.. _camera-perception-testing:

Check Camera Perception functionality and plausibility
------------------------------------------------------

Especially after changing the perception code or running a new docker container, one should check functionality and plausibility of the camera perception.

For doing so you will launch a inference plausibility ros launch file. You will either specify a recorded rosbag or use the zed camera to use live images.

See: :ref:`Camera Perception Plausibility`

Using a recorded rosbag
^^^^^^^^^^^^^^^^^^^^^^^

#. Download it and place it inside the ``as_ros/rosbags`` folder.

#. Enter the docker container: ``docker exec -it as bash``

#. Build workspace: ``catkin build``

#. Source the catkin workspace: ``source devel/setup.bash``

#. Start the camera_perception debugging launch file. The command works whether the rosbags contains compressed or uncompressed images:

   ``roslaunch camera_perception plausibility.launch input_rosbag:=/workspace/as_ros/rosbags/<rosbag_name>.bag``

#. Open the new, recorded rosbag in foxglove and check the ``/perception/detection_image`` topic for plausibility.

Using live images from the zed camera
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

#. Enter the docker container: ``docker exec -it as bash``

#. Build workspace: ``catkin build``

#. Source the catkin workspace: ``source devel/setup.bash``

#. Start the camera_perception debugging launch file: ``roslaunch camera_perception plausibility.launch use_zed:=yes``

#. Open foxglove and connect to the live roscore and check the ``/perception/detection_image`` topic for plausibility.