Replace README.md

README.md

+# Attack and Defences on LiDAR-based Perception Documentation
+#### Release 0.0.1
+###### 02 September 2021
+
+<div style="page-break-after: always;"></div>
+
+*Attack and Defences Repository* explores different LiDAR-based perception module, namely PIXOR, PointRCNN and PointPillar - in the form of Baidu Apollo v6.0
+
+<div style="page-break-after: always;"></div>
+
+# Table of Contents
+* PIXOR
+    *  Dependencies
+    *  File Structure
+    *  Getting Started
+    *  Download Kitti Dataset
+    *  Run PIXOR Perception Module
+    *  View Results
+* PointRCNN
+    * Dependencies
+* Baidu Apollo
+    * Docker load
+
+
+<div style="page-break-after: always;"></div>
+
+# PIXOR
+##### Dependencies: 
+- Python 3.5(3.6)
+- Pytorch (Follow Official Installation Guideline)
+- Tensorflow (see their website)
+- Numpy, MatplotLib, OpenCV3
+- PyKitti (for running on KITTI raw dataset)
+- gcc
+
+Note: All requirements are preloaded into pixorenv
+
+#### File Structure
+```
+attack_and_defences...
+├── PIXOR
+│   ├──  Kitti_Dataset
+|   |   ├──  raw_data_downloader.sh
+|   |   ├── 2011_09_26
+|   |   ...
+|   ├──  PIXOR
+|   |   ├── srcs
+|   |   ... ├── run_kitti.py
+|   ├──  pixorenv
+│   │   ├──  bin
+|   |   |   ├──  activate
+|   |   |   ....
+```
+
+
+##### Getting Started
+    Ensure that virtualenv is installed
+    $ pip install virtualenv
+>
+    Activate PIXOR virtual environment
+    $ cd PIXOR
+    $ source pixorenv/bin/activate
+
+##### Download Kitti Dataset
+    $ cd Kitti_Dataset
+    $ ./raw_data_downloader.sh
+
+##### Run PIXOR Perception Module
+    $ cd PIXOR
+    $ cd srcs
+    $ python run_kitti.py
+    
+##### View Results
+Depending on the video that was processed, typically located in PIXOR/Kitti_Dataset/2011_09_26/ ...
+
+<div style="page-break-after: always;"></div>
+
+# PointRCNN
+##### Dependencies: 
+All the codes are tested in the following environment:
+* Linux (tested on Ubuntu 14.04/16.04)
+* Python 3.6+
+* PyTorch 1.0
+
+Note: All requirements are preloaded into conda environment
+
+#### File Structure
+```
+attack_and_defences...
+├── PointRCNN
+│   ├──  conda
+|   |   ├──  bin
+|   |   |    ├── activate
+|   |   ...
+|   ├──  PointRCNN 
+|   |   ├── tools
+|   |   ... ├── eval_rcnn.py
+|   |   ├──  PointRCNN.pth
+|   |   ├──  output
+```
+
+##### Getting Started
+    Ensure that Anaconda or Miniconda is installed
+
+    Activate conda virtual environment
+    $ cd PointRCNN
+    $ ./conda/bin/activate
+    
+##### Run PIXOR Perception Module
+    $ cd PointRCNN
+    $ cd tools
+    $ python eval_rcnn.py --cfg_file cfgs/default.yaml --ckpt <Path_To_PointRCNN.pth> --batch_size 1 --eval_mode rcnn --set RPN.LOC_XZ_FINE False
+
+    
+##### View Results
+Depending on the video that was processed, typically located in PointRCNN/output/ ...
+
+# Apollo Baidu Docker Image
+*Requires Docker* 
+
+#### File Structure
+```
+attack_and_defences...
+├── apollo
+│   ├──  modules
+|   |   ├──  pcpc
+|   |   |    ├── BUILD
+|   |   |    ├── talker.cc
+|   |   |    ├── adv_loss.py
+|   |   |    ├── logs
+|   |   |    |  ├── cls_score.txt
+|   |   |    |  ├── bbox_pred.txt
+|   |   ...
+|   ├──  bazel-bin
+|   |   ├── modules
+|   |   ... ├── pcpc
+|   |   |   |    ├──  talker
+|   |   ├──  output
+```
+
+##### Run build
+    From root directory /apollo
+    $ ./apollo.sh build pcpc
+
+##### Run talker
+*To update cls_score.txt and bbox_pred.txt*
+    $ ./bazel-bin/modules/pcpc/talker
+    $ cd tools
+    
+#### Run adv_loss.py
+    $ python modules/pcpc/adv_loss.py
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