https://github.com/vietanhdev/open-adas
An open source advanced driver assistance system (ADAS) that uses Jetson Nano as the hardware. Features: Traffic sign detection, Forward collision warning, Lane departure warning.
https://github.com/vietanhdev/open-adas
adas jetson-nano lane-lines-detection object-detection semantic-segmentation
Last synced: 6 months ago
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An open source advanced driver assistance system (ADAS) that uses Jetson Nano as the hardware. Features: Traffic sign detection, Forward collision warning, Lane departure warning.
- Host: GitHub
- URL: https://github.com/vietanhdev/open-adas
- Owner: vietanhdev
- License: mit
- Created: 2020-03-22T05:57:00.000Z (over 5 years ago)
- Default Branch: master
- Last Pushed: 2023-10-24T00:59:23.000Z (almost 2 years ago)
- Last Synced: 2025-03-29T02:04:56.258Z (6 months ago)
- Topics: adas, jetson-nano, lane-lines-detection, object-detection, semantic-segmentation
- Language: C++
- Homepage:
- Size: 26.6 MB
- Stars: 445
- Watchers: 23
- Forks: 129
- Open Issues: 11
-
Metadata Files:
- Readme: README.md
- Funding: .github/FUNDING.yml
- License: LICENSE
Awesome Lists containing this project
README
# OpenADAS - An advanced driver-assistance system using Jetson Nano
[](https://aicurious.io/donation/)
An advanced driver-assistance system on Jetson Nano embedded computer with four main functions: forward collision warning, lane departure warning, traffic sign recognition and overspeed warning. This repository contains source code for Jetson Nano, not including the source code for model training and conversion.
[](https://www.youtube.com/watch?v=0ykWIfkZxmY)
## Documentation:
- **(Blog) Intro and Hardware:** .
- **(Blog) Software stack**: .
- **(Blog) Deep neural networks:** .
- **(Documentation) OpenADAS:** *Design, CANbus, Calibration, Model training and deployment notes*: [docs/open-adas.md](docs/open-adas.md).
- **(Documentation) How to setup on a Jetson Xavier:** [docs/setup-jetson-xavier.md](docs/setup-jetson-xavier.md).
**For TensorRT 7 support:** Currently, only TensorRT 5 and 6 are supported. TensorRT 7 has a lot of deprecated APIs and I think there is no way to run this project directly with that version. I don't have time to continue with this project soon, so I really need your contributions to extend this project further.
## Quick setup on Jetson Nano: SD Card image
I created an image of my SD card [here](https://1drv.ms/u/s!Av71xxzl6mYZgdZxDoxDnxR-sOERSw?e=S2o1uR). You can flash and run this image on Jetson Nano.
**Note:**
- The source code and binary files in this SD card image is older than in `master` branch. Please upgrade to the lastest source code and recompile on your device.
- Use Alt+F4 to exit the GUI and start editing your source code.
- Login information:
+ Username: `smartcam`.
+ Password: Open Terminal and type `sudo passwd smartcam` to change the password.
## Compile from source
### Requirements:
- CMake >= 3.10
- Qt 5
- OpenCV >= 4.0.1
- C++ 17 compiler
- CUDA 10.x
- TensorRT 5.1.5-1+cuda10.1, or - TensorRT 6.0.1.8+10.2. **This project should work with TensorRT 5 and TensorRT 6. TensorRT 7 is not supported for now.**
### Setup for Linux - Ubuntu 18.04
#### Setup
- Install QT:
```
sudo apt-get install build-essential
sudo apt-get install qt5-default qtcreator qt5-doc qt5-doc-html qtbase5-doc-html qtbase5-examples -y
sudo /sbin/ldconfig -v
```
- Install OpenCV
```
https://linuxize.com/post/how-to-install-opencv-on-ubuntu-18-04/
```
- Install protobuf 3.6.1
```
https://github.com/protocolbuffers/protobuf
```
#### Models and test data
- Download models and testing data [here](https://1drv.ms/u/s!Av71xxzl6mYZgddQHbzrtbw9fBGegA?e=M4CvIq) and put into root folder of this project.
#### Compile and Run
- Update `GPU_ARCHS`: Modify `GPU_ARCHS` in `CMakeLists.txt` to suit your GPU. For Jetson Nano, GPU_ARCHS = 53 and for my RTX 2070, GPU_ARCHS = 75. Read more in following posts:
+
+
- Compile
```
cd
mkdir build
cd build
cmake -DCUDA_INCLUDE_DIRS=/usr/local/cuda-10.2/include ..
make
```
Replace `CUDA_INCLUDE_DIRS` with your own path.
- Setup virtual CAN (run once)
```
sudo bash setup_vcan.sh
```
- Run
```
cd build/bin
./OpenADAS
```
**Arguments:**
- `--input_source` | default: `simulation` : Input source. 'camera' or 'simulation'.
- `--input_video_path` | optional : Path to video file for simulation.
- `--input_data_path` | optional : Path to data file for simulation.
- `--on_dev_machine` | default: `true` : On development machine or not. When this value is set to `false`, OpenADAS will be launched in fullscreen mode without mouse (touch UI). You should this value to `true` in development environment.
Specify `input_video_path` and `input_data_path` if you want to load a simulation scenario by default. Otherwise, you can select scenarios from simulation selector.
#### Known issues
**Issue: cublas_v2.h not found**
```
fatal error: cublas_v2.h: No such file or directory
#include
^~~~~~~~~~~~~
compilation terminated.
```
- Step 1: Find lib: `find /usr/local/ -name cublas_v2.h`.
- Step 2: Export to path: `export CPLUS_INCLUDE_PATH=$CPLUS_INCLUDE_PATH:/usr/local/cuda-10.2/targets/x86_64-linux/include/`.
- Step 3: Use CMake and build.
**Issue: `/usr/bin/ld: cannot find -lcudart`, `/usr/bin/ld: cannot find -lcublas`**
```
sudo ln -s /usr/local/cuda/lib64/libcudart.so /usr/lib/libcudart.so
```
```
sudo ln -s /usr/local/cuda/lib64/libcublas.so /usr/lib/libcublas.so
```
**Note:** The paths can be different on your computer.
**Issue: Qt5Multimedia missing**
```
Could not find a package configuration file provided by "Qt5Multimedia"
with any of the following names:
Qt5MultimediaConfig.cmake
qt5multimedia-config.cmake
```
How to fix?
```
sudo apt-get install qttools5-dev-tools libqt5svg5-dev qtmultimedia5-dev
```
**Issue: Need to specify CUDA root**
```
[cmake] CMake Error at /usr/share/cmake-3.10/Modules/FindCUDA.cmake:682 (message):
[cmake] Specify CUDA_TOOLKIT_ROOT_DIR
```
How to fix?
```
export CUDA_TOOLKIT_ROOT_DIR=/usr/local/cuda-10.2/
```
You should change the path corresponding to your environment.
**Issue: Qt5 library not found**
```
fatal error: QtWidgets/QCloseEvent: No such file or directory
#include
^~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.
```
**Issue: SIOCGIFINDEX: No such device**
```
sudo bash setup_vcan.sh
```
## References:
- Objects as Points - Xingyi Zhou, Dequan Wang, Philipp Krähenbühl: [https://arxiv.org/abs/1904.07850](https://arxiv.org/abs/1904.07850).
- U-Net: Convolutional Networks for Biomedical Image Segmentation - Olaf Ronneberger, Philipp Fischer, Thomas Brox: [https://arxiv.org/abs/1505.04597](https://arxiv.org/abs/1505.04597).
- Deep Residual Learning for Image Recognition - Kaiming He, Xiangyu Zhang, Shaoqing Ren, Jian Sun: [https://arxiv.org/abs/1512.03385](https://arxiv.org/abs/1512.03385).
- Dark Theme for Qt5 by Juergen Skrotzky: [https://github.com/Jorgen-VikingGod/Qt-Frameless-Window-DarkStyle](https://github.com/Jorgen-VikingGod/Qt-Frameless-Window-DarkStyle).
- ICSim: .