Perception: add preflight check for missing camera calibration files

scripts/perception.sh

@@ -19,6 +19,16 @@
 DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
 
 source "${DIR}/apollo_base.sh"
+
+if [[ "${APOLLO_SKIP_PERCEPTION_PREFLIGHT:-0}" != "1" ]]; then
+  if ! python3 "${DIR}/perception_preflight_check.py"; then
+    error "Perception preflight failed. Set APOLLO_SKIP_PERCEPTION_PREFLIGHT=1 to bypass."
+    exit 1
+  fi
+else
+  warning "Skipping perception preflight checks because APOLLO_SKIP_PERCEPTION_PREFLIGHT=1"
+fi
+
 # run function from apollo_base.sh
 # run command_name module_name
 # run perception "$@"

scripts/perception_preflight_check.py

@@ -0,0 +1,174 @@
+#!/usr/bin/env python3
+
+###############################################################################
+# Copyright 2026 The Apollo Authors. All Rights Reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+###############################################################################
+
+import argparse
+import os
+import re
+import sys
+from dataclasses import dataclass
+from typing import List, Optional
+
+
+CAMERA_TYPES = {"MONOCULAR_CAMERA", "STEREO_CAMERA"}
+
+
+@dataclass
+class SensorMeta:
+    name: str
+    sensor_type: str
+
+
+def _resolve_file_path_with_env(path: str, env_var: str) -> Optional[str]:
+    if not path:
+        return None
+
+    if os.path.isabs(path):
+        return path if os.path.exists(path) else None
+
+    if os.path.exists(path):
+        return os.path.abspath(path)
+
+    if path.startswith("."):
+        return None
+
+    env_val = os.environ.get(env_var, "")
+    for entry in env_val.split(":"):
+        entry = entry.strip()
+        if not entry:
+            continue
+        candidate = os.path.join(entry, path)
+        if os.path.exists(candidate):
+            return candidate
+    return None
+
+
+def _map_apollo_path(candidate: str, apollo_root: str) -> str:
+    # In repo/dev environments the root may not be mounted at /apollo.
+    if os.path.exists(candidate):
+        return candidate
+    if candidate.startswith("/apollo/"):
+        mapped = os.path.join(apollo_root, candidate[len("/apollo/"):])
+        if os.path.exists(mapped):
+            return mapped
+    return candidate
+
+
+def _resolve_common_config_file(config_file: str) -> Optional[str]:
+    relative_config_path = config_file
+    if not os.path.isabs(config_file):
+        relative_config_path = os.path.join(
+            "modules", "perception", "data", "conf", config_file
+        )
+    return _resolve_file_path_with_env(relative_config_path, "APOLLO_CONF_PATH")
+
+
+def _parse_sensor_meta(path: str) -> List[SensorMeta]:
+    with open(path, "r", encoding="utf-8") as f:
+        content = f.read()
+
+    blocks = re.findall(r"sensor_meta\s*\{([^}]*)\}", content, flags=re.DOTALL)
+    sensors: List[SensorMeta] = []
+    for block in blocks:
+        name_match = re.search(r'name\s*:\s*"([^"]+)"', block)
+        type_match = re.search(r"type\s*:\s*([A-Z0-9_]+)", block)
+        if not name_match or not type_match:
+            continue
+        sensors.append(SensorMeta(name=name_match.group(1), sensor_type=type_match.group(1)))
+    return sensors
+
+
+def main() -> int:
+    script_dir = os.path.dirname(os.path.abspath(__file__))
+    default_apollo_root = os.path.normpath(os.path.join(script_dir, ".."))
+
+    parser = argparse.ArgumentParser(
+        description="Preflight checker for Apollo perception startup files."
+    )
+    parser.add_argument(
+        "--apollo_root",
+        default=os.environ.get("APOLLO_ROOT_DIR", default_apollo_root),
+        help="Apollo root directory.",
+    )
+    parser.add_argument(
+        "--obs_sensor_meta_file",
+        default="sensor_meta.pb.txt",
+        help="Sensor meta config file (same as FLAGS_obs_sensor_meta_file).",
+    )
+    parser.add_argument(
+        "--obs_sensor_intrinsic_path",
+        default="/apollo/modules/perception/data/params",
+        help="Intrinsic/extrinsic dir (same as FLAGS_obs_sensor_intrinsic_path).",
+    )
+    args = parser.parse_args()
+
+    apollo_root = os.path.abspath(args.apollo_root)
+    config_file = _resolve_common_config_file(args.obs_sensor_meta_file)
+    if not config_file:
+        print(
+            "[perception preflight] ERROR: cannot resolve sensor meta file "
+            f"'{args.obs_sensor_meta_file}' via APOLLO_CONF_PATH or local path.",
+            file=sys.stderr,
+        )
+        return 1
+
+    sensors = _parse_sensor_meta(config_file)
+    if not sensors:
+        print(
+            f"[perception preflight] ERROR: no sensors parsed from {config_file}.",
+            file=sys.stderr,
+        )
+        return 1
+
+    camera_sensors = [s for s in sensors if s.sensor_type in CAMERA_TYPES]
+    if not camera_sensors:
+        print(
+            "[perception preflight] WARNING: no camera sensors defined in sensor meta; "
+            "camera intrinsic checks skipped."
+        )
+        return 0
+
+    intrinsic_root = _map_apollo_path(args.obs_sensor_intrinsic_path, apollo_root)
+    missing_files: List[str] = []
+    for sensor in camera_sensors:
+        intrinsic_file = os.path.join(intrinsic_root, f"{sensor.name}_intrinsics.yaml")
+        extrinsic_file = os.path.join(intrinsic_root, f"{sensor.name}_extrinsics.yaml")
+        if not os.path.exists(intrinsic_file):
+            missing_files.append(intrinsic_file)
+        if not os.path.exists(extrinsic_file):
+            missing_files.append(extrinsic_file)
+
+    if missing_files:
+        print("[perception preflight] ERROR: missing perception calibration files:", file=sys.stderr)
+        for path in missing_files:
+            print(f"  - {path}", file=sys.stderr)
+        print(
+            "[perception preflight] Hint: verify APOLLO_CONF_PATH/APOLLO_ROOT_DIR and "
+            "vehicle-specific perception config deployment.",
+            file=sys.stderr,
+        )
+        return 1
+
+    print(
+        "[perception preflight] OK: validated "
+        f"{len(camera_sensors)} camera sensor(s) from {config_file}."
+    )
+    return 0
+
+
+if __name__ == "__main__":
+    sys.exit(main())