Smart intersection infra

Demo

For lidar, you should see something like this:

For Camera data, you should something like this:

Step-by-step process

Step 1

Copy the code/InnovizAPI-main to the ~/

Step 2

Navigate to the InnovizAPI-main/ros/catkin_ws

And compile the code:

catkin_make

If there is any error and package missing, just install the corresponding ros package, for example:

sudo apt-get install ros-melodic-gps-umd

Step 3

Connect the corresponding wire cable to the laptop and set up the WLAN ip to be: 192.168.0.x

Note: In 192.168.0.x, the x should be a number that is not same as the infra ip, which are shown below:

Step 4

Still in the InnovizAPI-main/ros/catkin_ws :

source devel/setup.bash

Launch the smart_intersection_se:

roslaunch smart_intersection_se smart_intersection_se.launch

Before you launch the above command, you need to modify the code in the smart_intersection_se.launch, uncomment the code that you need to launch and comment out the code that you don’t need.

Like the code below, we need to launch the camera 5 and show it in the rviz.

<?xml version="1.0"?>
<launch>


    <!-- rviz -->
    <arg name="rviz" default="true" />
    <group if="$(arg rviz)">
        <node launch-prefix="nice" pkg="rviz" type="rviz" name="rviz_" args="-d $(find smart_intersection_se)/rviz/rviz.rviz" />
    </group>


   <!-- axis camera 1 -->
<!--     <include file="$(find axis_camera)/launch/axis212.launch">
        <arg name="camera_name" default="axis212" />
        <arg name="hostname" default="192.168.0.212" />
        <arg name="enable_theora" default="0" />
        <arg name="enable_ptz" default="0" />
        <arg name="enable_ptz_teleop" default="0" />
        <arg name="width" default="1920" />
        <arg name="height" default="1080" />
        <arg name="camera" default="1" />
    </include> -->


   <!-- axis camera 2 -->
   
<!--     <include file="$(find axis_camera)/launch/axis213.launch">
        <arg name="camera_name" default="axis213" />
        <arg name="hostname" default="192.168.0.213" />
        <arg name="enable_theora" default="0" />
        <arg name="enable_ptz" default="0" />
        <arg name="enable_ptz_teleop" default="0" />
        <arg name="width" default="1920" />
        <arg name="height" default="1080" />
        <arg name="camera" default="1" />
    </include> -->

   <!-- axis camera 4 -->
   
<!--     <include file="$(find axis_camera)/launch/axis214.launch">
        <arg name="camera_name" default="axis214" />
        <arg name="hostname" default="192.168.0.214" />
        <arg name="enable_theora" default="0" />
        <arg name="enable_ptz" default="0" />
        <arg name="enable_ptz_teleop" default="0" />
        <arg name="width" default="1920" />
        <arg name="height" default="1080" />
        <arg name="camera" default="1" />
    </include> -->


   <!-- axis camera 5 -->
   
    <include file="$(find axis_camera)/launch/axis215.launch">
        <arg name="camera_name" default="axis215" />
        <arg name="hostname" default="192.168.0.215" />
        <arg name="enable_theora" default="0" />
        <arg name="enable_ptz" default="0" />
        <arg name="enable_ptz_teleop" default="0" />
        <arg name="width" default="1920" />
        <arg name="height" default="1080" />
        <arg name="camera" default="1" />
    </include>


    <!-- LiDAR -->
    <!-- <include file="$(find innoviz_ros)/launch/innoviz_ros.launch">
          <arg name="config_file_path" default="$(find innoviz_ros)/examples/lidar_configuration_files/om_ignore_blooming_config.json" /> 
          <arg name="get_attributes_timeout" default="1000"/> 
          <arg name="ref0" default="invz_reflection_0"/> 
          <arg name="ref1" default="invz_reflection_1" /> 
          <arg name="ref2" default="invz_reflection_2" /> 
          <arg name="summation" default="invz_summation_reflection" /> 
          <arg name="invz_log_path" default="" /> 
          <arg name="invz_log_level" default="3" /> 
          <arg name="ros_log_level" default="1" />
          <arg name="recording_file_path" default="" /> 
          <arg name="fpa" default="0.02" /> 
          <arg name="frame_id" default="innoviz_lidar" /> 
          <arg name="pcl_timestamp_option" default="published"/>          
    </include> -->


</launch>