/Testbed

This repository contains the configuration and the implementation of the hardware test bed for the ICPS co-operative perception project.

Primary LanguagePython

Testbed

This repository contains the configuration and the implementation of the hardware test bed for the ICPS co-operative perception project.

Dependencies

  1. This code is built on python 3.6.

  2. Clone this repository on your system, open a terminal in the repository and run the command: pip3 install -r requirements.txt .

  3. Build and install Opencv 4 from source with contrib packages. Refer to the following link: https://www.pyimagesearch.com/2018/08/15/how-to-install-opencv-4-on-ubuntu/.

  4. To install Sumo, run the following commands:
    sudo add-apt-repository ppa:sumo/stable
    sudo apt-get update
    sudo apt-get install sumo sumo-tools sumo-doc
    sudo apt-get install ffmpeg
    Add the following line at the end of your ~/.bashrc file: export SUMO_HOME=/usr/share/sumo
    source ~/.bashrc

  5. To install commonroad to sumo interface, clone the following repository outside this repository using the command: git clone https://gitlab.lrz.de/tum-cps/commonroad-sumo-interface.git. 6.change the directory to the commonroad-sumo-interface repository and rename the file pathConfig_DEFAULT.py to pathConfig.py.

  6. Run the command pip3 show opendrive2lanelet and copy the location where it is installed.

  7. Change the directory to the opendrive2lanelet package directory and locate network.py file inside it.

  8. Open the network.py in your favourite editor and change line 125 of the code from
    scenario = Scenario(dt=dt, benchmark_id=benchmark_id if benchmark_id is not None else "none")
    to
    scenario = Scenario(scenario_id=1,dt=dt, benchmark_id=benchmark_id if benchmark_id is not None else "none")

Using this repository

This repository consists of two parts:
1. Configuring the test bed - homography_and_calibration directory
2. Using the testbed - source directory

Configuring the Testbed

The configuration needs to be done prior to running the implementation on the testbed. For complete configuration details, refer to the readme.md file in the homography_and_calibration directory.

Using the testbed

After completing the configuration of the testbed and copying the homography.npz and git3_calib_best.npz into the source directory, you are in the position to run the python scripts present inside the source directory. More description about the implementation details of the scripts and usage is given in the readme file in the source directory