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how_to_run_map_verification_tool.md

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How to run the Map Data Verification Tool

The Map Data Verification tool is designed to help Apollo developers detect any issues in their map data collection process before the data is used for HD Map creation. The benefit of using this tool is to ensure that all issues are detected prior to map creation and also ensures that data can be efficiently recollected based on the suggestions in the tool.

Running the tool

In order to run your data on this tool, please follow the steps below:

  1. Build Apollo as recommended in the Build Guide until the ./apollo.sh build step.

  2. Once instde dev docker and after running ./apollo.sh build please go to the folder modules/tools/map_datachecker/

  3. Starting the server:

    bash server.sh start

    Note: You should see the following message displayed Server has been started successfully. If not, please resolve the errors before trying again

  4. Start the record verification:

    bash client.sh --stage record_check --cmd start --record_path path_to_record

    Note: Do not close your terminal window throughout this process. If the verification is successful, you will not see any error messages.

  5. Static alignment verification:

    bash client.sh --stage static_align --cmd start

    Note: The window will display the progress of the static alignment.

  6. Figure 8 verification:

    bash client.sh --stage eight_route --cmd start

    Note: Your window displays the progress of the Figure 8 verification

  7. Laps verification:

    bash client.sh --stage loops_check --cmd start

    Note: Run this command post data collection to check the number of laps

  8. Figure 8 verification: This is repeated to verify that the extrinsic parameters have not been changed

  9. Static alignment verification: Similar to 5, it is preferable to repeat this verification to ensure high accuracy

  10. Stop record verification:

    bash client.sh --stage record_check --cmd stop

  11. Clean the intermediate results

    bash client.sh --stage clean

Tips

  1. The default value of cmd is start
  2. All error messages will be printed to help better prepare your map data. Please follow the error messages exactly as recommended