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.

• (Blog) Intro and Hardware: https://aicurious.io/posts/adas-jetson-nano-intro-and-hardware/.
• (Blog) Software stack: https://aicurious.io/posts/adas-jetson-nano-software/.
• (Blog) Deep neural networks: https://aicurious.io/posts/adas-jetson-nano-deep-neural-networks/.
• (Documentation) OpenADAS: Design, CANbus, Calibration, Model training and deployment notes: docs/open-adas.md.
• (Documentation) How to setup on a Jetson Xavier: docs/setup-jetson-xavier.md.

Update 21/12/2020: I created an image of my SD card here. 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.

For TensorRT 7 support: Currently, only TensorRT e 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.

• CMake >= 3.10
• Qt 5
• OpenCV >= 4.0.1
• C++ 17 compiler
• CUDA 10.1
• 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.

• 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

• Download models and testing data here and put into root folder of this project.

• 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:

  • https://www.programmersought.com/article/28125950847/
  • https://arnon.dk/matching-sm-architectures-arch-and-gencode-for-various-nvidia-cards/

• Compile

cd <project directory>
mkdir build
cd build
cmake -DCUDA_INCLUDE_DIRS=/usr/local/cuda-10.1/include ..
make

• Setup virtual CAN (run once)

sudo bash setup_vcan.sh

• Run

./OpenADAS

This will starts the program in full screen and touch mode. If you want to use a computer mouse, add --on_dev_machine option:

./OpenADAS --on_dev_machine

Issue: cublas_v2.h not found

fatal error: cublas_v2.h: No such file or directory
 #include <cublas_v2.h>
          ^~~~~~~~~~~~~
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 <QtWidgets/QCloseEvent>
          ^~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.

Issue: SIOCGIFINDEX: No such device

sudo bash setup_vcan.sh

• In this project, we use code from:

  • Dark Theme for Qt5 by Juergen Skrotzky: https://github.com/Jorgen-VikingGod/Qt-Frameless-Window-DarkStyle.

• ICSim: https://github.com/zombieCraig/ICSim.