kuan-li / OpenICV

OpenICV

OpenICV is the software framework of Open Intelligent Connected Vehicle.

Use Cases

OpenICV will initially address the following 2 use case:

1. Autonomous driving of real vehicle
2. Autonomous driving in simulation environment

System Requirement

1. cmake >=3.15
2. msgpack-c ==0.5.7
3. boost>=1.66.0
4. eigen

sudo apt-get install libeigen3-dev

5. opencv

sudo apt-get install libopencv-dev

6. pcl

sudo apt-get install libpcl-dev

Installation

Installation of OpenICV is based on cmake.

git clone https://github.com/Tsinghua-OpenICV/OpenICV.git
cd OpenICV
mkdir build
cd build
cmake .
make
sudo make install
cd ..
sudo chomod -R 777 ICVOS

Getting Started

• Basic publisher and subscriber demo:

Move OpenICV/Branch/Examples/Basic_Publisher&Subscriber.json to /OpenICV/ICVOS/bin and execute it with icvStarter

cd Branch/Examples
cp Basic_Publisher\&Subscriber.json ../../ICVOS/bin 
./icvStarter Basic_Publisher\&Subscriber.json

Contributing

Please refer to STYLE.md to check the code style.

Configuration Files

Json Example:

{
    
    "<Node Name1>": {
        "function": {"name":"<Function name>","Parameter_name1":"Parameter_value1","Parameter_name2":"Parameter_value2"}
       
    },
    "<Node Name2>": {
        "function": {"name":"<Function name>","Parameter_name":"Parameter_value"}
       
    }

}

important

• Only one function in each node is allowed.

Node Types

• icvThreadedNode: Every node has a thread
• icvQueuedNode: All node are executed in a queue
• icvRemoteNode: The node is in another process or another host
• icvRosNode: This node interact with ROS nodes