualizer/glfw_fusion_viewer.cc. Add this line above glfwCreateWindow called.
```
glfwWindowHint(GLFW_CONTEXT_CREATION_API, GLFW_EGL_CONTEXT_API);
```

Go to file ./module/perception/onboard/subnode.cc. Remove those lines:

if (type_ == DAGConfig::SUBNODE_IN) {
    AINFO << "Subnode == SUBNODE_IN, EXIT THREAD. subnode:" << DebugString();
    return;
}

Build & Run

In Docker:
```
./apollo.sh build_opt_gpu
```
After build, run bootstrap:
```
bootstrap.sh
```
Open another terminal tab, get into the docker by using ./docker/script/dev_into.sh. Run rosbag file.
```
rosbag play data/bag/demo_2.5.bag -l --clock
```
Keep rosbag playing, back to previous tab and launch perception with visulizer:
```
./scripts/perception_offline_visualizer.sh
```
The popup below will display:

techcaotri/build_apollo_2.5_visualizer.md