OpenDLV - A modern microservice-based software ecosystem powered by libcluon to make vehicles autonomous.
Home Page: http://opendlv.org
License: GNU General Public License v3.0
The following lines :
will work ONLY with our gps, hence the best would be to add some "trimble driver file" and communicate only in SI unit
Some functions for transforming point coordinates using transformation matrices are directly copied from DetectLane to DetectVehicle. Should be fixed in the future.
Known examples are:
ReadMatrix()
TransformPointToGlobalFrame()
Remove const from high-level interface to remove const_cast:
The tools DataSpy and TruckReplay need further review:
[application/perception/src/detectlane/detectlane.cpp:177]: (style) The scope of the variable 'laneOffset' can be reduced.
[application/perception/src/detectlane/detectlane.cpp:180]: (style) The scope of the variable 'p1' can be reduced.
[application/perception/src/detectlane/detectlane.cpp:180]: (style) The scope of the variable 'p2' can be reduced.
Mostly ORBvocabulary and necessary structures used.
The commented return here: https://github.com/chalmers-revere/opendlv/blob/experiment.idiada/code/system/application/perception/src/detectlane/detectlane.cpp#L75 will make this method fail if the Container is of the wrong type:
Adjust the include header here:
Similar to:
Hi @olbender, our Jenkins failed to compile OpenDLV for ARM as libstdc++fs seems to be unavailable:
Output during CMake:
-- Could not find libstdc++fs.
Compilation output:
libopendlv-tools-signaladapterlib-static.a(signaladapter.cpp.o): In function opendlv::tools::signaladapter::SignalAdapter::GetListOfLibrariesToLoad(std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > const&)': /opt/opendlv.sources/code/tools/signaladapter/src/signaladapter.cpp:93: undefined reference to std::experimental::filesystem::v1::__cxx11::recursive_directory_iterator::~recursive_directory_iterator()'
/opt/opendlv.sources/code/tools/signaladapter/src/signaladapter.cpp:93: undefined reference to std::experimental::filesystem::v1::__cxx11::recursive_directory_iterator::~recursive_directory_iterator()' /opt/opendlv.sources/code/tools/signaladapter/src/signaladapter.cpp:93: undefined reference to std::experimental::filesystem::v1::__cxx11::recursive_directory_iterator::operator*() const'
/opt/opendlv.sources/code/tools/signaladapter/src/signaladapter.cpp:93: undefined reference to std::experimental::filesystem::v1::__cxx11::recursive_directory_iterator::operator++()' /opt/opendlv.sources/code/tools/signaladapter/src/signaladapter.cpp:93: undefined reference to std::experimental::filesystem::v1::__cxx11::recursive_directory_iterator::~recursive_directory_iterator()'
/opt/opendlv.sources/code/tools/signaladapter/src/signaladapter.cpp:93: undefined reference to std::experimental::filesystem::v1::__cxx11::recursive_directory_iterator::~recursive_directory_iterator()' /opt/opendlv.sources/code/tools/signaladapter/src/signaladapter.cpp:93: undefined reference to std::experimental::filesystem::v1::__cxx11::recursive_directory_iterator::~recursive_directory_iterator()'
/opt/opendlv.sources/code/tools/signaladapter/src/signaladapter.cpp:93: undefined reference to std::experimental::filesystem::v1::__cxx11::recursive_directory_iterator::~recursive_directory_iterator()' /opt/opendlv.sources/code/tools/signaladapter/src/signaladapter.cpp:93: undefined reference to std::experimental::filesystem::v1::__cxx11::recursive_directory_iterator::~recursive_directory_iterator()'
libopendlv-tools-signaladapterlib-static.a(signaladapter.cpp.o):/opt/opendlv.sources/code/tools/signaladapter/src/signaladapter.cpp:93: more undefined references to std::experimental::filesystem::v1::__cxx11::recursive_directory_iterator::~recursive_directory_iterator()' follow libopendlv-tools-signaladapterlib-static.a(signaladapter.cpp.o): In function std::experimental::filesystem::v1::__cxx11::recursive_directory_iterator::recursive_directory_iterator(std::experimental::filesystem::v1::__cxx11::path const&)':
/usr/include/c++/5/experimental/fs_dir.h:269: undefined reference to std::experimental::filesystem::v1::__cxx11::recursive_directory_iterator::recursive_directory_iterator(std::experimental::filesystem::v1::__cxx11::path const&, std::experimental::filesystem::v1::directory_options, std::error_code*)' libopendlv-tools-signaladapterlib-static.a(signaladapter.cpp.o): In function std::experimental::filesystem::v1::__cxx11::path::path<std::__cxx11::basic_string<char, std::char_traits, std::allocator >, std::experimental::filesystem::v1::__cxx11::path>(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&)':
/usr/include/c++/5/experimental/fs_path.h:167: undefined reference to `std::experimental::filesystem::v1::__cxx11::path::_M_split_cmpts()'
collect2: error: ld returned 1 exit status
signaladapter/CMakeFiles/opendlv-tools-signaladapter.dir/build.make:118: recipe for target 'signaladapter/opendlv-tools-signaladapter' failed
make[5]: *** [signaladapter/opendlv-tools-signaladapter] Error 1
CMakeFiles/Makefile2:87: recipe for target 'signaladapter/CMakeFiles/opendlv-tools-signaladapter.dir/all' failed
make[4]: *** [signaladapter/CMakeFiles/opendlv-tools-signaladapter.dir/all] Error 2
Makefile:138: recipe for target 'all' failed
make[3]: *** [all] Error 2
CMakeFiles/tools.dir/build.make:113: recipe for target 'tools-prefix/src/tools-stamp/tools-build' failed
make[2]: *** [tools-prefix/src/tools-stamp/tools-build] Error 2
CMakeFiles/Makefile2:104: recipe for target 'CMakeFiles/tools.dir/all' failed
make[1]: *** [CMakeFiles/tools.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
Could you add a check in this CMakeLists.txt (https://github.com/chalmers-revere/opendlv/blob/master/code/tools/signaladapter/CMakeLists.txt) to make sure that this code is only compiled if libstdc++fs is present?
The configuration file needs to be adjusted by replacing 24 (assumed bits) with 3 (bytes representing the bytes per pixel):
Adjust detectvehicle by removing /8:
Activate mySharedImg.getBytesPerPixel():
In the proxy-camera (opencvdevice.cpp), the width and height properties of the cv::VideoCapture are set. However, the change does never seem to be applied. The following code
if (m_capture->isOpened()) {
std::cout << "Open. width: " << a_width << " height: " << a_height << std::endl;
m_capture->set(CV_CAP_PROP_FRAME_WIDTH, a_width);
m_capture->set(CV_CAP_PROP_FRAME_HEIGHT, a_height);
std::cout << "After. width: " << m_capture->get(CV_CAP_PROP_FRAME_WIDTH) << " height: " << m_capture->get(CV_CAP_PROP_FRAME_HEIGHT) << std::endl;
}
may for example result in the output
Open. width: 800 height: 600
After. width: 1280 height: 720
In the case above, the image read from the cv::VideoCapture was stored in a shared image of a different size. This caused the image, when it was unpacked from the shared image, to be corrupt/wrong.
This happened on a machine running Ubuntu 14.04 LTS.
After a short discussion with @chrberger, the problem might be caused by incorrect OpenCV/v4l on the machine?
The data I have has been collected using OpenDLV, an open-source microservice-based ecosystem for self-driving vehicles developed by Revere at Chalmers University of Technology. In a driving session, data has been collected from multiple sources/ sensors in .rec files. For example, images from each camera can be put in a separate .rec file, and other messages (like altitude, longitude, latitude, speed, etc.) can be clubbed together and be put in a single .rec file.
Each message has a unique message type/code.
How do I interpret this data and plot graphs to identify idle points of the vehicle?
The shared_ptr is not needed here and can be replaced with a unique_ptr:
Instead of using a shared_ptrcv:Mat, a regular class member cv::Mat m_image; is sufficient:
The commented return here: https://github.com/chalmers-revere/opendlv/blob/experiment.idiada/code/system/application/perception/src/detectvehicle/detectvehicle.cpp#L80 will make this method fail if the Container is of the wrong type:
Instead of attaching to the shared memory for every new Container, just attach to the shared memory once and save the sharedMem as class member:
@fgiaimo After activating the DBC changes in OpenDLV.core (v.0.8.0), OpenDLV (branch: 2016Q4.refactoring.dbc) does not compile and resulting with the following error:
Could you please check and fix this so that we can proceed merging the changes to the higher levels?
/opt/opendlv.sources/code/system/application/knowledge/src/gcdc16/rule/intersection/intersection.cpp: In member function 'virtual void opendlv::knowledge::gcdc16::rule::intersection::Intersection::nextContainer(odcore::data::Container&)':
/opt/opendlv.sources/code/system/application/knowledge/src/gcdc16/rule/intersection/intersection.cpp:187:71: error: 'opendlv::proxy::reverefh16::Propulsion' has not been declared
} else if (a_container.getDataType() == opendlv::proxy::reverefh16::Propulsion::ID()) {
^
/opt/opendlv.sources/code/system/application/knowledge/src/gcdc16/rule/intersection/intersection.cpp:188:43: error: 'Propulsion' is not a member of 'opendlv::proxy::reverefh16'
auto propulsion = a_container.getDataopendlv::proxy::reverefh16::Propulsion();
^
/opt/opendlv.sources/code/system/application/knowledge/src/gcdc16/rule/intersection/intersection.cpp:188:43: error: 'Propulsion' is not a member of 'opendlv::proxy::reverefh16'
/opt/opendlv.sources/code/system/application/knowledge/src/gcdc16/rule/intersection/intersection.cpp:188:83: error: no matching function for call to 'odcore::data::Container::getData()'
auto propulsion = a_container.getDataopendlv::proxy::reverefh16::Propulsion();
^
In file included from /opt/opendlv.sources/code/system/application/knowledge/src/gcdc16/rule/intersection/intersection.cpp:26:0:
/opt/od4/include/opendavinci/odcore/data/Container.h:104:26: note: candidate: template T odcore::data::Container::getData()
inline T getData() {
^
/opt/od4/include/opendavinci/odcore/data/Container.h:104:26: note: template argument deduction/substitution failed:
/opt/opendlv.sources/code/system/application/knowledge/src/gcdc16/rule/intersection/intersection.cpp:188:83: error: template argument 1 is invalid
auto propulsion = a_container.getDataopendlv::proxy::reverefh16::Propulsion();
^
application/knowledge/CMakeFiles/opendlv-system-application-knowledgelib-static.dir/build.make:110: recipe for target 'application/knowledge/CMakeFiles/opendlv-system-application-knowledgelib-static.dir/src/gcdc16/rule/intersection/intersection.cpp.o' failed
make[2]: *** [application/knowledge/CMakeFiles/opendlv-system-application-knowledgelib-static.dir/src/gcdc16/rule/intersection/intersection.cpp.o] Error 1
CMakeFiles/Makefile2:757: recipe for target 'application/knowledge/CMakeFiles/opendlv-system-application-knowledgelib-static.dir/all' failed
make[1]: *** [application/knowledge/CMakeFiles/opendlv-system-application-knowledgelib-static.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
[ 34%] Building CXX object application/action/CMakeFiles/opendlv-system-application-action-act.dir/src/act/main.cpp.o
[ 34%] Building CXX object application/sensation/CMakeFiles/opendlv-system-application-sensationlib-static.dir/src/proprioception/balance/balance.cpp.o
[ 35%] Linking CXX executable opendlv-system-application-action-act
In file included from /opt/opendlv.sources/code/system/application/sensation/src/geolocation/geolocation.cpp:35:0:
/opt/opendlv.sources/code/system/application/sensation/include/geolocation/geolocation.hpp:85:31: error: 'Propulsion' in namespace 'opendlv::proxy::reverefh16' does not name a type
opendlv::proxy::reverefh16::Propulsion m_propulsionReading;
^
/opt/opendlv.sources/code/system/application/sensation/src/geolocation/geolocation.cpp: In constructor 'opendlv::sensation::geolocation::Geolocation::Geolocation(const int32_t&, char**)':
/opt/opendlv.sources/code/system/application/sensation/src/geolocation/geolocation.cpp:57:7: error: class 'opendlv::sensation::geolocation::Geolocation' does not have any field named 'm_propulsionReading'
, m_propulsionReading()
^
/opt/opendlv.sources/code/system/application/sensation/src/geolocation/geolocation.cpp: In member function 'virtual void opendlv::sensation::geolocation::Geolocation::nextContainer(odcore::data::Container&)':
/opt/opendlv.sources/code/system/application/sensation/src/geolocation/geolocation.cpp:98:62: error: 'opendlv::proxy::reverefh16::Propulsion' has not been declared
} else if(a_c.getDataType() == opendlv::proxy::reverefh16::Propulsion::ID()) {
^
/opt/opendlv.sources/code/system/application/sensation/src/geolocation/geolocation.cpp:99:5: error: 'm_propulsionReading' was not declared in this scope
m_propulsionReading = a_c.getDataopendlv::proxy::reverefh16::Propulsion();
^
/opt/opendlv.sources/code/system/application/sensation/src/geolocation/geolocation.cpp:99:39: error: 'Propulsion' is not a member of 'opendlv::proxy::reverefh16'
m_propulsionReading = a_c.getDataopendlv::proxy::reverefh16::Propulsion();
^
/opt/opendlv.sources/code/system/application/sensation/src/geolocation/geolocation.cpp:99:39: error: 'Propulsion' is not a member of 'opendlv::proxy::reverefh16'
/opt/opendlv.sources/code/system/application/sensation/src/geolocation/geolocation.cpp:99:79: error: no matching function for call to 'odcore::data::Container::getData()'
m_propulsionReading = a_c.getDataopendlv::proxy::reverefh16::Propulsion();
^
In file included from /opt/opendlv.sources/code/system/application/sensation/src/geolocation/geolocation.cpp:29:0:
/opt/od4/include/opendavinci/odcore/data/Container.h:104:26: note: candidate: template T odcore::data::Container::getData()
inline T getData() {
^
/opt/od4/include/opendavinci/odcore/data/Container.h:104:26: note: template argument deduction/substitution failed:
/opt/opendlv.sources/code/system/application/sensation/src/geolocation/geolocation.cpp:99:79: error: template argument 1 is invalid
m_propulsionReading = a_c.getDataopendlv::proxy::reverefh16::Propulsion();
^
/opt/opendlv.sources/code/system/application/sensation/src/geolocation/geolocation.cpp: In member function 'virtual odcore::data::dmcp::ModuleExitCodeMessage::ModuleExitCode opendlv::sensation::geolocation::Geolocation::body()':
/opt/opendlv.sources/code/system/application/sensation/src/geolocation/geolocation.cpp:191:40: error: 'm_propulsionReading' was not declared in this scope
float const v = static_cast(m_propulsionReading.getPropulsionShaftVehicleSpeed()/3.6);
^
application/sensation/CMakeFiles/opendlv-system-application-sensationlib-static.dir/build.make:158: recipe for target 'application/sensation/CMakeFiles/opendlv-system-application-sensationlib-static.dir/src/geolocation/geolocation.cpp.o' failed
make[2]: *** [application/sensation/CMakeFiles/opendlv-system-application-sensationlib-static.dir/src/geolocation/geolocation.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
[ 35%] Built target opendlv-system-application-action-act
In file included from /opt/opendlv.sources/code/system/application/sensation/src/geolocation/main.cpp:20:0:
/opt/opendlv.sources/code/system/application/sensation/include/geolocation/geolocation.hpp:85:31: error: 'Propulsion' in namespace 'opendlv::proxy::reverefh16' does not name a type
opendlv::proxy::reverefh16::Propulsion m_propulsionReading;
^
application/sensation/CMakeFiles/opendlv-system-application-sensationlib-static.dir/build.make:182: recipe for target 'application/sensation/CMakeFiles/opendlv-system-application-sensationlib-static.dir/src/geolocation/main.cpp.o' failed
make[2]: *** [application/sensation/CMakeFiles/opendlv-system-application-sensationlib-static.dir/src/geolocation/main.cpp.o] Error 1
CMakeFiles/Makefile2:1343: recipe for target 'application/sensation/CMakeFiles/opendlv-system-application-sensationlib-static.dir/all' failed
make[1]: *** [application/sensation/CMakeFiles/opendlv-system-application-sensationlib-static.dir/all] Error 2
Hello,
this variable was not automatically found in cmake:
CMake Error at CMakeLists.txt:63 (include):
include could not find load file:
FindodDataStructureGenerator
Mauro
Once the V2v-data is available as messages in the .odvd file, we can use the CSVFromVisitableVisitor to transform the fields from a concrete message into a CSV file:
Examples:
Replacing:
Potentially here as well? Checking with @olbender
Remove:
The branch "refactoring.opendlv.v2v" removes two messages from OpenDLV and moves them to OpenDLV.core.
Adjust implementation:
When adding the below message to file opendlv/resources/odvd/ODVDOpenDLVData.odvd
message opendlv.logic.coordination.IntersectionAccessRequest [id = 303] {
odcore::data::TimeStamp timeOfRequest [id = 1];
string intention [id = 2];
bool ack [id = 3];
opendlv::data::environment::WGS84Coordinate positionAtRequest [id = 4];
}
the auto generated TestSuits fails; which gives the following compile error:
libodvdopendlvdata.so: undefined reference to `opendlv::data::environment::WGS84Coordinate::WGS84Coordinate()'
libodvdopendlvdata.so: undefined reference to `opendlv::data::environment::WGS84Coordinate::toString[abi:cxx11]() const'
libodvdopendlvdata.so: undefined reference to `opendlv::data::environment::WGS84Coordinate::~WGS84Coordinate()'
libodvdopendlvdata.so: undefined reference to `opendlv::data::environment::WGS84Coordinate::operator=(opendlv::data::environment::WGS84Coordinate const&)'
libodvdopendlvdata.so: undefined reference to `geodetic::WGS84::WGS84(geodetic::WGS84 const&)'
libodvdopendlvdata.so: undefined reference to `vtable for opendlv::data::environment::WGS84Coordinate'
collect2: error: ld returned 1 exit status
CMakeFiles/opendlv_logic_coordination_IntersectionAccessRequestTestSuite.h-TestSuite.dir/build.make:101: recipe for target 'opendlv_logic_coordination_IntersectionAccessRequestTestSuite.h-TestSuite' failed
make[5]: *** [opendlv_logic_coordination_IntersectionAccessRequestTestSuite.h-TestSuite] Error 1
CMakeFiles/Makefile2:104: recipe for target 'CMakeFiles/opendlv_logic_coordination_IntersectionAccessRequestTestSuite.h-TestSuite.dir/all' failed
make[4]: *** [CMakeFiles/opendlv_logic_coordination_IntersectionAccessRequestTestSuite.h-TestSuite.dir/all] Error 2
make[4]: *** Waiting for unfinished jobs....
libodvdopendlvdata.so: undefined reference to `opendlv::data::environment::WGS84Coordinate::WGS84Coordinate()'
libodvdopendlvdata.so: undefined reference to `opendlv::data::environment::WGS84Coordinate::toString[abi:cxx11]() const'
libodvdopendlvdata.so: undefined reference to `opendlv::data::environment::WGS84Coordinate::~WGS84Coordinate()'
libodvdopendlvdata.so: undefined reference to `opendlv::data::environment::WGS84Coordinate::operator=(opendlv::data::environment::WGS84Coordinate const&)'
libodvdopendlvdata.so: undefined reference to `geodetic::WGS84::WGS84(geodetic::WGS84 const&)'
libodvdopendlvdata.so: undefined reference to `vtable for opendlv::data::environment::WGS84Coordinate'
collect2: error: ld returned 1 exit status
CMakeFiles/opendlv_knowledge_InsightTestSuite.h-TestSuite.dir/build.make:101: recipe for target 'opendlv_knowledge_InsightTestSuite.h-TestSuite' failed
make[5]: *** [opendlv_knowledge_InsightTestSuite.h-TestSuite] Error 1
CMakeFiles/Makefile2:141: recipe for target 'CMakeFiles/opendlv_knowledge_InsightTestSuite.h-TestSuite.dir/all' failed
make[4]: *** [CMakeFiles/opendlv_knowledge_InsightTestSuite.h-TestSuite.dir/all] Error 2
libodvdopendlvdata.so: undefined reference to `opendlv::data::environment::WGS84Coordinate::WGS84Coordinate()'
libodvdopendlvdata.so: undefined reference to `opendlv::data::environment::WGS84Coordinate::toString[abi:cxx11]() const'
libodvdopendlvdata.so: undefined reference to `opendlv::data::environment::WGS84Coordinate::~WGS84Coordinate()'
libodvdopendlvdata.so: undefined reference to `opendlv::data::environment::WGS84Coordinate::operator=(opendlv::data::environment::WGS84Coordinate const&)'
libodvdopendlvdata.so: undefined reference to `geodetic::WGS84::WGS84(geodetic::WGS84 const&)'
libodvdopendlvdata.so: undefined reference to `vtable for opendlv::data::environment::WGS84Coordinate'
collect2: error: ld returned 1 exit status
CMakeFiles/opendlv_proxy_AnalogRequestTestSuite.h-TestSuite.dir/build.make:101: recipe for target 'opendlv_proxy_AnalogRequestTestSuite.h-TestSuite' failed
make[5]: *** [opendlv_proxy_AnalogRequestTestSuite.h-TestSuite] Error 1
CMakeFiles/Makefile2:67: recipe for target 'CMakeFiles/opendlv_proxy_AnalogRequestTestSuite.h-TestSuite.dir/all' failed
make[4]: *** [CMakeFiles/opendlv_proxy_AnalogRequestTestSuite.h-TestSuite.dir/all] Error 2
libodvdopendlvdata.so: undefined reference to `opendlv::data::environment::WGS84Coordinate::WGS84Coordinate()'
libodvdopendlvdata.so: undefined reference to `opendlv::data::environment::WGS84Coordinate::toString[abi:cxx11]() const'
libodvdopendlvdata.so: undefined reference to `opendlv::data::environment::WGS84Coordinate::~WGS84Coordinate()'
libodvdopendlvdata.so: undefined reference to `opendlv::data::environment::WGS84Coordinate::operator=(opendlv::data::environment::WGS84Coordinate const&)'
libodvdopendlvdata.so: undefined reference to `geodetic::WGS84::WGS84(geodetic::WGS84 const&)'
libodvdopendlvdata.so: undefined reference to `vtable for opendlv::data::environment::WGS84Coordinate'
collect2: error: ld returned 1 exit status
CMakeFiles/opendlv_sensation_GeolocationTestSuite.h-TestSuite.dir/build.make:101: recipe for target 'opendlv_sensation_GeolocationTestSuite.h-TestSuite' failed
make[5]: *** [opendlv_sensation_GeolocationTestSuite.h-TestSuite] Error 1
CMakeFiles/Makefile2:178: recipe for target 'CMakeFiles/opendlv_sensation_GeolocationTestSuite.h-TestSuite.dir/all' failed
make[4]: *** [CMakeFiles/opendlv_sensation_GeolocationTestSuite.h-TestSuite.dir/all] Error 2
Makefile:160: recipe for target 'all' failed
make[3]: *** [all] Error 2
CMakeFiles/libodvdopendlvdata.dir/build.make:114: recipe for target 'libodvdopendlvdata-prefix/src/libodvdopendlvdata-stamp/libodvdopendlvdata-build' failed
make[2]: *** [libodvdopendlvdata-prefix/src/libodvdopendlvdata-stamp/libodvdopendlvdata-build] Error 2
CMakeFiles/Makefile2:141: recipe for target 'CMakeFiles/libodvdopendlvdata.dir/all' failed
make[1]: *** [CMakeFiles/libodvdopendlvdata.dir/all] Error 2
Makefile:83: recipe for target 'all' failed
make: *** [all] Error 2
make: *** [buildComplete] Error 2
Removing the last entry from the message
opendlv::data::environment::WGS84Coordinate positionAtRequest [id = 4];
it works.
According to @olbender It might be that the WGS84Coordinate is defined in another ODVD file.
As discussed today, it could make sense to directly extract the data fields from the string here to allow direct visualization in odcockpit for example:
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