From 70cacec78af265756a3366a3865caed5bb2c18ee Mon Sep 17 00:00:00 2001 From: JuneChul Roh Date: Wed, 20 Nov 2024 14:54:42 -0600 Subject: [PATCH] REL.10.01.00.01. 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+jobs: + build_stage1: + uses: ./.github/workflows/docker-build-stage1.yml + secrets: + env_PAT: ${{ secrets.GHCR_PAT }} + with: + soc: j784s4 + + build_am69a: + needs: build_stage1 + uses: ./.github/workflows/docker-build-stage2.yml + secrets: + env_PAT: ${{ secrets.GHCR_PAT }} + with: + soc: j784s4 + + build_am68a: + needs: build_stage1 + uses: ./.github/workflows/docker-build-stage2.yml + secrets: + env_PAT: ${{ secrets.GHCR_PAT }} + with: + soc: j721s2 + + build_tda4vm: + needs: build_stage1 + uses: ./.github/workflows/docker-build-stage2.yml + secrets: + env_PAT: ${{ secrets.GHCR_PAT }} + with: + soc: j721e + + build_am67a: + needs: build_stage1 + uses: ./.github/workflows/docker-build-stage2.yml + secrets: + env_PAT: ${{ secrets.GHCR_PAT }} + with: + soc: j722s + + build_am62a: + needs: build_stage1 + uses: ./.github/workflows/docker-build-stage2.yml + secrets: + env_PAT: ${{ secrets.GHCR_PAT }} + with: + soc: am62a diff --git a/.github/workflows/docker-build-pc.yml b/.github/workflows/docker-build-pc.yml new file mode 100644 index 0000000..2da2c95 --- /dev/null +++ b/.github/workflows/docker-build-pc.yml @@ -0,0 +1,106 @@ +name: docker-build-pc + +on: + workflow_dispatch: + +env: + # SDK_VER should match to the SDK_VER defined in docker/Makefile + SDK_VER: 10.1.0.1 + SDK_DIR: ${{ github.workspace }} + GH_TOKEN: ${{ secrets.GHCR_PAT }} + +jobs: + build_pc: + runs-on: ubuntu-22.04 + + steps: + - name: Checkout repository + uses: actions/checkout@v4 + + - name: Set up Docker Buildx + uses: docker/setup-buildx-action@v3 + + - name: Login to GitHub Container Registry + uses: docker/login-action@v3 + with: + registry: ghcr.io + username: ${{ github.actor }} + password: ${{ secrets.GHCR_PAT }} + + - name: Initial setup for the SDK repository + run: | + SDK_DIR=$SDK_DIR $SDK_DIR/scripts/install_gscam.sh + SDK_DIR=$SDK_DIR $SDK_DIR/scripts/install_mmwave_rospkg.sh 2 + # verify + ls -l $SDK_DIR/ros2/drivers + + - name: Set up Docker build script + run: | + mkdir -p $HOME/j7ros_home + cd $HOME/j7ros_home + makefile_path=$SDK_DIR/docker/Makefile + if [ -f $makefile_path ]; then + ln -snf $SDK_DIR/docker/Makefile . + else + echo "Error: $makefile_path does not exist" + exit 1 + fi + PLATFORM=pc SDK_DIR=$SDK_DIR make scripts + + - name: Verify script generation + run: | + ls -l $HOME/j7ros_home + more $HOME/j7ros_home/docker_build.sh + + - name: Build Docker image + run: | + cd $HOME/j7ros_home + ./docker_build.sh + + - name: Build and install the SDK ROS nodes + run: | + cd $HOME/j7ros_home + # create docker_run_commit.sh + script_file=docker_run_commit.sh + cp docker_run.sh $script_file + sed -i 's/docker run -it --rm \\/docker run --platform linux\/amd64 \\/' $script_file + sed -i '/xhost +local:$USER/d' $script_file + sed -i '/xhost -local:$USER/d' $script_file + echo 'CONTAINER_ID=$(docker ps -a --filter "ancestor=$DOCKER_TAG" --format "{{.ID}}" | head -n 1)' >> $script_file + echo 'docker tag $DOCKER_TAG ${DOCKER_TAG}-org' >> $script_file + echo 'docker commit $CONTAINER_ID ${DOCKER_TAG}' >> $script_file + more $script_file + # build and install the SDK ROS nodes + ./docker_run_commit.sh colcon build \ + --base-paths /root/j7ros_home/ros_ws/src/robotics_sdk/ros2 \ + --cmake-force-configure \ + --packages-skip ti_external ti_vision_cnn ti_sde ti_estop ti_vl ti_objdet_range ti_ros_gst_plugins \ + --install-base /opt/ros/robotics_sdk_install + docker images + + - name: Add a Docker label + run: | + docker_tag=robotics-sdk:${{ env.SDK_VER }}-humble-viz + docker images + if [ "$(docker images -q $docker_tag 2> /dev/null)" == "" ]; then + echo "Docker image $docker_tag does not exist." + exit 1 + else + echo "FROM --platform=linux/amd64 $docker_tag" | \ + docker build --label org.opencontainers.image.source=https://github.com/${{ github.repository }} -t $docker_tag - + docker inspect --format='{{json .Config.Labels}}' $docker_tag + fi + + - name: Push Docker image + run: | + docker_tag=robotics-sdk:${{ env.SDK_VER }}-humble-viz + remote_docker_tag=ghcr.io/${{ github.repository_owner }}/$docker_tag + remote_docker_tag=${remote_docker_tag,,} + docker tag $docker_tag $remote_docker_tag + for i in 1 2 3; do + if docker push $remote_docker_tag; then + break + fi + echo "Retry $i pushing image..." + sleep 10 + done diff --git a/.github/workflows/docker-build-stage1.yml b/.github/workflows/docker-build-stage1.yml new file mode 100644 index 0000000..b1c8fbf --- /dev/null +++ b/.github/workflows/docker-build-stage1.yml @@ -0,0 +1,92 @@ +name: docker-build-stage1 reusable + +on: + workflow_call: + inputs: + soc: + required: true + type: string + secrets: + env_PAT: + required: true + +env: + # SDK_VER should match to the SDK_VER defined in docker/Makefile + SDK_VER: 10.1.0.1 + SDK_DIR: ${{ github.workspace }} + GH_TOKEN: ${{ secrets.env_PAT }} + +jobs: + build: + runs-on: ubuntu-22.04 + + steps: + - name: Checkout repository + uses: actions/checkout@v4 + + - name: Set up QEMU + uses: docker/setup-qemu-action@v3 + with: + platforms: arm64 + + - name: Set up Docker Buildx + uses: docker/setup-buildx-action@v3 + + - name: Login to GitHub Container Registry + uses: docker/login-action@v3 + with: + registry: ghcr.io + username: ${{ github.actor }} + password: ${{ secrets.env_PAT }} + + - name: Verify the SDK repository + run: ls -l $SDK_DIR + + - name: Set up Docker build script + run: | + mkdir -p $HOME/j7ros_home + cd $HOME/j7ros_home + makefile_path=${{ env.SDK_DIR }}/docker/Makefile + if [ -f $makefile_path ]; then + ln -snf $makefile_path . + else + echo "Error: $makefile_path does not exist" + exit 1 + fi + PLATFORM=j7 SDK_DIR=${{ env.SDK_DIR }} make scripts + + - name: Verify script generation + run: | + ls -l $HOME/j7ros_home + more $HOME/j7ros_home/docker_build.sh + + - name: Build Docker image + run: | + cd $HOME/j7ros_home + SOC=${{ inputs.soc }} ./docker_build.sh stage1_only + + - name: Add a Docker label + run: | + docker_tag=robotics-sdk:${{ env.SDK_VER }}-humble-base + docker images + if [ "$(docker images -q $docker_tag 2> /dev/null)" == "" ]; then + echo "Docker image $docker_tag does not exist." + exit 1 + else + echo "FROM --platform=linux/arm64 $docker_tag" | docker build --label org.opencontainers.image.source=https://github.com/${{ github.repository }} -t $docker_tag - + docker inspect --format='{{json .Config.Labels}}' $docker_tag + fi + + - name: Push Docker image + run: | + docker_tag=robotics-sdk:${{ env.SDK_VER }}-humble-base + remote_docker_tag=ghcr.io/${{ github.repository_owner }}/$docker_tag + remote_docker_tag=${remote_docker_tag,,} + docker tag $docker_tag $remote_docker_tag + for i in 1 2 3; do + if docker push $remote_docker_tag; then + break + fi + echo "Retry $i pushing image..." + sleep 10 + done diff --git a/.github/workflows/docker-build-stage2.yml b/.github/workflows/docker-build-stage2.yml new file mode 100644 index 0000000..78f159e --- /dev/null +++ b/.github/workflows/docker-build-stage2.yml @@ -0,0 +1,124 @@ +name: docker-build-stage2 reusable + +on: + workflow_call: + inputs: + soc: + required: true + type: string + secrets: + env_PAT: + required: true + +env: + # SDK_VER should match to the SDK_VER defined in docker/Makefile + SDK_VER: 10.1.0.1 + SDK_DIR: ${{ github.workspace }} + GH_TOKEN: ${{ secrets.env_PAT }} + +jobs: + build: + runs-on: ubuntu-22.04 + + steps: + - name: Checkout repository + uses: actions/checkout@v4 + + - name: Set up QEMU + uses: docker/setup-qemu-action@v3 + with: + platforms: arm64 + + - name: Set up Docker Buildx + uses: docker/setup-buildx-action@v3 + + - name: Login to GitHub Container Registry + uses: docker/login-action@v3 + with: + registry: ghcr.io + username: ${{ github.actor }} + password: ${{ secrets.env_PAT }} + + - name: Initial setup for the SDK repository + run: | + SDK_DIR=$SDK_DIR $SDK_DIR/scripts/install_gscam.sh + SDK_DIR=$SDK_DIR $SDK_DIR/scripts/install_mmwave_rospkg.sh 2 + # verify + ls -l $SDK_DIR/ros2/drivers + + - name: Set up Docker build script + run: | + mkdir -p $HOME/j7ros_home + cd $HOME/j7ros_home + makefile_path=${{ env.SDK_DIR }}/docker/Makefile + if [ -f $makefile_path ]; then + ln -snf $makefile_path . + else + echo "Error: $makefile_path does not exist" + exit 1 + fi + PLATFORM=j7 SDK_DIR=${{ env.SDK_DIR }} make scripts + + - name: Verify script generation + run: | + ls -l $HOME/j7ros_home + more $HOME/j7ros_home/docker_build.sh + + - name: Pull Docker image + run: | + docker_tag=robotics-sdk:${{ env.SDK_VER }}-humble-base + remote_docker_tag=ghcr.io/${{ github.repository_owner }}/$docker_tag + remote_docker_tag=${remote_docker_tag,,} + docker pull $remote_docker_tag + docker tag $remote_docker_tag $docker_tag + + - name: Build Docker image + run: | + cd $HOME/j7ros_home + SOC=${{ inputs.soc }} ./docker_build.sh stage2_only + + - name: Build and install the SDK ROS nodes + run: | + cd $HOME/j7ros_home + # create docker_run_commit.sh + script_file=docker_run_commit.sh + cp docker_run.sh $script_file + sed -i 's/docker run -it --rm \\/docker run --platform linux\/arm64 \\/' $script_file + echo 'CONTAINER_ID=$(docker ps -a --filter "ancestor=$DOCKER_TAG" --format "{{.ID}}" | head -n 1)' >> $script_file + echo 'docker tag $DOCKER_TAG ${DOCKER_TAG}-org' >> $script_file + echo 'docker commit $CONTAINER_ID ${DOCKER_TAG}' >> $script_file + more $script_file + # build and install the SDK ROS nodes + SOC=${{ inputs.soc }} ./docker_run_commit.sh colcon build \ + --base-paths /opt/robotics_sdk/ros2 \ + --cmake-force-configure \ + --packages-skip ti_viz_nodes \ + --install-base /opt/ros/robotics_sdk_install + docker images + + - name: Add a Docker label + run: | + docker_tag=robotics-sdk:${{ env.SDK_VER }}-humble-${{ inputs.soc }} + docker images + if [ "$(docker images -q $docker_tag 2> /dev/null)" == "" ]; then + echo "Docker image $docker_tag does not exist." + exit 1 + else + echo "FROM --platform=linux/arm64 $docker_tag" | \ + docker build --label org.opencontainers.image.source=https://github.com/${{ github.repository }} -t $docker_tag - + docker inspect --format='{{json .Config.Labels}}' $docker_tag + fi + + - name: Push Docker image + run: | + docker_tag=robotics-sdk:${{ env.SDK_VER }}-humble-${{ inputs.soc }} + remote_docker_tag=ghcr.io/${{ github.repository_owner }}/$docker_tag + remote_docker_tag=${remote_docker_tag,,} + docker tag $docker_tag $remote_docker_tag + for i in 1 2 3; do + if docker push $remote_docker_tag; then + break + fi + echo "Retry $i pushing image..." + sleep 10 + done diff --git a/README.md b/README.md index ff64108..5c914ab 100644 --- a/README.md +++ b/README.md @@ -2,7 +2,7 @@ ## Git Repository -[Robotics SDK Git Repository](https://git.ti.com/cgit/processor-sdk-vision/jacinto_ros_perception/about/) +[Robotics SDK Git Repository](https://github.com/TexasInstruments/edgeai-robotics-sdk) ## User Guide Documentation diff --git a/cmake/ros1_common.cmake b/cmake/ros1_common.cmake deleted file mode 100644 index b8b778c..0000000 --- a/cmake/ros1_common.cmake +++ /dev/null @@ -1,31 +0,0 @@ -find_package(catkin REQUIRED COMPONENTS roscpp cv_bridge image_transport sensor_msgs std_msgs message_generation common_msgs) -find_package(OpenCV REQUIRED) - -catkin_package(CATKIN_DEPENDS roscpp cv_bridge image_transport sensor_msgs message_runtime) - -include(${CMAKE_CURRENT_LIST_DIR}/common_platform.cmake) - -include_directories(${catkin_INCLUDE_DIRS} - ${OpenCV_INCLUDE_DIRS}) - -# Function for building a node: -# ARG0: app name -# ARG1: source list -function(build_node) - set(app ${ARGV0}) - set(src ${ARGV1}) - - add_executable(${app} ${${src}}) - target_link_libraries(${app} - ${catkin_LIBRARIES} - -Wl,--start-group - ${COMMON_LINK_LIBS} - ${TARGET_LINK_LIBS} - -Wl,--end-group - ) - - add_dependencies(${app} - ${common_msgs_EXPORTED_TARGETS}) - -endfunction(build_node) - diff --git a/docker/Dockerfile.arm64.humble b/docker/Dockerfile.arm64.humble index 2e7535b..93453b6 100644 --- a/docker/Dockerfile.arm64.humble +++ b/docker/Dockerfile.arm64.humble @@ -32,7 +32,7 @@ ARG USE_PROXY ARG HTTP_PROXY ARG REPO_LOCATION ARG DEBIAN_FRONTEND=noninteractive -ARG BASE_URL +ARG BASE_URL_RT #========================================================================= # The environment variable REPO_LOCATION is set from outside as needed, @@ -50,7 +50,7 @@ ENV https_proxy=${HTTP_PROXY} #========================================================================= FROM base-${USE_PROXY} AS ros-gst ARG DEBIAN_FRONTEND -ARG BASE_URL +ARG BASE_URL_RT # setup proxy settings ADD setup_proxy.sh /root/ diff --git a/docker/Dockerfile.arm64.ti_libs b/docker/Dockerfile.arm64.ti_libs index 72c41b6..740d367 100644 --- a/docker/Dockerfile.arm64.ti_libs +++ b/docker/Dockerfile.arm64.ti_libs @@ -37,7 +37,9 @@ ARG SOC_NAME ARG ROS_DISTRO ARG SDK_VER ARG EDGEAI_VER -ARG BASE_URL +ARG BASE_URL_VA +ARG BASE_URL_RT +ARG SDK_VER_MAJOR ARG SDK_VER_STR #========================================================================= @@ -59,7 +61,9 @@ ARG RPMSG_LIB_VER ARG SOC_NAME ARG EDGEAI_VER ENV SOC=$SOC_NAME -ARG BASE_URL +ARG BASE_URL_VA +ARG BASE_URL_RT +ARG SDK_VER_MAJOR ARG SDK_VER_STR # setup proxy settings @@ -91,27 +95,27 @@ RUN apt-get update && \ # git-clone edgeai-gst-apps WORKDIR /opt -RUN git clone --single-branch --branch 10.00.00.08 https://github.com/TexasInstruments/edgeai-gst-apps.git +RUN git clone --single-branch --branch 10.01.00.01 https://github.com/TexasInstruments/edgeai-gst-apps.git # install apps-utils -RUN /opt/edgeai-gst-apps/scripts/install_apps_utils.sh -b 10.00.00.08 && \ +RUN /opt/edgeai-gst-apps/scripts/install_apps_utils.sh -b 10.01.00.01 && \ rm -rf /opt/edgeai-apps-utils # install dl-inferer -RUN git clone --single-branch --branch 10.00.00.08 https://git.ti.com/cgit/edgeai/edgeai-dl-inferer && \ +RUN git clone --single-branch --branch 10.01.00.01 https://git.ti.com/cgit/edgeai/edgeai-dl-inferer && \ /opt/edgeai-dl-inferer/scripts/build_dl_inferer.sh && \ rm -rf /opt/edgeai-dl-inferer # install edgeai-tiovx-kernels -RUN /opt/edgeai-gst-apps/scripts/install_tiovx_kernels.sh -b 10.00.00.08 && \ +RUN /opt/edgeai-gst-apps/scripts/install_tiovx_kernels.sh -b 10.01.00.01 && \ rm -rf /opt/edgeai-tiovx-kernels # install edgeai-tiovx-modules -RUN /opt/edgeai-gst-apps/scripts/install_tiovx_modules.sh -b 10.00.00.08 && \ +RUN /opt/edgeai-gst-apps/scripts/install_tiovx_modules.sh -b 10.01.00.01 && \ rm -rf /opt/edgeai-tiovx-modules # install edgeai-gst-plugins -RUN /opt/edgeai-gst-apps/scripts/install_gst_plugins.sh -b 10.00.00.08 && \ +RUN /opt/edgeai-gst-apps/scripts/install_gst_plugins.sh -b 10.01.00.01 && \ rm -rf /opt/edgeai-gst-plugins # install python modules for DL RT @@ -120,7 +124,7 @@ RUN apt-get update && apt-get install -y --no-install-recommends \ python3 -m pip install --no-cache-dir PyYAML # install ti-gpio-cpp -RUN /opt/edgeai-gst-apps/scripts/install_ti_gpio_libs.sh -b 10.00.00.08 +RUN /opt/edgeai-gst-apps/scripts/install_ti_gpio_libs.sh -b 10.01.00.01 # build perf_stats tool RUN cd /opt/edgeai-gst-apps/scripts/perf_stats && \ diff --git a/docker/Makefile b/docker/Makefile index c6d2c23..2e33f27 100644 --- a/docker/Makefile +++ b/docker/Makefile @@ -8,13 +8,14 @@ ROS_VER ?= 2 GPUS ?= n # Robotics SDK version -SDK_VER ?= 10.0.0 -EDGEAI_VER ?= 10.0.0.8 -TIVA_LIB_VER ?= 10.0.0 +SDK_VER ?= 10.1.0.1 +EDGEAI_VER ?= 10.1.0.1 +TIVA_LIB_VER ?= 10.1.0 RPMSG_LIB_VER ?= 0.6.7 # Used in install_vision_apps_lib.sh, install_osrt_libs.sh, install_tidl_libs.sh -REL_MAJOR ?= 10_00_00 +LIB_REL_TAG ?= 10.01.00.01 +SDK_VER_MAJOR ?= 10.1.0 SDK_VER_STR ?= 10000005 # Set the operating variables based on the ROS version specified @@ -71,8 +72,11 @@ VISLOC_DATA_URL = $(URL_BASE)/$(VISLOC_DATA_FILE) LIDAR2D_LOC_URL = $(URL_BASE)/$(LIDAR2D_FILE) CALIB_IMGS_URL = $(URL_BASE)/$(CALIB_IMGS_FILE) -# base URL for downloading dependency libs -LIB_BASE_URL ?= https://software-dl.ti.com/jacinto7/esd/robotics-sdk/$(REL_MAJOR)/deps +# base URL for TI vision-apps lib +LIB_BASE_URL_VA=https://github.com/TexasInstruments-Sandbox/edgeai-vision-apps-lib-build/releases/download/$(LIB_REL_TAG) + +# base URL for OS-RT libs and TIDL libs +LIB_BASE_URL_RT=https://github.com/TexasInstruments-Sandbox/edgeai-osrt-libs-build/releases/download/rel.$(LIB_REL_TAG)-ubuntu22.04 # IP address J7_IP_ADDR := $(shell ifconfig | grep -A 1 'eth0' | tail -1 | awk '{print $$2}') @@ -116,12 +120,12 @@ docker_build: @echo "SDK_VER=$(SDK_VER)" >> $(TGT_NAME) @echo "ROS_DISTRO=$(ROS_DISTRO)" >> $(TGT_NAME) ifeq ($(PLATFORM), j7) - @echo "DOCKER_TAG=robotics-sdk:\$$SDK_VER-\$$ROS_DISTRO-base" >> $(TGT_NAME) + @echo "DOCKER_TAG=robotics-sdk:\$${SDK_VER}-\$${ROS_DISTRO}-base" >> $(TGT_NAME) else ifeq ($(PLATFORM), pc) - @echo "DOCKER_TAG=robotics-sdk:\$$SDK_VER-\$$ROS_DISTRO-viz" >> $(TGT_NAME) + @echo "DOCKER_TAG=robotics-sdk:\$${SDK_VER}-\$${ROS_DISTRO}-viz" >> $(TGT_NAME) endif ifeq ($(PLATFORM), j7) - @echo "DOCKER_TAG2=robotics-sdk:\$$SDK_VER-\$$ROS_DISTRO-\$$SOC" >> $(TGT_NAME) + @echo "DOCKER_TAG2=robotics-sdk:\$${SDK_VER}-\$${ROS_DISTRO}-\$${SOC}" >> $(TGT_NAME) endif @echo "export SDK_DIR=$(SDK_DIR)" >> $(TGT_NAME) @echo "export ARCH=$(ARCH)" >> $(TGT_NAME) @@ -141,7 +145,9 @@ endif ifeq ($(PLATFORM), j7) @echo "TIVA_LIB_VER=$(TIVA_LIB_VER)" >> $(TGT_NAME) @echo "RPMSG_LIB_VER=$(RPMSG_LIB_VER)" >> $(TGT_NAME) - @echo ": \"\$${BASE_URL:=$(LIB_BASE_URL)}\"" >> $(TGT_NAME) + @echo ": \"\$${BASE_URL_VA:=$(LIB_BASE_URL_VA)}\"" >> $(TGT_NAME) + @echo ": \"\$${BASE_URL_RT:=$(LIB_BASE_URL_RT)}\"" >> $(TGT_NAME) + @echo "SDK_VER_MAJOR=$(SDK_VER_MAJOR)" >> $(TGT_NAME) @echo "SDK_VER_STR=$(SDK_VER_STR)" >> $(TGT_NAME) endif @echo "bash \$$DOCKER_DIR/scripts/prepare_docker_build.sh \$$DST_DIR" >> $(TGT_NAME) @@ -152,14 +158,16 @@ endif @echo " --build-arg USE_PROXY=\$$USE_PROXY \\" >> $(TGT_NAME) @echo " --build-arg REPO_LOCATION=\$$REPO_LOCATION \\" >> $(TGT_NAME) @echo " --build-arg HTTP_PROXY=\$$HTTP_PROXY \\" >> $(TGT_NAME) - @echo " --build-arg BASE_URL=\$$BASE_URL \\" >> $(TGT_NAME) +ifeq ($(PLATFORM), j7) + @echo " --build-arg BASE_URL_RT=\$$BASE_URL_RT \\" >> $(TGT_NAME) +endif ifeq ($(PLATFORM), pc) @echo " --build-arg EDGEAI_VER=\$$EDGEAI_VER \\" >> $(TGT_NAME) endif ifeq ($(PLATFORM), j7) - @echo " -f \$$DOCKER_DIR/Dockerfile.$(ARCH).\$$ROS_DISTRO ./docker_src" >> $(TGT_NAME) + @echo " -f \$$DOCKER_DIR/Dockerfile.$(ARCH).\$$ROS_DISTRO ./docker_src" >> $(TGT_NAME) else ifeq ($(PLATFORM), pc) - @echo " -f \$$DOCKER_DIR/Dockerfile.viz.\$$ROS_DISTRO ./docker_src" >> $(TGT_NAME) + @echo " -f \$$DOCKER_DIR/Dockerfile.viz.\$$ROS_DISTRO ./docker_src" >> $(TGT_NAME) endif @echo " echo \"Docker build -t \$$DOCKER_TAG completed!\"" >> $(TGT_NAME) @echo "fi" >> $(TGT_NAME) @@ -175,7 +183,9 @@ ifeq ($(PLATFORM), j7) @echo " --build-arg ROS_DISTRO=\$$ROS_DISTRO \\" >> $(TGT_NAME) @echo " --build-arg SDK_VER=\$$SDK_VER \\" >> $(TGT_NAME) @echo " --build-arg EDGEAI_VER=\$$EDGEAI_VER \\" >> $(TGT_NAME) - @echo " --build-arg BASE_URL=\$$BASE_URL \\" >> $(TGT_NAME) + @echo " --build-arg BASE_URL_VA=\$$BASE_URL_VA \\" >> $(TGT_NAME) + @echo " --build-arg BASE_URL_RT=\$$BASE_URL_RT \\" >> $(TGT_NAME) + @echo " --build-arg SDK_VER_MAJOR=\$$SDK_VER_MAJOR \\" >> $(TGT_NAME) @echo " --build-arg SDK_VER_STR=\$$SDK_VER_STR \\" >> $(TGT_NAME) @echo " -f \$$DOCKER_DIR/Dockerfile.$(ARCH).ti_libs ./docker_src" >> $(TGT_NAME) @echo " echo \"Docker build -t \$$DOCKER_TAG2 completed!\"" >> $(TGT_NAME) @@ -193,9 +203,9 @@ docker_run: @echo "SDK_VER=$(SDK_VER)" >> $(TGT_NAME) @echo "ROS_DISTRO=$(ROS_DISTRO)" >> $(TGT_NAME) ifeq ($(PLATFORM), j7) - @echo "DOCKER_TAG=robotics-sdk:\$$SDK_VER-\$$ROS_DISTRO-\$$SOC" >> $(TGT_NAME) + @echo "DOCKER_TAG=robotics-sdk:\$${SDK_VER}-\$${ROS_DISTRO}-\$${SOC}" >> $(TGT_NAME) else ifeq ($(PLATFORM), pc) - @echo "DOCKER_TAG=robotics-sdk:\$$SDK_VER-\$$ROS_DISTRO-viz" >> $(TGT_NAME) + @echo "DOCKER_TAG=robotics-sdk:\$${SDK_VER}-\$${ROS_DISTRO}-viz" >> $(TGT_NAME) endif @echo ": \"\$${USE_PROXY:=$(USE_PROXY)}\"" >> $(TGT_NAME) ifeq ($(PLATFORM), j7) @@ -219,7 +229,7 @@ endif @echo "docker run -it --rm \\" >> $(TGT_NAME) @echo " -v $(WORK_PATH_HOST):/root/$(WORK_DIR) \\" >> $(TGT_NAME) ifeq ($(PLATFORM), j7) - @echo " -v $(SDK_DIR):/opt/robotics_sdk \\" >> $(TGT_NAME) + @echo " -v \$${SDK_DIR}:/opt/robotics_sdk \\" >> $(TGT_NAME) endif ifeq ($(PLATFORM), j7) @echo " -v $(WORK_PATH_HOST)/.ros:/root/.ros \\" >> $(TGT_NAME) @@ -242,7 +252,7 @@ ifeq ($(PLATFORM), j7) ifeq ($(ROS_VER), 1) @echo " --env J7_IP_ADDR=\$$IP_ADDR \\" >> $(TGT_NAME) endif - @echo " --env-file \$$DOCKER_DIR/env_list.txt \\" >> $(TGT_NAME) + @echo " --env-file \$${DOCKER_DIR}/env_list.txt \\" >> $(TGT_NAME) @echo " --device-cgroup-rule='c 235:* rmw' \\" >> $(TGT_NAME) endif ifeq ($(PLATFORM), pc) diff --git a/docker/README.md b/docker/README.md index 7e74f2e..26a073a 100644 --- a/docker/README.md +++ b/docker/README.md @@ -155,14 +155,14 @@ This script takes care of: #### On the Remote Ubuntu PC In a similar way, you can use a script to set up on the remote Ubuntu PC for visualization: ``` -user@pc:~$ wget -O init_setup.sh https://git.ti.com/cgit/processor-sdk-vision/jacinto_ros_perception/plain/init_setup.sh -user@pc:~$ source ./init_setup.sh REL.10.00.00 +user@pc:~$ wget -O init_setup.sh https://raw.githubusercontent.com/TexasInstruments/edgeai-robotics-sdk/master/init_setup.sh +user@pc:~$ source ./init_setup.sh REL.10.01.00 ``` ````{note} In a proxy network, in case the `wget` command above does not work, you can try again with adding `--proxy off` argument: ``` -user@pc:~$ wget --proxy off -O init_setup.sh https://git.ti.com/cgit/processor-sdk-vision/jacinto_ros_perception/plain/init_setup.sh +user@pc:~$ wget --proxy off -O init_setup.sh https://raw.githubusercontent.com/TexasInstruments/edgeai-robotics-sdk/master/init_setup.sh ``` ```` @@ -188,10 +188,6 @@ The following section describes the Docker environment setup, details of buildin **Proxy Network**: If the board running the Docker container is behind a proxy server, the default settings for downloading files and installing packages via `apt-get` may not work, and proper settings for proxy should be established for building and running the SDK Docker image. ``` -```{tip} -**Docker Run**: After "docker build" is completed, it is important to use `docker_run_rosX.sh` script to start a Docker container, since the script includes all the necessary settings to leverage all the cores and hardware accelerators of the processor. Please note that `docker_run_rosX.sh` includes `--rm` argument by default. Just remove the `--rm` argument in `docker_run_rosX.sh` in case you want to do "docker commit" after exiting a Docker container. A short information about several useful Docker commands is provided in {{'[this link](https://software-dl.ti.com/jacinto7/esd/processor-sdk-linux-edgeai/TDA4VM/{}/exports/docs/common/docker_environment.html#additional-docker-commands)'.format(SDK_VER)}}. -``` - `````{only} tag_ros1n2 ````{tip} **Switching between ROS 1 and ROS 2 Docker Containers**: When the applications are built under the ROS 1 container, two directories, `{build, devel}` are created under **ros_ws** directory under target host and similarly `{build, install, log}` directories are created when applications are built under ROS 2 container. Since the containers share the common space `ros_ws` on target host Linux filesystem, these directories need to be removed if switching between ROS 1 and ROS 2 containers. Alternatively, we can create different folders for each of ROS distro and apply soft-links as shown below as example before running "docker run" script. diff --git a/docker/install_gst_v4l2_lib.sh b/docker/install_gst_v4l2_lib.sh index eb0d914..720d125 100755 --- a/docker/install_gst_v4l2_lib.sh +++ b/docker/install_gst_v4l2_lib.sh @@ -34,12 +34,12 @@ set -e echo "$(basename "$0"): Processing..." -# Example BASE_URL="https://software-dl.ti.com/jacinto7/esd/robotics-sdk/10_00_00/deps" -if [ -z "$BASE_URL" ]; then - echo "Error: BASE_URL is not defined." +# Example BASE_URL_RT="https://github.com/TexasInstruments-Sandbox/edgeai-osrt-libs-build/releases/download/rel.10.01.00.01-ubuntu22.04" +if [ -z "$BASE_URL_RT" ]; then + echo "Error: BASE_URL_RT is not defined." exit 1 else - echo "BASE_URL=$BASE_URL" + echo "BASE_URL_RT=$BASE_URL_RT" fi # package name @@ -56,7 +56,7 @@ fi # download the lib file if [ "$DOWNLOAD_LIBS" = true ]; then mkdir -p "$LIB_DIR" - wget -q --no-proxy "${BASE_URL}/${PKG}" -O "${LIB_DIR}/${PKG}" + wget -q --no-proxy "${BASE_URL_RT}/${PKG}" -O "${LIB_DIR}/${PKG}" if [ $? -ne 0 ]; then echo "Error: Failed to download $PKG" exit 1 diff --git a/docker/install_osrt_libs.sh b/docker/install_osrt_libs.sh index 061bdf4..e1463ec 100755 --- a/docker/install_osrt_libs.sh +++ b/docker/install_osrt_libs.sh @@ -34,16 +34,16 @@ set -e echo "$(basename "$0"): Processing..." -# Example BASE_URL="https://software-dl.ti.com/jacinto7/esd/robotics-sdk/10_00_00/deps" -if [ -z "$BASE_URL" ]; then - echo "Error: BASE_URL is not defined." +# Example BASE_URL_RT="https://github.com/TexasInstruments-Sandbox/edgeai-osrt-libs-build/releases/download/rel.10.01.00.01-ubuntu22.04" +if [ -z "$BASE_URL_RT" ]; then + echo "Error: BASE_URL_RT is not defined." exit 1 else - echo "BASE_URL=$BASE_URL" + echo "BASE_URL_RT=$BASE_URL_RT" fi if [ -z "$SDK_VER_STR" ]; then - echo "Error: BASE_URL is not defined." + echo "Error: BASE_URL_RT is not defined." exit 1 else echo "SDK_VER_STR=$SDK_VER_STR" @@ -81,7 +81,7 @@ download_files() { if [ "$DOWNLOAD_LIBS" = true ]; then mkdir -p "$LIB_DIR" for file in "${FILES[@]}"; do - wget -q --no-proxy "$BASE_URL/$file" -O "$LIB_DIR/$file" + wget -q --no-proxy "$BASE_URL_RT/$file" -O "$LIB_DIR/$file" if [ $? -ne 0 ]; then echo "Error: Failed to download $file" exit 1 diff --git a/docker/install_tidl_libs.sh b/docker/install_tidl_libs.sh index 1a4a05e..2084eff 100755 --- a/docker/install_tidl_libs.sh +++ b/docker/install_tidl_libs.sh @@ -34,21 +34,32 @@ set -e echo "$(basename "$0"): Processing..." -# Example BASE_URL="https://software-dl.ti.com/jacinto7/esd/robotics-sdk/10_00_00/deps" -if [ -z "$BASE_URL" ]; then - echo "Error: BASE_URL is not defined." +# Example BASE_URL_RT="https://github.com/TexasInstruments-Sandbox/edgeai-osrt-libs-build/releases/download/rel.10.01.00.01-ubuntu22.04" +if [ -z "$BASE_URL_RT" ]; then + echo "Error: BASE_URL_RT is not defined." exit 1 else - echo "BASE_URL=$BASE_URL" + echo "BASE_URL_RT=$BASE_URL_RT" fi if [ -z "$SOC" ]; then - echo "SOC=$SOC: SOC should be defined." + echo "Error: SOC is not defined." exit 1 else echo "SOC=$SOC" fi +if [ -z "$SDK_VER_MAJOR" ]; then + echo "Error: SDK_VER_MAJOR is not defined." + exit 1 +else + echo "SDK_VER_MAJOR=$SDK_VER_MAJOR" +fi + +# lib tarball filename +TARBALL_BASE=arm-tidl-${SOC}_${SDK_VER_MAJOR}-ubuntu22.04 +TARBALL=${TARBALL_BASE}.tar.gz + # TIDL runtime modules LIB_TIDL_RT=libvx_tidl_rt.so LIB_ONNX_RT_EP=libtidl_onnxrt_EP.so @@ -57,9 +68,9 @@ TIDL_SO_VER=1.0 # list of files to download FILES=( - "arm-tidl/${SOC}/${LIB_TIDL_RT}.${TIDL_SO_VER}" - "arm-tidl/${SOC}/${LIB_ONNX_RT_EP}.${TIDL_SO_VER}" - "arm-tidl/${SOC}/${LIB_TFLITE_RT_DELEGATE}.${TIDL_SO_VER}" + "${LIB_TIDL_RT}.${TIDL_SO_VER}" + "${LIB_ONNX_RT_EP}.${TIDL_SO_VER}" + "${LIB_TFLITE_RT_DELEGATE}.${TIDL_SO_VER}" ) LINK_FILES=( @@ -79,18 +90,18 @@ fi # destination folder for lib files LIB_DST="/usr/lib" -# function to download the lib files -download_files() { +# function to download the lib tarball +download_and_extract_tarball() { + echo "$(basename "$0"): Downloading and extracting $TARBALL. DOWNLOAD_LIBS=$DOWNLOAD_LIBS" if [ "$DOWNLOAD_LIBS" = true ]; then mkdir -p "$LIB_DIR" - for file in "${FILES[@]}"; do - mkdir -p "$LIB_DIR/$(dirname "$file")" - wget -q --no-proxy "$BASE_URL/$file" -O "$LIB_DIR/$file" - if [ $? -ne 0 ]; then - echo "Error: Failed to download $file" - exit 1 - fi - done + wget -q --no-proxy "$BASE_URL_RT/$TARBALL" -O "$LIB_DIR/$TARBALL" + if [ $? -ne 0 ]; then + echo "Error: Failed to download $TARBALL" + exit 1 + fi + tar -xzf "$LIB_DIR/$TARBALL" -C "$LIB_DIR" + echo "$(basename "$0"):Successfully downloaded and extracted $TARBALL" fi } @@ -101,11 +112,12 @@ copy_and_link_files() { link_file="${LINK_FILES[$i]}" # copy the file to /usr/lib - cp "$LIB_DIR/$file" "${LIB_DST}/$(basename "$file")" + cp "$LIB_DIR/$TARBALL_BASE/$file" "${LIB_DST}/$(basename "$file")" # create the symbolic link ln -snf "${LIB_DST}/$(basename "$file")" "${LIB_DST}/${link_file}" done + echo "Successfully copied and linked the library files" } # clean up @@ -115,7 +127,8 @@ clean_up() { fi } -download_files +# main +download_and_extract_tarball copy_and_link_files clean_up diff --git a/docker/install_vision_apps_lib.sh b/docker/install_vision_apps_lib.sh index 43f4e8e..83572ef 100755 --- a/docker/install_vision_apps_lib.sh +++ b/docker/install_vision_apps_lib.sh @@ -34,12 +34,12 @@ set -e echo "$(basename "$0"): Processing..." -# Example BASE_URL="https://software-dl.ti.com/jacinto7/esd/robotics-sdk/10_00_00/deps" -if [ -z "$BASE_URL" ]; then - echo "Error: BASE_URL is not defined." +# Example BASE_URL_VA="https://github.com/TexasInstruments-Sandbox/edgeai-vision-apps-lib-build/releases/download/10.01.00.01" +if [ -z "$BASE_URL_VA" ]; then + echo "Error: BASE_URL_VA is not defined." exit 1 else - echo "BASE_URL=$BASE_URL" + echo "BASE_URL_VA=$BASE_URL_VA" fi if [ -z "$SOC" ]; then @@ -66,7 +66,7 @@ fi # download the lib file if [ "$DOWNLOAD_LIBS" = true ]; then mkdir -p "$LIB_DIR" - wget -q --no-proxy "${BASE_URL}/${DEB_PKG}" -O "${LIB_DIR}/${DEB_PKG}" + wget -q --no-proxy "${BASE_URL_VA}/${DEB_PKG}" -O "${LIB_DIR}/${DEB_PKG}" if [ $? -ne 0 ]; then echo "Error: Failed to download $DEB_PKG" exit 1 diff --git a/docker/ros_setup.sh b/docker/ros_setup.sh index 9316499..7186a25 100755 --- a/docker/ros_setup.sh +++ b/docker/ros_setup.sh @@ -42,7 +42,7 @@ if [ "$ROS_VERSION" == "1" ]; then fi export ROS_MASTER_URI=http://$J7_IP_ADDR:11311 - if [[ `arch` == "aarch64" ]]; then + if [[ $(arch) == "aarch64" ]]; then export ROS_IP=$J7_IP_ADDR else if [ -z "$PC_IP_ADDR" ]; then diff --git a/docker/setting_docker_ros1.md b/docker/setting_docker_ros1.md deleted file mode 100644 index 7ce8511..0000000 --- a/docker/setting_docker_ros1.md +++ /dev/null @@ -1,274 +0,0 @@ - -# Docker Setup for ROS 1 - -## Set Up Docker Environment on the Target - -In the ROS 1 Docker container environment, ROS {{ROS1_DISTRO}}, necessary libraries and tools are installed. - -1. To generate the scripts for building and running a Docker image for ROS 1 {{ROS1_DISTRO}}: - ``` - root@am6x-sk:~/j7ros_home$ make scripts ROS_VER=1 - ``` - Make sure that two bash scripts, `docker_build_ros1.sh` and `docker_run_ros1.sh`, are generated. - -2. To build the Docker image: - ``` - root@am6x-sk:~/j7ros_home$ ./docker_build_ros1.sh - ``` - This step may take some time depending on the network speed. Once the "docker build" is completed, you can check the resulting Docker image with `docker images`. - -3. To start/run the Docker container: - ``` - root@am6x-sk:~/j7ros_home$ ./docker_run_ros1.sh - ``` - It is important to use `docker_run_ros1.sh` script to start a Docker container since the script includes all the necessary settings to leverage all the cores and hardware accelerators of the TI Processor. - -4. To build the ROS applications, inside the Docker container: - ````{only} tag_j7x - ``` - root@j7-docker:~/j7ros_home/ros_ws$ catkin_make --source /opt/robotics_sdk/ros1 --force-cmake - # TDA4VM: In case catkin_make fails due to limited memory, "-j1" option can be added as follows - root@j7-docker:~/j7ros_home/ros_ws$ catkin_make -j1 --source /opt/robotics_sdk/ros1 --force-cmake - root@j7-docker:~/j7ros_home/ros_ws$ source devel/setup.bash - ``` - ```` - ````{only} tag_am62a - ``` - root@j7-docker:~/j7ros_home/ros_ws$ catkin_make -j1 --source /opt/robotics_sdk/ros1 --force-cmake - root@j7-docker:~/j7ros_home/ros_ws$ source devel/setup.bash - ``` - ```` - -## Set Up Docker Environment on the Remote PC for Visualization - -```{note} -If your Ubuntu PC (for visualization) uses an Nvidia GPU driver, please ensure that the Nvidia Container Toolkit ("nvidia-docker" or "nvidia-docker2" depending on Ubuntu distro) is installed before running `docker_run_ros1.sh` script. Additionally, when generating scripts, make sure to add the argument `GPUS=y` (see Step 1 below). -``` - -You can choose any folder, but `init_setup.sh` script sets up `${HOME}/j7ros_home` as the working directory. - -1. To generate the scripts for building and running a Docker image for ROS 1 {{ROS1_DISTRO}}: - ``` - user@pc:~/j7ros_home$ make scripts ROS_VER=1 - ``` - If the Ubuntu PC uses an Nvidia GPU driver, please add one more argument `GPUS=y` as follows: - ``` - user@pc:~/j7ros_home$ make scripts ROS_VER=1 GPUS=y - ``` - Make sure that two bash scripts, `docker_build_ros1.sh` and `docker_run_ros1.sh`, are generated. - -2. To build the ROS 1 Docker image: - ``` - user@pc:~/j7ros_home$ ./docker_build_ros1.sh - ``` - It may take some time building the Docker image. Once the "docker run" completes, the resulting Docker image can be listed with `docker images`. - -3. ROS network setting: We need to set up two environment variables that will be passed to the Docker container and used to configure ROS network settings. Please update the following two lines in `setup_env_pc.sh`: - ``` - export J7_IP_ADDR= - export PC_IP_ADDR= - ``` - `` can be found by running `make ip_show` on a target terminal. - - Then, source the updated script before executing `docker_run_ros1.sh` (in the next step): - ``` - user@pc:~/j7ros_home$ source ./setup_env_pc.sh - ``` - -4. Start/Run the ROS 1 Docker container: - ``` - user@pc:~/j7ros_home$ ./docker_run_ros1.sh - ``` - -5. Build the ROS nodes for visualization: - ``` - root@pc-docker:~/j7ros_home/ros_ws$ catkin_make --source src/robotics_sdk/ros1 - root@pc-docker:~/j7ros_home/ros_ws$ source devel/setup.bash - ``` - -## Run Demo Applications - -The table below summarizes the launch commands that you can use in the Docker container for each demo, on the target SK board, and on the remote visualization PC. For more details, see the following subsections. - -Launch arguments can be passed to the following launch commands. -- To specify a camera recognized as `/dev/videoX`, use the argument `video_id:=X`. -- To specify the serial number of the ZED camera (found in the original box), use the argument `zed_sn`, which should start with 'SN' followed by the serial number. - -```{only} tag_j7x -| Demo (Input Source) | Launch command on Target | Launch command on Remote Visualization PC | -|---------------------|---------------------------------|--------------------------------------------| -| Stereo Vision (ROSBAG) | roslaunch ti_sde bag_sde.launch | roslaunch ti_viz_nodes rviz_sde.launch | -| Stereo Vision (ZED camera) | roslaunch ti_sde zed_sde.launch video_id:=x zed_sn:=SNxxxxx | same as above | -| Stereo Vision with point-cloud (ROSBAG) | roslaunch ti_sde bag_sde_pcl.launch video_id:=x zed_sn:=SNxxxxx | roslaunch ti_viz_nodes rviz_sde_pcl.launch | -| Stereo Vision with point-cloud (ZED camera) | roslaunch ti_sde zed_sde_pcl.launch video_id:=x zed_sn:=SNxxxxx | same as above | -| Semantic Segmentation CNN (ROSBAG) | roslaunch ti_vision_cnn bag_semseg_cnn.launch | roslaunch ti_viz_nodes rviz_semseg_cnn.launch | -| Semantic Segmentation CNN (ZED camera) | roslaunch ti_vision_cnn zed_semseg_cnn.launch video_id:=x zed_sn:=SNxxxxx | same as above | -| Semantic Segmentation CNN (Mono camera) | roslaunch ti_vision_cnn gscam_semseg_cnn.launch video_id:=x | same as above | -| Semantic Segmentation CNN (IMX219 camera) | roslaunch ti_vision_cnn gscam_semseg_cnn_imx219.launch video_id:=x subdev_id:=y | same as above | -| Semantic Segmentation CNN (IMX390 camera) | roslaunch ti_vision_cnn gscam_semseg_cnn_imx390.launch video_id:=x subdev_id:=y | same as above | -| Object Detection CNN (ROSBAG) | roslaunch ti_vision_cnn bag_objdet_cnn.launch | roslaunch ti_viz_nodes rviz_objdet_cnn.launch | -| Object Detection CNN (ZED camera) | roslaunch ti_vision_cnn zed_objdet_cnn.launch video_id:=x zed_sn:=SNxxxxx | same as above | -| Object Detection CNN (Mono camera) | roslaunch ti_vision_cnn gscam_objdet_cnn.launch video_id:=x | same as above | -| Object Detection CNN (IMX219 camera) | roslaunch ti_vision_cnn gscam_objdet_cnn_imx219.launch video_id:=x subdev_id:=y | same as above | -| Object Detection CNN (IMX390 camera) | roslaunch ti_vision_cnn gscam_objdet_cnn_imx390.launch video_id:=x subdev_id:=y | same as above | -| 3D Obstacle Detection (ROSBAG) | roslaunch ti_estop bag_estop.launch | roslaunch ti_viz_nodes rviz_estop.launch | -| 3D Obstacle Detection (ZED camera) | roslaunch ti_estop zed_estop.launch video_id:=x zed_sn:=SNxxxxx | same as above | -| Object Detection with 3D Spatial Information (ROSBAG) | roslaunch ti_objdet_range bag_objdet_range.launch | roslaunch ti_viz_nodes rviz_objdet_range.launch | -| Object Detection with 3D Spatial Information (ZED camera) | roslaunch ti_objdet_range zed_objdet_range.launch video_id:=x zed_sn:=SNxxxxx | same as above | -| Visual Localization (ROSBAG) | roslaunch ti_vl bag_visloc.launch | roslaunch ti_viz_nodes rviz_visloc.launch | -``` -```{only} tag_am62a -| Demo (Input Source) | Launch command on Target | Launch command on Remote Visualization PC | -|---------------------|---------------------------------|--------------------------------------------| -| Semantic Segmentation CNN (ROSBAG) | roslaunch ti_vision_cnn bag_semseg_cnn.launch | roslaunch ti_viz_nodes rviz_semseg_cnn.launch | -| Semantic Segmentation CNN (Mono camera) | roslaunch ti_vision_cnn gscam_semseg_cnn.launch video_id:=x | same as above | -| Semantic Segmentation CNN (IMX219 camera) | roslaunch ti_vision_cnn gscam_semseg_cnn_imx219.launch video_id:=x subdev_id:=y | same as above | -| Semantic Segmentation CNN (IMX390 camera) | roslaunch ti_vision_cnn gscam_semseg_cnn_imx390.launch video_id:=x subdev_id:=y | same as above | -| Object Detection CNN (ROSBAG) | roslaunch ti_vision_cnn bag_objdet_cnn.launch | roslaunch ti_viz_nodes rviz_objdet_cnn.launch | -| Object Detection CNN (Mono camera) | roslaunch ti_vision_cnn gscam_objdet_cnn.launch video_id:=x | same as above | -| Object Detection CNN (IMX219 camera) | roslaunch ti_vision_cnn gscam_objdet_cnn_imx219.launch video_id:=x subdev_id:=y | same as above | -| Object Detection CNN (IMX390 camera) | roslaunch ti_vision_cnn gscam_objdet_cnn_imx390.launch video_id:=x subdev_id:=y | same as above | -``` - -In the following, **[SK]** and **[PC]** indicate the steps that should be launched, either on the target SK board or on the PC. - -````{only} tag_j7x -**Run Stereo Vision Application** - -1. **[SK]** To launch `ti_sde` node with playing back a ROSBAG file, run the following `roslaunch` command **inside** the Docker container: - ``` - root@j7-docker:~/j7ros_home/ros_ws$ roslaunch ti_sde bag_sde.launch - ``` - Alternatively, you can run the following directly on the target host Linux: - ``` - root@am6x-sk:~/j7ros_home$ ./docker_run_ros1.sh roslaunch ti_sde bag_sde.launch - ``` - To process the image stream from a ZED stereo camera, replace the launch file with `zed_sde.launch` in the above. - -2. **[PC]** For visualization, in the ROS 1 container on the PC: - ``` - root@pc-docker:~/j7ros_home/ros_ws$ roslaunch ti_viz_nodes rviz_sde.launch - ``` -```` - -````{only} tag_j7x -**Run Stereo Vision Application with Point-Cloud Enabled** - -1. **[SK]** To launch `ti_sde` node with point-cloud enabled on a ROSBAG file, run the following `roslaunch` command **inside** the Docker: - ``` - root@j7-docker:~/j7ros_home/ros_ws$ roslaunch ti_sde bag_sde_pcl.launch - ``` - Alternatively, you can run the following directly on the target host Linux: - ``` - root@am6x-sk:~/j7ros_home$ ./docker_run_ros1.sh roslaunch ti_sde bag_sde_pcl.launch - ``` - To process the image stream from a ZED stereo camera, replace the launch file with `zed_sde_pcl.launch` in the above. - -2. **[PC]** For visualization, in the ROS 1 container on the PC: - ``` - root@pc-docker:~/j7ros_home/ros_ws$ roslaunch ti_viz_nodes rviz_sde_pcl.launch - ``` -```` - -**Run Semantic Segmentation CNN Application** - -1. **[SK]** To launch semantic segmentation demo with playing back a ROSBAG file, run the following `roslaunch` command **inside** the Docker: - ``` - root@j7-docker:~/j7ros_home/ros_ws$ roslaunch ti_vision_cnn bag_semseg_cnn.launch - ``` - Alternatively, you can run the following directly on the target host Linux: - ``` - root@am6x-sk:~/j7ros_home$ ./docker_run_ros1.sh roslaunch ti_vision_cnn bag_semseg_cnn.launch - ``` - ```{only} tag_j7x - To process the image stream from a ZED stereo camera or a USB mono camera, replace the launch file with `zed_semseg_cnn.launch` or `gscam_semseg_cnn.launch` in the above. - ``` - ```{only} tag_am62a - To process the image stream from a USB mono camera, replace the launch file with `gscam_semseg_cnn.launch` in the above. - ``` - -2. **[PC]** For visualization, in the ROS 1 container on the PC:: - ``` - root@pc-docker:~/j7ros_home/ros_ws$ roslaunch ti_viz_nodes rviz_semseg_cnn.launch - ``` - -**Run Object Detection CNN Application** - -1. **[SK]** To launch object detection demo with playing back a ROSBAG file, run the following `roslaunch` command **inside** the Docker: - ``` - root@j7-docker:~/j7ros_home/ros_ws$ roslaunch ti_vision_cnn bag_objdet_cnn.launch - ``` - Alternatively, you can run the following directly on the target host Linux: - ``` - root@am6x-sk:~/j7ros_home$ ./docker_run_ros1.sh roslaunch ti_vision_cnn bag_objdet_cnn.launch - ``` - ```{only} tag_j7x - To process the image stream from a ZED stereo camera or a USB mono camera, replace the launch file with `zed_semseg_cnn.launch` or `gscam_semseg_cnn.launch` in the above. - ``` - ```{only} tag_am62a - To process the image stream from a USB mono camera, replace the launch file with `gscam_semseg_cnn.launch` in the above. - ``` - -2. **[PC]** For visualization, in the ROS 1 container on the PC: - ``` - root@pc-docker:~/j7ros_home/ros_ws$ roslaunch ti_viz_nodes rviz_objdet_cnn.launch - ``` - -````{only} tag_j7x -**Run 3D Obstacle Detection Application** - -1. **[SK]** To launch `ti_estop` node with playing back a ROSBAG file, run the following `roslaunch` command **inside** the Docker: - ``` - root@j7-docker:~/j7ros_home/ros_ws$ roslaunch ti_estop bag_estop.launch - ``` - Alternatively, you can run the following directly on the target host Linux: - ``` - root@am6x-sk:~/j7ros_home$ ./docker_run_ros1.sh roslaunch ti_estop bag_estop.launch - ``` - To process the image stream from a ZED stereo camera, replace the launch file with `zed_estop.launch` in the above. - -2. **[PC]** For visualization, in the ROS 1 container on the PC: - ``` - root@pc-docker:~/j7ros_home/ros_ws$ roslaunch ti_viz_nodes rviz_estop.launch - ``` -```` - -````{only} tag_j7x -**Run Object Detection with 3D Spatial Information** - -1. **[SK]** To launch `ti_objdet_range` node with playing back a ROSBAG file, run the following `roslaunch` command **inside** the Docker: - ``` - root@j7-docker:~/j7ros_home/ros_ws$ roslaunch ti_objdet_range bag_objdet_range.launch - ``` - Alternatively, you can run the following directly on the target host Linux: - ``` - root@am6x-sk:~/j7ros_home$ ./docker_run_ros1.sh roslaunch ti_objdet_range bag_objdet_range.launch - ``` - To process the image stream from a ZED stereo camera, replace the launch file with `zed_objdet_range.launch` in the above. - -2. **[PC]** For visualization, in the ROS 1 container on the PC: - ``` - root@pc-docker:~/j7ros_home/ros_ws$ roslaunch ti_viz_nodes rviz_objdet_range.launch - ``` -```` - -````{only} tag_j7x -**Run Visual Localization Application** - -1. **[SK]** To launch `ti_vl` node with playing back a ROSBAG file, run the following `roslaunch` command **inside** the Docker: - ``` - root@j7-docker:~/j7ros_home/ros_ws$ roslaunch ti_vl bag_visloc.launch - ``` - Alternatively, you can run the following directly on the target host Linux: - ``` - root@am6x-sk:~/j7ros_home$ ./docker_run_ros1.sh roslaunch ti_vl bag_visloc.launch - ``` -2. **[PC]** For visualization, in the ROS 1 container on the PC: - ``` - root@pc-docker:~/j7ros_home/ros_ws$ roslaunch ti_viz_nodes rviz_visloc.launch - ``` -```` - -**Build and Run Hector SLAM Application** - -Many open-source SLAM algorithms can run on the target SK board. Among them, it is demonstrated how to setup and run Hector SLAM on 2D Lidar data. For details, please refer to [Hector SLAM Application](../ros1/slam/README.md). diff --git a/docker/setting_docker_ros2.md b/docker/setting_docker_ros2.md index e4e888a..7bc6b9c 100644 --- a/docker/setting_docker_ros2.md +++ b/docker/setting_docker_ros2.md @@ -27,7 +27,7 @@ For a quick started, it is recommended to use the pre-built SDK Docker images. I 1. Set up the SDK git repository and the workspace: ```bash - wget -O init_setup.sh https://git.ti.com/cgit/processor-sdk-vision/jacinto_ros_perception/plain/init_setup.sh + wget -O init_setup.sh https://raw.githubusercontent.com/TexasInstruments/edgeai-robotics-sdk/master/init_setup.sh source ./init_setup.sh cd ~/j7ros_home make scripts [GPUS=y] @@ -82,6 +82,10 @@ In the ROS 2 Docker container environment, ROS {{ROS2_DISTRO}} and necessary lib ``` ```` +```{tip} +**Docker Run**: Please note that `docker_run.sh` includes `--rm` argument by default. Just remove the `--rm` argument in `docker_run.sh` in case you want to do "docker commit" after exiting a Docker container. A short information about several useful Docker commands is provided in {{'[this link](https://software-dl.ti.com/jacinto7/esd/processor-sdk-linux-edgeai/TDA4VM/{}/exports/docs/common/docker_environment.html#additional-docker-commands)'.format(SDK_VER)}}. +``` + ## Set Up Docker Environment on the Remote PC for Visualization ```{note} @@ -168,7 +172,7 @@ For your convenience, the SDK Docker container comes pre-configured with a varie | Object Detection with 3D Spatial Information (ROSBAG) | ros2 launch ti_objdet_range bag_objdet_range_launch.py | ros2 launch ti_viz_nodes rviz_objdet_range_launch.py | | Object Detection with 3D Spatial Information (ZED camera) | ros2 launch ti_objdet_range zed_objdet_range_launch.py cam_id:=X zed_sn:=SNxxxxx | same as above | | Visual Localization (ROSBAG)* | ros2 launch ti_vl bag_visloc_launch.py | ros2 launch ti_viz_nodes rviz_visloc_launch.py | -| Camera + Radar Fusion (ROSBAG) | ros2 launch ti_objdet_radar bag_mmwave_objdet_radar_launch.py | ros2 launch ti_viz_nodes rviz_objdet_radar_launch.py | +| Camera + Radar Fusion (ROSBAG) | ros2 launch ti_objdet_radar bag_objdet_radar_launch.py | ros2 launch ti_viz_nodes rviz_objdet_radar_launch.py | | Camera + Radar Fusion (IMX219, IWR6843) | ros2 launch ti_objdet_radar gscam_mmwave_objdet_radar_launch.py cam_id:=X | same as above | \* Visual location is supported only on TDA4VM, AM68A, and AM69A. @@ -186,7 +190,7 @@ For your convenience, the SDK Docker container comes pre-configured with a varie | Object Detection CNN (IMX390 camera) | ros2 launch ti_vision_cnn gscam_objdet_cnn_imx390_launch.py cam_id:=X subdev_id:=Y | same as above | | Human Pose Estimation CNN (ROSBAG) | ros2 launch ti_vision_cnn bag_humanpose_cnn_launch.py | ros2 launch ti_viz_nodes rviz_humanpose_cnn_launch.py | | Human Pose Estimation CNN (Mono camera) | ros2 launch ti_vision_cnn gscam_humanpose_cnn_launch.py cam_id:=X | same as above | -| Camera + Radar Fusion (ROSBAG) | ros2 launch ti_objdet_radar bag_mmwave_objdet_radar_launch.py | ros2 launch ti_viz_nodes rviz_objdet_radar_launch.py | +| Camera + Radar Fusion (ROSBAG) | ros2 launch ti_objdet_radar bag_objdet_radar_launch.py | ros2 launch ti_viz_nodes rviz_objdet_radar_launch.py | | Camera + Radar Fusion (IMX219, IWR6843) | ros2 launch ti_objdet_radar gscam_mmwave_objdet_radar_launch.py cam_id:=X | same as above | ``` diff --git a/docs/AprilTag.png b/docs/AprilTag.png deleted file mode 100644 index fb696513ae68d3f20bb932785e7c873440aee98b..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 634814 zcmeFYWmH^Evp-6LB_Ti(B)A3$I=I6`2rj`PxVyvP65I*y65J&Om%&{Ue6YbC1_?3@ z441r5-gBPkz4v}NAO0WyYn@)R*qdG5wYz^+ySuu&D(s`Y1ojh>CnzW=*iw>WN+>9p zz9=YYn2#{-pWHO&0q!qh9x58nN(Qb}_KtR@7S<+I&hGXmR3>f~rYIq7v>6Z1xa0|XmH2k9dL3VsK~Xd0?cZ!)a_#U~=uaFOSOmXQj)&4c#CkxIH>&I6 z;9^nWw(zPo(1hO^cW)EwTvNTeXS;+W)HnghPb&W8$*s%*9UxyrZ68A-G>Ry8Fl9?v zjFqt3%}`LDJh8a%l!lzFppl&on}M;Np$VItjs1OZQBZ_|ZuSO7Rwm9=h9+hfwjwmJ 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Figure 1. RViz display of AprilTag detection outputs on PC
-
- -AprilTag is a robust visual fiducial system used in various applications such as Robotics, localization, and SLAM. For more information on AprilTag, it is recommended to visit [https://april.eecs.umich.edu/software/apriltag](https://april.eecs.umich.edu/software/apriltag) and [http://wiki.ros.org/apriltag_ros](http://wiki.ros.org/apriltag_ros). - -This document describes how to install and run the AprilTag ROS node in the ROS 1 Docker container. It consists of two steps: - -1. Install the AprilTag library from source. -2. Run the AprilTag ROS node with a monochrome camera. - -## Install AprilTag Library - -1. Launch the Docker image. For setting up the ROS 1 environment on J7, please follow [Docker Setup for ROS 1](../docker/setting_docker_ros1.md). - ``` - root@am6x-sk:~/j7ros_home# ./docker_run_ros1.sh - ``` - - Before launching `docker_run_ros1.sh`, remove '--rm' flag in `docker run` command in it since we need to commit the changes after installing AprilTag library. - -2. Clone AprilTag. - ``` - root@j7-docker:~/j7ros_home/ros_ws$ export APRILTAG_SOURCE_DIR=$HOME/j7ros_home/apriltag - root@j7-docker:~/j7ros_home/ros_ws$ git clone https://github.com/AprilRobotics/apriltag.git $APRILTAG_SOURCE_DIR - ``` - -3. Build and Install AprilTag library. - ``` - root@j7-docker:~/j7ros_home/ros_ws$ cd $APRILTAG_SOURCE_DIR - root@j7-docker:~/j7ros_home/ros_ws$ cmake -B build -DCMAKE_BUILD_TYPE=Release - root@j7-docker:~/j7ros_home/ros_ws$ cmake --build build --target install - ``` - -4. Exit docker and update an image from the container's changes. - ``` - # Check container_id - root@am6x-sk:~/j7ros_home# docker ps --all - - # Update Docker image - root@am6x-sk:~/j7ros_home# docker commit container_id j7-ros-noetic:8.6 - ``` - -## Run April ROS Node - -1. Launch the Docker image. - ``` - root@am6x-sk:~/j7ros_home# ./docker_run_ros1.sh - ``` - -2. Clone and build the AprilTag ROS package. - ``` - root@j7-docker:~/j7ros_home/ros_ws$ mkdir src - root@j7-docker:~/j7ros_home/ros_ws$ git clone git clone https://github.com/AprilRobotics/apriltag_ros.git src/apriltag_ros - root@j7-docker:~/j7ros_home/ros_ws$ catkin_make --source src/apriltag_ros - ``` - -3. Launch the AprilTag ROS node. - ``` - root@j7-docker:~/j7ros_home/ros_ws$ source devel/setup.bash - root@j7-docker:~/j7ros_home/ros_ws$ roslaunch apriltag_ros continuous_detection.launch - ``` - - Note that `tags.yaml` and `settings.yaml` can be configurable for tag definition and tag detection algorithm, respectively. A various types of AprilTags can be downloaded from [https://github.com/AprilRobotics/apriltag-imgs](https://github.com/AprilRobotics/apriltag-imgs). - -4. Launch USB camera. - - Connect a USB camera to the SK board. Logitech C920 camera is used for test. Since AprilTag ROS node does not support YUV422 format, we update the following line of `mono_capture.launch` under `/opt/robotics_sdk/ros1/drivers/mono_capture/launch`: - ``` - - ``` - - Then launch the camera as follows: - ``` - root@j7-docker:~/j7ros_home/ros_ws$ source devel/setup.bash - root@j7-docker:~/j7ros_home/ros_ws$ roslaunch mono_capture mono_capture.launch - ``` - - As shown in Figure 1, we can visualize the AprilTag detection outputs along with their poses with respect to the camera using RViz on PC. diff --git a/docs/realsense_driver_node.md b/docs/realsense_driver_node.md deleted file mode 100644 index 3c77607..0000000 --- a/docs/realsense_driver_node.md +++ /dev/null @@ -1,80 +0,0 @@ -RealSense Camera ROS Node -========================= - -![](RealSense.png) -
Figure 1. RViz display of RealSense camera outputs on PC
-
- -Intel RealSense camera D435i is widely used in many robotics applications that require depth information. This document describes how to install and run the Intel RealSense camera (D435i) ROS node in the ROS 1 Docker container on J7. It consists of two steps: -1. Install RealSense SDK from source. -2. Clone and install the RealSense camera ROS node. - -## Install RealSense SDK from Source - -1. Launch the Docker image. For setting up the ROS 1 environment on J7, please follow [Docker Setup for ROS 1](../docker/setting_docker_ros1.md). - ``` - root@am6x-sk:~/j7ros_home# ./docker_run_ros1.sh - ``` - - Before launching `docker_run_ros1.sh`, remove '--rm' flag in `docker run` command in it since we need to commit the changes after installing RealSense SDK. - -2. Clone the RealSense SDK. - ``` - root@j7-docker:~/j7ros_home/ros_ws$ export REALSENSE_SOURCE_DIR=$HOME/j7ros_home/librealsense - root@j7-docker:~/j7ros_home/ros_ws$ sudo apt-get update - root@j7-docker:~/j7ros_home/ros_ws$ sudo apt-get install guvcview git libssl-dev libusb-1.0-0-dev pkg-config libgtk-3-dev - root@j7-docker:~/j7ros_home/ros_ws$ sudo apt-get install libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev - root@j7-docker:~/j7ros_home/ros_ws$ git clone https://github.com/IntelRealSense/librealsense.git $REALSENSE_SOURCE_DIR - root@j7-docker:~/j7ros_home/ros_ws$ mkdir $REALSENSE_SOURCE_DIR/build - root@j7-docker:~/j7ros_home/ros_ws$ cd $REALSENSE_SOURCE_DIR/build - - ``` - -3. Build and the Install RealSense SDK. - ``` - # Build SDK - root@j7-docker:~/j7ros_home/librealsense/build$ export REALSENSE_INSTALL_PREFIX=/opt/realsense - root@j7-docker:~/j7ros_home/librealsense/build$ sudo mkdir -p $REALSENSE_INSTALL_PREFIX - root@j7-docker:~/j7ros_home/librealsense/build$ sudo chown $USER:$USER -R $REALSENSE_INSTALL_PREFIX - root@j7-docker:~/j7ros_home/librealsense/build$ cmake ../ -DFORCE_RSUSB_BACKEND=true -DBUILD_PYTHON_BINDINGS=false -DCMAKE_BUILD_TYPE=release -DBUILD_EXAMPLES=false -DBUILD_GRAPHICAL_EXAMPLES=false -DCMAKE_INSTALL_PREFIX=$REALSENSE_INSTALL_PREFIX - - # Install SDK - It may take up to a couple of hours - root@j7-docker:~/j7ros_home/librealsense/build$ make install - - # Make cmake config available - root@j7-docker:~/j7ros_home/librealsense/build$ echo "export realsense2_DIR=/opt/realsense/lib/cmake/realsense2" >> ~/.bashrc - root@j7-docker:~/j7ros_home/librealsense/build$ source ~/.bashrc - - # Package needed to compile realsense ROS package - root@j7-docker:~/j7ros_home/librealsense/build$ sudo apt install ros-noetic-ddynamic-reconfigure - ``` - -4. Exit Docker and update an image from the container's changes. - ``` - # Check container_id - root@am6x-sk:~/j7ros_home# docker ps --all - - # Update Docker image - root@am6x-sk:~/j7ros_home# docker commit container_id j7-ros-noetic:8.6 - ``` - -## Run RealSense ROS Node - -1. Launch the Docker image. - ``` - root@am6x-sk:~/j7ros_home# ./docker_run_ros1.sh - ``` - -2. Clone the Intel RealSense ROS package. - ``` - root@j7-docker:~/j7ros_home/ros_ws$ mkdir src - root@j7-docker:~/j7ros_home/ros_ws$ git clone https://github.com/IntelRealSense/realsense-ros.git src/realsense-ros - root@j7-docker:~/j7ros_home/ros_ws$ catkin_make --source src/realsense-ros - ``` - -3. Launch the RealSense camera. - Connect a RealSense camera to the SK-board. Then launch the RealSense camera as follows: - ``` - root@j7-docker:~/j7ros_home/ros_ws$ roslaunch realsense2_camera rs_camera.launch - ``` - We can visualize the RealSense camera outputs using RViz on PC as shown in Figure 1. \ No newline at end of file diff --git a/init_setup.sh b/init_setup.sh index 899e65f..830d146 100755 --- a/init_setup.sh +++ b/init_setup.sh @@ -31,15 +31,15 @@ # OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. # Release tag info of the current release -GIT_TAG="REL.10.00.00" +GIT_TAG="REL.10.01.00" if [ "$#" -eq 1 ]; then GIT_TAG=$1 fi echo "GIT_TAG = $GIT_TAG" # Git repository -GIT_REPO="https://git.ti.com/git/processor-sdk-vision/jacinto_ros_perception.git" -BRANCH=master +GIT_REPO="https://github.com/TexasInstruments/edgeai-robotics-sdk.git" +GIT_BRANCH="${GIT_BRANCH:-master}" # git config on the target to avoid warnings ARCH=$(arch) @@ -65,7 +65,7 @@ fi # "git checkout" only if $GIT_TAG does not match with $RECENT_TAG function git_checkout_with_tag { cd $1 - RECENT_TAG=`git describe --tags --abbrev=0` + RECENT_TAG=$(git describe --tags --abbrev=0) if [[ $RECENT_TAG == ${GIT_TAG}* ]]; then echo "Robotics SDK: $GIT_TAG is the most up-to-date version on the remote git repository." else @@ -83,8 +83,8 @@ function git_pull_to_current_folder { git init git remote add origin $GIT_REPO git fetch origin - git checkout -b $BRANCH --track origin/master - echo "$BRANCH checked out." + git checkout -b $GIT_BRANCH --track origin/master + echo "$GIT_BRANCH checked out." } # Install or update the Robotics SDK @@ -99,7 +99,7 @@ else if [[ "$CWD" == "$SDK_DIR" ]]; then git_pull_to_current_folder else - git clone --branch $BRANCH $GIT_REPO $SDK_DIR + git clone --branch $GIT_BRANCH $GIT_REPO $SDK_DIR fi fi git_checkout_with_tag $SDK_DIR diff --git a/ros1/CMakeLists.txt b/ros1/CMakeLists.txt deleted file mode 120000 index 2016816..0000000 --- a/ros1/CMakeLists.txt +++ /dev/null @@ -1 +0,0 @@ -/opt/ros/noetic/share/catkin/cmake/toplevel.cmake \ No newline at end of file diff --git a/ros1/drivers/mono_capture/CMakeLists.txt b/ros1/drivers/mono_capture/CMakeLists.txt deleted file mode 100644 index 5e4390b..0000000 --- a/ros1/drivers/mono_capture/CMakeLists.txt +++ /dev/null @@ -1,31 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(mono_capture) - -find_package(catkin REQUIRED COMPONENTS - cmake_modules - roscpp cv_bridge - image_transport - camera_info_manager -) - -find_package(OpenCV REQUIRED) - -include_directories( - include - ${catkin_INCLUDE_DIRS} - ${OpenCV_INCLUDE_DIRS} -) - -link_directories(${catkin_LIBRARY_DIRS}) - -catkin_package( - LIBRARIES - CATKIN_DEPENDS -) - -# node -add_executable(mono_capture - src/mono_capture_node.cpp - src/usb_mono_camera.cpp -) -target_link_libraries(mono_capture ${catkin_LIBRARIES} ${OpenCV_LIBS}) diff --git a/ros1/drivers/mono_capture/config/C920_HD_LUT.bin b/ros1/drivers/mono_capture/config/C920_HD_LUT.bin deleted file mode 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b/ros1/drivers/mono_capture/config/C920_HD_camera_info.yaml deleted file mode 100644 index 3ce26c2..0000000 --- a/ros1/drivers/mono_capture/config/C920_HD_camera_info.yaml +++ /dev/null @@ -1,31 +0,0 @@ -%YAML:1.0 ---- -image_width: 1280 -image_height: 720 -camera_name: camera -camera_matrix: !!opencv-matrix - rows: 3 - cols: 3 - dt: d - data: [ 9.3797299601201667e+02, 0., 6.4110167315102080e+02, 0., - 9.3981016471195335e+02, 3.8512990806142415e+02, 0., 0., 1. ] -distortion_model: plumb_bob -distortion_coefficients: !!opencv-matrix - rows: 1 - cols: 5 - dt: d - data: [ 7.3934261699576093e-02, -4.1542678753901879e-01, - 1.4128959036683215e-03, 9.4384360282255390e-04, - 5.9913436641201279e-01 ] -rectification_matrix: !!opencv-matrix - rows: 3 - cols: 3 - dt: d - data: [ 1., 0., 0., 0., 1., 0., 0., 0., 1. ] -projection_matrix: !!opencv-matrix - rows: 3 - cols: 4 - dt: d - data: [ 9.3797299601201667e+02, 0., 6.4110167315102080e+02, 0., 0., - 9.3981016471195335e+02, 3.8512990806142415e+02, 0., 0., 0., 1., - 0. ] diff --git a/ros1/drivers/mono_capture/include/mono_capture_node.h b/ros1/drivers/mono_capture/include/mono_capture_node.h deleted file mode 100644 index c8d1aa0..0000000 --- a/ros1/drivers/mono_capture/include/mono_capture_node.h +++ /dev/null @@ -1,104 +0,0 @@ -/* - * - * Copyright (c) 2021 Texas Instruments Incorporated - * - * All rights reserved not granted herein. - * - * Limited License. - * - * Texas Instruments Incorporated grants a world-wide, royalty-free, non-exclusive - * license under copyrights and patents it now or hereafter owns or controls to make, - * have made, use, import, offer to sell and sell ("Utilize") this software subject to the - * terms herein. With respect to the foregoing patent license, such license is granted - * solely to the extent that any such patent is necessary to Utilize the software alone. - * The patent license shall not apply to any combinations which include this software, - * other than combinations with devices manufactured by or for TI ("TI Devices"). - * No hardware patent is licensed hereunder. - * - * Redistributions must preserve existing copyright notices and reproduce this license - * (including the above copyright notice and the disclaimer and (if applicable) source - * code license limitations below) in the documentation and/or other materials provided - * with the distribution - * - * Redistribution and use in binary form, without modification, are permitted provided - * that the following conditions are met: - * - * * No reverse engineering, decompilation, or disassembly of this software is - * permitted with respect to any software provided in binary form. - * - * * any redistribution and use are licensed by TI for use only with TI Devices. - * - * * Nothing shall obligate TI to provide you with source code for the software - * licensed and provided to you in appCntxtect code. - * - * If software source code is provided to you, modification and redistribution of the - * source code are permitted provided that the following conditions are met: - * - * * any redistribution and use of the source code, including any resulting derivative - * works, are licensed by TI for use only with TI Devices. - * - * * any redistribution and use of any appCntxtect code compiled from the source code - * and any resulting derivative works, are licensed by TI for use only with TI Devices. - * - * Neither the name of Texas Instruments Incorporated nor the names of its suppliers - * - * may be used to endorse or promote products derived from this software without - * specific prior written permission. - * - * DISCLAIMER. - * - * THIS SOFTWARE IS PROVIDED BY TI AND TI'S LICENSORS "AS IS" AND ANY EXPRESS - * OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES - * OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. - * IN NO EVENT SHALL TI AND TI'S LICENSORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, - * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY - * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE - * OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED - * OF THE POSSIBILITY OF SUCH DAMAGE. - * - */ - -#ifndef MONO_CAPTURE_NODE_H -#define MONO_CAPTURE_NODE_H - -#include -#include -#include -#include -#include -#include -#include - -#include "usb_mono_camera.h" - -/** - * @brief USB mono camera ROS node - */ -class MonoCamNode -{ -public: - MonoCamNode(ros::NodeHandle &nh, ros::NodeHandle &private_nh); - ~MonoCamNode(); - void publishCamInfo(const ros::Publisher &pub_cam_info, - sensor_msgs::CameraInfo &cam_info_msg, - ros::Time tstamp); - void publishImage(const image_transport::Publisher &pub_img, - const cv::Mat &img, - const std::string &img_frame_id, - ros::Time tstamp); - void validateFrameRate(std::string camera_mode, double &frame_rate); - -private: - std::string camera_mode_; - std::string device_name_; - double frame_rate_; - std::string frame_id_; - std::string encoding_; - std::string image_topic_; - std::string camera_info_topic_; - std::string camera_info_yaml_; -}; - -#endif \ No newline at end of file diff --git a/ros1/drivers/mono_capture/include/usb_mono_camera.h b/ros1/drivers/mono_capture/include/usb_mono_camera.h deleted file mode 100644 index 7ce5358..0000000 --- a/ros1/drivers/mono_capture/include/usb_mono_camera.h +++ /dev/null @@ -1,108 +0,0 @@ -/* - * - * Copyright (c) 2021 Texas Instruments Incorporated - * - * All rights reserved not granted herein. - * - * Limited License. - * - * Texas Instruments Incorporated grants a world-wide, royalty-free, non-exclusive - * license under copyrights and patents it now or hereafter owns or controls to make, - * have made, use, import, offer to sell and sell ("Utilize") this software subject to the - * terms herein. With respect to the foregoing patent license, such license is granted - * solely to the extent that any such patent is necessary to Utilize the software alone. - * The patent license shall not apply to any combinations which include this software, - * other than combinations with devices manufactured by or for TI ("TI Devices"). - * No hardware patent is licensed hereunder. - * - * Redistributions must preserve existing copyright notices and reproduce this license - * (including the above copyright notice and the disclaimer and (if applicable) source - * code license limitations below) in the documentation and/or other materials provided - * with the distribution - * - * Redistribution and use in binary form, without modification, are permitted provided - * that the following conditions are met: - * - * * No reverse engineering, decompilation, or disassembly of this software is - * permitted with respect to any software provided in binary form. - * - * * any redistribution and use are licensed by TI for use only with TI Devices. - * - * * Nothing shall obligate TI to provide you with source code for the software - * licensed and provided to you in appCntxtect code. - * - * If software source code is provided to you, modification and redistribution of the - * source code are permitted provided that the following conditions are met: - * - * * any redistribution and use of the source code, including any resulting derivative - * works, are licensed by TI for use only with TI Devices. - * - * * any redistribution and use of any appCntxtect code compiled from the source code - * and any resulting derivative works, are licensed by TI for use only with TI Devices. - * - * Neither the name of Texas Instruments Incorporated nor the names of its suppliers - * - * may be used to endorse or promote products derived from this software without - * specific prior written permission. - * - * DISCLAIMER. - * - * THIS SOFTWARE IS PROVIDED BY TI AND TI'S LICENSORS "AS IS" AND ANY EXPRESS - * OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES - * OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. - * IN NO EVENT SHALL TI AND TI'S LICENSORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, - * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY - * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE - * OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED - * OF THE POSSIBILITY OF SUCH DAMAGE. - * - */ - -#ifndef USB_STEREO_CAMERA_H -#define USB_STEREO_CAMERA_H - -#include -#include -#include -#include - -#define ID_WIDTH 3 -#define ID_HEIGHT 4 -#define ID_FPS 5 - -#ifndef _XOPEN_SOURCE -#define _XOPEN_SOURCE // to use swab() -#endif -#include // to use swab() - -void yuyv2uyvy(unsigned char *src, unsigned char *dst, - unsigned long long int num_pixels); - -/** - * @brief USB mono camera class based on OpenCV VideoCapture API - */ -class MonoCamera -{ -public: - MonoCamera(const std::string device_name, - const std::string camera_mode, - const double frame_rate, - const std::string encoding); - ~MonoCamera(); - void setCameraMode(const std::string camera_mode); - void setFrameRate(const double frame_rate); - bool getImages(cv::Mat &img); - -private: - cv::VideoCapture *camera_; - int width_; - int height_; - int out_width_; - int out_height_; - double frame_rate_; - std::string encoding_; -}; - -#endif \ No newline at end of file diff --git a/ros1/drivers/mono_capture/launch/mono_capture.launch b/ros1/drivers/mono_capture/launch/mono_capture.launch deleted file mode 100644 index 0728da2..0000000 --- a/ros1/drivers/mono_capture/launch/mono_capture.launch +++ /dev/null @@ -1,33 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ros1/drivers/mono_capture/package.xml b/ros1/drivers/mono_capture/package.xml deleted file mode 100644 index 112466d..0000000 --- a/ros1/drivers/mono_capture/package.xml +++ /dev/null @@ -1,29 +0,0 @@ - - mono_capture - 0.0.1 - - A mono webcam driver ROS node based on OpenCV VideoCapture API for raw image. - - jroh - TBD - - catkin - - cmake_modules - roscpp - cv_bridge - image_transport - camera_info_manager - - roscpp - cv_bridge - image_transport - camera_info_manager - - cmake_modules - roscpp - cv_bridge - image_transport - camera_info_manager - - diff --git a/ros1/drivers/mono_capture/src/mono_capture_node.cpp b/ros1/drivers/mono_capture/src/mono_capture_node.cpp deleted file mode 100644 index 69c3a78..0000000 --- a/ros1/drivers/mono_capture/src/mono_capture_node.cpp +++ /dev/null @@ -1,210 +0,0 @@ -/* - * - * Copyright (c) 2021 Texas Instruments Incorporated - * - * All rights reserved not granted herein. - * - * Limited License. - * - * Texas Instruments Incorporated grants a world-wide, royalty-free, non-exclusive - * license under copyrights and patents it now or hereafter owns or controls to make, - * have made, use, import, offer to sell and sell ("Utilize") this software subject to the - * terms herein. With respect to the foregoing patent license, such license is granted - * solely to the extent that any such patent is necessary to Utilize the software alone. - * The patent license shall not apply to any combinations which include this software, - * other than combinations with devices manufactured by or for TI ("TI Devices"). - * No hardware patent is licensed hereunder. - * - * Redistributions must preserve existing copyright notices and reproduce this license - * (including the above copyright notice and the disclaimer and (if applicable) source - * code license limitations below) in the documentation and/or other materials provided - * with the distribution - * - * Redistribution and use in binary form, without modification, are permitted provided - * that the following conditions are met: - * - * * No reverse engineering, decompilation, or disassembly of this software is - * permitted with respect to any software provided in binary form. - * - * * any redistribution and use are licensed by TI for use only with TI Devices. - * - * * Nothing shall obligate TI to provide you with source code for the software - * licensed and provided to you in appCntxtect code. - * - * If software source code is provided to you, modification and redistribution of the - * source code are permitted provided that the following conditions are met: - * - * * any redistribution and use of the source code, including any resulting derivative - * works, are licensed by TI for use only with TI Devices. - * - * * any redistribution and use of any appCntxtect code compiled from the source code - * and any resulting derivative works, are licensed by TI for use only with TI Devices. - * - * Neither the name of Texas Instruments Incorporated nor the names of its suppliers - * - * may be used to endorse or promote products derived from this software without - * specific prior written permission. - * - * DISCLAIMER. - * - * THIS SOFTWARE IS PROVIDED BY TI AND TI'S LICENSORS "AS IS" AND ANY EXPRESS - * OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES - * OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. - * IN NO EVENT SHALL TI AND TI'S LICENSORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, - * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY - * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE - * OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED - * OF THE POSSIBILITY OF SUCH DAMAGE. - * - */ - -#include "mono_capture_node.h" - -static MonoCamNode *monocam_ros_node; - -/** - * @brief USB mono camera ROS node - * - * @param [in] resolution Resolution - * @param [in] frame_rate Frame rate - */ -MonoCamNode::MonoCamNode(ros::NodeHandle &nh, ros::NodeHandle &private_nh) -{ - // parse ROS parameters - private_nh.param("camera_mode", camera_mode_, std::string("HD")); - private_nh.param("frame_rate", frame_rate_, 15.0); - private_nh.param("frame_id", frame_id_, std::string("camera")); - private_nh.param("device_name", device_name_, std::string("/dev/video1")); - private_nh.param("encoding", encoding_, std::string("yuv422")); - private_nh.param("image_topic", image_topic_, std::string("camera/image_raw")); - private_nh.param("camera_info_topic", camera_info_topic_, std::string("camera/camera_info")); - private_nh.param("camera_info_yaml", camera_info_yaml_, std::string("")); - - // validate frame rate and update if necessary - validateFrameRate(camera_mode_, frame_rate_); - - ROS_INFO("Initialize the Webcam"); - MonoCamera mono_cam(device_name_, camera_mode_, frame_rate_, encoding_); - - // setup publisher - image_transport::ImageTransport it(nh); - image_transport::Publisher pub_image = it.advertise(image_topic_, 1); - ros::Publisher pub_caminfo = nh.advertise(camera_info_topic_, 1); - - // populate camera_info - ROS_INFO("Loading camera info from yaml files"); - sensor_msgs::CameraInfo caminfo; - ros::NodeHandle nh_camera_info("left"); - camera_info_manager::CameraInfoManager caminfo_manager(nh_camera_info, - "camera", "package://mono_capture/config/"+camera_info_yaml_); - caminfo = caminfo_manager.getCameraInfo(); - caminfo.header.frame_id = frame_id_; - - // capture and publish images - cv::Mat cv_img; - ros::Rate framerate(frame_rate_); - - while (nh.ok()) - { - if (!mono_cam.getImages(cv_img)) - { - ROS_INFO_ONCE("Cannot find the monocam"); - } - else - { - ROS_INFO_ONCE("Successfully found the monocam"); - } - - ros::Time now = ros::Time::now(); - publishImage(pub_image, cv_img, "monocam_frame", now); - publishCamInfo(pub_caminfo, caminfo, now); - - framerate.sleep(); - } -} - -MonoCamNode::~MonoCamNode() { } - -/** - * @brief Publish the camera_info - * - * @param [in] pub_cam_info camera_info publisher - * @param [in] cam_info_msg camera_info message - * @param [in] tstamp timestamp - */ -void MonoCamNode::publishCamInfo(const ros::Publisher &pub_cam_info, - sensor_msgs::CameraInfo &cam_info_msg, - ros::Time tstamp) -{ - cam_info_msg.header.stamp = tstamp; - pub_cam_info.publish(cam_info_msg); -} - -/** - * @brief Publish the image - * - * @param [in] pub_img Image publisher - * @param [in] img Image message - * @param [in] img_frame_id Image frame identifier - * @param [in] tstamp Timestamp - * @param [in] encoding image_transport encoding method - */ -void MonoCamNode::publishImage(const image_transport::Publisher &pub_img, - const cv::Mat &img, - const std::string &img_frame_id, - ros::Time tstamp) -{ - cv_bridge::CvImage cv_img; - cv_img.image = img; - cv_img.encoding = encoding_; - cv_img.header.frame_id = img_frame_id; - cv_img.header.stamp = tstamp; - pub_img.publish(cv_img.toImageMsg()); -} - -/** - * @brief Validate the frame rate and update it if necessary - * - * @param [in] camera_mode Camera mode string - * @param [in] frame_rate Camera frame rate - */ -void MonoCamNode::validateFrameRate(std::string camera_mode, double& frame_rate) -{ - double max_frame_rate; - - if(camera_mode.compare("FHD")==0) - max_frame_rate= 5; - else if(camera_mode.compare("HD")==0) - max_frame_rate= 10; - else if(camera_mode.compare("VGA")==0) - max_frame_rate= 30; - else - ROS_FATAL("Unknow camera_mode passed"); - - if (frame_rate > max_frame_rate) - { - ROS_WARN("frame_rate = %f exceeds the max rate with %s, set to %f", - frame_rate, camera_mode.c_str(), max_frame_rate); - frame_rate = max_frame_rate; - } -} - -int main(int argc, char** argv) -{ - try - { - ros::init(argc, argv, "mono_camera"); - ros::NodeHandle nh(""); - ros::NodeHandle private_nh("~"); - - monocam_ros_node = new MonoCamNode(nh, private_nh); - return EXIT_SUCCESS; - } - catch (std::runtime_error& e) - { - ros::shutdown(); - return EXIT_FAILURE; - } -} diff --git a/ros1/drivers/mono_capture/src/usb_mono_camera.cpp b/ros1/drivers/mono_capture/src/usb_mono_camera.cpp deleted file mode 100644 index e4a1d26..0000000 --- a/ros1/drivers/mono_capture/src/usb_mono_camera.cpp +++ /dev/null @@ -1,206 +0,0 @@ -/* - * - * Copyright (c) 2021 Texas Instruments Incorporated - * - * All rights reserved not granted herein. - * - * Limited License. - * - * Texas Instruments Incorporated grants a world-wide, royalty-free, non-exclusive - * license under copyrights and patents it now or hereafter owns or controls to make, - * have made, use, import, offer to sell and sell ("Utilize") this software subject to the - * terms herein. With respect to the foregoing patent license, such license is granted - * solely to the extent that any such patent is necessary to Utilize the software alone. - * The patent license shall not apply to any combinations which include this software, - * other than combinations with devices manufactured by or for TI ("TI Devices"). - * No hardware patent is licensed hereunder. - * - * Redistributions must preserve existing copyright notices and reproduce this license - * (including the above copyright notice and the disclaimer and (if applicable) source - * code license limitations below) in the documentation and/or other materials provided - * with the distribution - * - * Redistribution and use in binary form, without modification, are permitted provided - * that the following conditions are met: - * - * * No reverse engineering, decompilation, or disassembly of this software is - * permitted with respect to any software provided in binary form. - * - * * any redistribution and use are licensed by TI for use only with TI Devices. - * - * * Nothing shall obligate TI to provide you with source code for the software - * licensed and provided to you in appCntxtect code. - * - * If software source code is provided to you, modification and redistribution of the - * source code are permitted provided that the following conditions are met: - * - * * any redistribution and use of the source code, including any resulting derivative - * works, are licensed by TI for use only with TI Devices. - * - * * any redistribution and use of any appCntxtect code compiled from the source code - * and any resulting derivative works, are licensed by TI for use only with TI Devices. - * - * Neither the name of Texas Instruments Incorporated nor the names of its suppliers - * - * may be used to endorse or promote products derived from this software without - * specific prior written permission. - * - * DISCLAIMER. - * - * THIS SOFTWARE IS PROVIDED BY TI AND TI'S LICENSORS "AS IS" AND ANY EXPRESS - * OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES - * OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. - * IN NO EVENT SHALL TI AND TI'S LICENSORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, - * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY - * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE - * OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED - * OF THE POSSIBILITY OF SUCH DAMAGE. - * - */ - -#include "usb_mono_camera.h" - -/** - * @brief Convert YUYV to UYVY - * - * @param [in] src Source - * @param [out] dst Destination - * @param [in] num_pixels Number of pixels of source image - */ -void yuyv2uyvy(unsigned char *src, unsigned char *dst, - unsigned long long int num_pixels) -{ - swab(src, dst, num_pixels<<1); -} - -/** - * @brief Mono camera driver - * - * @param [in] device_name Device name of the camera - * @param [in] camera_mode Camera mode string: "FHD", "HD", or "VGA" - * @param [in] frame_rate Frame rate - * @param [in] encoding Encoding scheme: "yuv422" (default) or "bgr8" - */ -MonoCamera::MonoCamera(const std::string device_name, - const std::string camera_mode, - const double frame_rate, - const std::string encoding) -{ - camera_ = new cv::VideoCapture(device_name); - encoding_ = encoding; - - // config the camera - setCameraMode(camera_mode); - setFrameRate(frame_rate); - -#if CV_MAJOR_VERSION <= 3 - if (encoding_.compare("yuv422")==0) - { - camera_->set(CV_CAP_PROP_CONVERT_RGB, false); - ROS_INFO("YUV422"); - } - else - { - camera_->set(CV_CAP_PROP_CONVERT_RGB, true); - ROS_INFO("BGR8"); - } - // set YUYV mode - camera_->set(CV_CAP_PROP_FOURCC, CV_FOURCC('Y','U','Y','V')); -#else - if (encoding_.compare("yuv422")==0) - { - camera_->set(cv::CAP_PROP_CONVERT_RGB, false); - ROS_INFO("YUV422"); - } - else - { - camera_->set(cv::CAP_PROP_CONVERT_RGB, true); - ROS_INFO("BGR8"); - } - // set YUYV mode - camera_->set(cv::CAP_PROP_FOURCC, cv::VideoWriter::fourcc('Y','U','Y','V')); -#endif - ROS_INFO("Mono Camera Mode %s, width %.0f, height %.0f", - camera_mode.c_str(), camera_->get(ID_WIDTH), camera_->get(ID_HEIGHT)); -} - -MonoCamera::~MonoCamera() -{ - delete camera_; -} - -/** - * @brief Set the camera mode - * - * @param [in] camera_mode Camera mode string: "FHD", "HD", or "VGA" - */ -void MonoCamera::setCameraMode(const std::string camera_mode) -{ - if(camera_mode.compare("FHD")==0) - { - width_ = 1920; - height_ = 1080; - out_width_ = width_; - out_height_ = height_; - } - else if(camera_mode.compare("HD")==0) - { - width_ = 1280; - height_ = 720; - out_width_ = width_; - out_height_ = height_; - } - else if(camera_mode.compare("VGA")==0) - { - width_ = 640; - height_ = 480; - out_width_ = width_; - out_height_ = height_; - } - else - { - ROS_FATAL("Unknown camera_mode: %s", camera_mode.c_str()); - } - - camera_->set(ID_WIDTH, width_); - camera_->set(ID_HEIGHT, height_); - width_ = camera_->get(ID_WIDTH); - height_ = camera_->get(ID_HEIGHT); -} - -/** - * @brief Set the frame rate - * - * @param [in] frame_rate Frame rate - */ -void MonoCamera::setFrameRate(const double frame_rate) -{ - camera_->set(ID_FPS, frame_rate); - frame_rate_ = camera_->get(ID_FPS); -} - -/** - * @brief Capture the images - * - * @param [out] img Captured image - */ -bool MonoCamera::getImages(cv::Mat &img) -{ - if (camera_->grab()) - { - // note: images are captured in yuv422:YUYV format - camera_->retrieve(img); - if (encoding_.compare("yuv422")==0) - { - yuyv2uyvy(img.data, img.data, img.total()); - } - - return true; - } - else - { - return false; - } -} diff --git a/ros1/drivers/patches/gscam_ti_nv12.patch b/ros1/drivers/patches/gscam_ti_nv12.patch deleted file mode 100644 index 510a9c8..0000000 --- a/ros1/drivers/patches/gscam_ti_nv12.patch +++ /dev/null @@ -1,871 +0,0 @@ -diff --git a/CMakeLists.txt b/CMakeLists.txt -index 98166b7..70531c3 100644 ---- a/CMakeLists.txt -+++ b/CMakeLists.txt -@@ -2,22 +2,23 @@ cmake_minimum_required(VERSION 2.8.3) - - project(gscam) - -+if (${CMAKE_SYSTEM_PROCESSOR} STREQUAL "x86_64") -+ set(BUILD_CORE_NODES OFF) -+elseif (${CMAKE_SYSTEM_PROCESSOR} STREQUAL "aarch64") -+ set(BUILD_CORE_NODES ON CACHE BOOL "Build core nodes") -+else() -+ message(FATAL_ERROR "Unknown processor:" ${CMAKE_SYSTEM_PROCESSOR}) -+endif() -+ -+if(${BUILD_CORE_NODES}) -+ - # System Dependencies - find_package(PkgConfig) - --pkg_check_modules(GSTREAMER QUIET gstreamer-0.10) --if(NOT GSTREAMER_FOUND) -- set(GSTREAMER_VERSION_1_x TRUE) --endif() --if(GSTREAMER_VERSION_1_x) -- message(STATUS "gst 1.0") -- pkg_check_modules(GSTREAMER REQUIRED gstreamer-1.0) -- pkg_check_modules(GST_APP REQUIRED gstreamer-app-1.0) --else() -- message(STATUS "gst 0.1") -- pkg_check_modules(GSTREAMER REQUIRED gstreamer-0.10) -- pkg_check_modules(GST_APP REQUIRED gstreamer-app-0.10) --endif() -+# Removed gstreamer-0.10 support -+message(STATUS "gst 1.0") -+pkg_check_modules(GSTREAMER REQUIRED gstreamer-1.0) -+pkg_check_modules(GST_APP REQUIRED gstreamer-app-1.0) - - if(USE_ROSBUILD) - # Use rosbuild -@@ -48,7 +49,7 @@ if(USE_ROSBUILD) - - else() - # Use Catkin -- find_package(catkin REQUIRED -+ find_package(catkin REQUIRED - COMPONENTS roscpp image_transport sensor_msgs nodelet - camera_calibration_parsers camera_info_manager - ) -@@ -123,8 +124,8 @@ endif() - # Interim compatibility - # Remove this in the next distribution release - configure_file(scripts/gscam_node.in ${CMAKE_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/gscam_node) --file(COPY ${CMAKE_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/gscam_node -+file(COPY ${CMAKE_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/gscam_node - DESTINATION ${EXECUTABLE_OUTPUT_PATH} - FILE_PERMISSIONS OWNER_READ OWNER_WRITE OWNER_EXECUTE GROUP_READ GROUP_EXECUTE WORLD_READ WORLD_EXECUTE) - -- -+endif() -diff --git a/README_TI.md b/README_TI.md -new file mode 100644 -index 0000000..08d56b2 ---- /dev/null -+++ b/README_TI.md -@@ -0,0 +1,136 @@ -+GStreamer Camera Node for ROS 1 -+=============================== -+This GStreamer based camera ROS node is from [https://github.com/ros-drivers/gscam](https://github.com/ros-drivers/gscam). Following changes are made to customize for the use cases in the Robotics SDK: -+ -+* Added GStreamer pipelines that use [the GStreamer plugins optimized for TI Processors](https://github.com/TexasInstruments/edgeai-gst-plugins), and added NV12 encoding mode for the output. -+* Added an example `camera_info.yaml` for Logitech webcam C920 and associated LDC look-up-table file (required to use the LDC hardware accelerator). -+* Added launch files (under 'launch' folder) for Logitech webcam (in MJPG mode and YUYV mode) and OV5640 (in YUYV mode) CSI camera with GStreamer pipelines using the plugins optimized on TI devices. -+* Added launch files for IMX390 FPD-Link cameras with GStreamer pipelines using the plugins optimized on TI devices. -+* Dependency: following modules are already built and installed in the the Robotics SDK ROS Docker images. -+ * [edgeai-tiovx-modules](https://github.com/TexasInstruments/edgeai-tiovx-modules) -+ * [edgeai-gst-plugins](https://github.com/TexasInstruments/edgeai-gst-plugins) -+ -+```{note} -+The customization are made only for the Robotics SDK. It was not verified that all examples from the original GIT repository still work with these changes. -+``` -+ -+## Usage: USB Camera -+ -+### Running gscam on the target -+ -+1. Camera Calibration and Rectification Map Generation: See corresponding parts of [mono_capture/README.md](../mono_capture/README.md). -+ -+2. Build the ROS node: -+ ```sh -+ cd $ROS_WS -+ catkin_make --source /opt/robotics_sdk/ros1 -+ source devel/setup.bash -+ ``` -+ -+3. Launch the "gscam" ROS node: -+Before launching the "gscam", please make sure to update `device` in the launch file to point to correct camera device (`/dev/videoX`). -+ For capturing in MJPG (motion JPEG) mode, -+ ```sh -+ roslaunch gscam v4l_mjpg.launch -+ ``` -+ For capturing in YUYV mode, -+ ```sh -+ roslaunch gscam v4l_yuv.launch -+ roslaunch gscam v4l_ov5640.launch # for OV5640 CSI camera -+ ``` -+ -+```{note} -+The measured framerate for the output topic can be less than the framerate set in the launch file, depending on the light condition of the scenes. This is a normal behavior inherited from `v4l2src` and the default ISP settings of the USB webcam. -+``` -+ -+### Visualization on remote PC -+ -+By default, the output topic `raw_image` is published in NV12 color format to make more efficient when the node is integrated with the vision vision CNN processing chain (including `ti_vision_cnn` ROS node) on the target. We provide a launch file for visualization on the remote Ubuntu (included in `ti_viz_nodes` ROS package). -+ -+In the PC Docker container, -+```sh -+roslaunch ti_viz_nodes gscam_nv12.launch -+``` -+ -+## Usage: IMX219 Camera -+ -+```{only} tag_j7x -+Please follow [the hardware setup section of Edge AI documentation](https://software-dl.ti.com/jacinto7/esd/processor-sdk-linux-edgeai/TDA4VM/latest/exports/edgeai_docs/devices/TDA4VM/linux/getting_started.html#rpiv2-imx219-raw-sensor). -+``` -+```{only} tag_am62a -+Please follow [the hardware setup section of Edge AI documentation](https://software-dl.ti.com/jacinto7/esd/processor-sdk-linux-edgeai/AM62AX/latest/exports/edgeai_docs/devices/AM62AX/linux/getting_started.html#rpiv2-imx219-raw-sensor). -+``` -+ -+You can check the device ID and subdev ID for the IMX219 CSI camera attached to the hardware setup by running `/opt/edgeai-gst-apps/scripts/setup_cameras.sh` on the target host Linux. Accordingly please update the launch files below, or it's also possible to pass as launch arguments. -+ -+### Running gscam with resizing -+To publish the captured images from the IMX219 camera, -+```sh -+roslaunch gscam v4l_imx219.launch device_id:=X subdev_id:=Y -+``` -+ -+```{note} -+The GStreamer pipeline in `v4l_imx219.launch` includes the ISP plugin (tiovxisp) followed by the image scaler plugin (tiovxmultiscaler) to resize the images to the output resolution. The output images are published in NV12 format. -+``` -+ -+### Visualization on remote PC -+ -+For visualization, run the following in the PC Docker container, -+```sh -+roslaunch ti_viz_nodes gscam_nv12.launch width:=1280 height:=720 -+``` -+ -+## Usage: IMX390 Camera -+ -+```{only} tag_j7x -+Please follow [the hardware setup section of Edge AI documentation](https://software-dl.ti.com/jacinto7/esd/processor-sdk-linux-edgeai/TDA4VM/latest/exports/edgeai_docs/devices/TDA4VM/linux/getting_started.html#imx390-raw-sensor). -+``` -+```{only} tag_am62a -+Please follow [the hardware setup section of Edge AI documentation](https://software-dl.ti.com/jacinto7/esd/processor-sdk-linux-edgeai/AM62AX/latest/exports/edgeai_docs/devices/AM62AX/linux/getting_started.html#imx390-raw-sensor). -+``` -+ -+### Running gscam for raw image capture -+ -+You can check the device ID and subdev ID for the IMX390 camera attached to the hardware setup by running `/opt/edgeai-gst-apps/scripts/setup_cameras.sh` on the target host Linux. Accordingly please update the launch files below, or it's also possible to pass as launch arguments. -+ -+To publish raw images in the native resolution (1936 x 1096), -+```sh -+roslaunch gscam v4l_imx390_raw.launch -+``` -+### Running gscam with rectification and resizing -+ -+We also provide a launch file that includes rectification and resizing in the GStreamer pipeline. -+ -+````{note} -+`v4l_imx390.launch` has `tiovxldc` in the GStreamer pipeline and -+`tiovxldc` requires a LUT file (specified with `lut-file`). The LUT file is specific to the camera being used. -+As an example, we provide camera calibration data for a fisheye IMX390 camera in the form of camera_info YAML file. -+To generate the LUT files, please run the following in the Robotics SDK Docker container on the target: -+``` -+bash /opt/robotics_sdk/tools/mono_camera/imx390_ldc.sh -+``` -+```` -+ -+```sh -+# 1080p -+roslaunch gscam v4l_imx390.launch width:=1920 height:=1080 -+# 720p -+roslaunch gscam v4l_imx390.launch width:=1280 height:=720 -+``` -+ -+```{note} -+The GStreamer pipeline in `v4l_imx390.launch` also includes the LDC plugin (tiovxldc). Raw resolution is 1936 x 1096. The LDC plugin performs rectification and then cropping to produce 1920 x 1080 images in NV12 format, followed by MSC plugin (tiovxmultiscaler) to resize the images to the output resolution. -+``` -+ -+### Visualization on remote PC -+ -+For visualization, run the following in the PC Docker container, -+ -+```sh -+# native resolution (1936 x 1096) -+roslaunch ti_viz_nodes gscam_nv12.launch width:=1936 height:=1096 -+# 1080p -+roslaunch ti_viz_nodes gscam_nv12.launch width:=1920 height:=1080 -+# 720p -+roslaunch ti_viz_nodes gscam_nv12.launch width:=1280 height:=720 -+``` -diff --git a/config/C920_HD_camera_info.yaml b/config/C920_HD_camera_info.yaml -new file mode 100644 -index 0000000..3ce26c2 ---- /dev/null -+++ b/config/C920_HD_camera_info.yaml -@@ -0,0 +1,31 @@ -+%YAML:1.0 -+--- -+image_width: 1280 -+image_height: 720 -+camera_name: camera -+camera_matrix: !!opencv-matrix -+ rows: 3 -+ cols: 3 -+ dt: d -+ data: [ 9.3797299601201667e+02, 0., 6.4110167315102080e+02, 0., -+ 9.3981016471195335e+02, 3.8512990806142415e+02, 0., 0., 1. ] -+distortion_model: plumb_bob -+distortion_coefficients: !!opencv-matrix -+ rows: 1 -+ cols: 5 -+ dt: d -+ data: [ 7.3934261699576093e-02, -4.1542678753901879e-01, -+ 1.4128959036683215e-03, 9.4384360282255390e-04, -+ 5.9913436641201279e-01 ] -+rectification_matrix: !!opencv-matrix -+ rows: 3 -+ cols: 3 -+ dt: d -+ data: [ 1., 0., 0., 0., 1., 0., 0., 0., 1. ] -+projection_matrix: !!opencv-matrix -+ rows: 3 -+ cols: 4 -+ dt: d -+ data: [ 9.3797299601201667e+02, 0., 6.4110167315102080e+02, 0., 0., -+ 9.3981016471195335e+02, 3.8512990806142415e+02, 0., 0., 0., 1., -+ 0. ] -diff --git a/config/IMX219_HD_camera_info.yaml b/config/IMX219_HD_camera_info.yaml -new file mode 100644 -index 0000000..b3ab210 ---- /dev/null -+++ b/config/IMX219_HD_camera_info.yaml -@@ -0,0 +1,32 @@ -+%YAML:1.0 -+--- -+# This is just a template. All the coefficients should be from calibration. -+image_width: 1280 -+image_height: 720 -+camera_name: camera -+camera_matrix: !!opencv-matrix -+ rows: 3 -+ cols: 3 -+ dt: d -+ data: [ 9.3797299601201667e+02, 0., 6.4110167315102080e+02, 0., -+ 9.3981016471195335e+02, 3.8512990806142415e+02, 0., 0., 1. ] -+distortion_model: plumb_bob -+distortion_coefficients: !!opencv-matrix -+ rows: 1 -+ cols: 5 -+ dt: d -+ data: [ 7.3934261699576093e-02, -4.1542678753901879e-01, -+ 1.4128959036683215e-03, 9.4384360282255390e-04, -+ 5.9913436641201279e-01 ] -+rectification_matrix: !!opencv-matrix -+ rows: 3 -+ cols: 3 -+ dt: d -+ data: [ 1., 0., 0., 0., 1., 0., 0., 0., 1. ] -+projection_matrix: !!opencv-matrix -+ rows: 3 -+ cols: 4 -+ dt: d -+ data: [ 9.3797299601201667e+02, 0., 6.4110167315102080e+02, 0., 0., -+ 9.3981016471195335e+02, 3.8512990806142415e+02, 0., 0., 0., 1., -+ 0. ] -diff --git a/config/IMX390_HD_camera_info.yaml b/config/IMX390_HD_camera_info.yaml -new file mode 100644 -index 0000000..b3ab210 ---- /dev/null -+++ b/config/IMX390_HD_camera_info.yaml -@@ -0,0 +1,32 @@ -+%YAML:1.0 -+--- -+# This is just a template. All the coefficients should be from calibration. -+image_width: 1280 -+image_height: 720 -+camera_name: camera -+camera_matrix: !!opencv-matrix -+ rows: 3 -+ cols: 3 -+ dt: d -+ data: [ 9.3797299601201667e+02, 0., 6.4110167315102080e+02, 0., -+ 9.3981016471195335e+02, 3.8512990806142415e+02, 0., 0., 1. ] -+distortion_model: plumb_bob -+distortion_coefficients: !!opencv-matrix -+ rows: 1 -+ cols: 5 -+ dt: d -+ data: [ 7.3934261699576093e-02, -4.1542678753901879e-01, -+ 1.4128959036683215e-03, 9.4384360282255390e-04, -+ 5.9913436641201279e-01 ] -+rectification_matrix: !!opencv-matrix -+ rows: 3 -+ cols: 3 -+ dt: d -+ data: [ 1., 0., 0., 0., 1., 0., 0., 0., 1. ] -+projection_matrix: !!opencv-matrix -+ rows: 3 -+ cols: 4 -+ dt: d -+ data: [ 9.3797299601201667e+02, 0., 6.4110167315102080e+02, 0., 0., -+ 9.3981016471195335e+02, 3.8512990806142415e+02, 0., 0., 0., 1., -+ 0. ] -diff --git a/include/gscam/gscam.h b/include/gscam/gscam.h -index e4b4ee2..dc7e2ff 100644 ---- a/include/gscam/gscam.h -+++ b/include/gscam/gscam.h -@@ -47,15 +47,21 @@ namespace gscam { - - // Camera publisher configuration - std::string frame_id_; -- int width_, height_; -+ int width_; -+ int height_; - std::string image_encoding_; - std::string camera_name_; - std::string camera_info_url_; -+ int set_width_; -+ int set_height_; -+ int set_framerate_; -+ std::string app_sink_format_; - - // ROS Inteface - // Calibration between ros::Time and gst timestamps - double time_offset_; -- ros::NodeHandle nh_, nh_private_; -+ ros::NodeHandle nh_; -+ ros::NodeHandle nh_private_; - image_transport::ImageTransport image_transport_; - camera_info_manager::CameraInfoManager camera_info_manager_; - image_transport::CameraPublisher camera_pub_; -diff --git a/launch/v4l_imx219.launch b/launch/v4l_imx219.launch -new file mode 100644 -index 0000000..6ce8cb1 ---- /dev/null -+++ b/launch/v4l_imx219.launch -@@ -0,0 +1,52 @@ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -diff --git a/launch/v4l_imx390.launch b/launch/v4l_imx390.launch -new file mode 100644 -index 0000000..d4eda93 ---- /dev/null -+++ b/launch/v4l_imx390.launch -@@ -0,0 +1,61 @@ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -diff --git a/launch/v4l_imx390_raw.launch b/launch/v4l_imx390_raw.launch -new file mode 100644 -index 0000000..da25647 ---- /dev/null -+++ b/launch/v4l_imx390_raw.launch -@@ -0,0 +1,44 @@ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -diff --git a/launch/v4l_mjpg.launch b/launch/v4l_mjpg.launch -new file mode 100644 -index 0000000..0ab2e9b ---- /dev/null -+++ b/launch/v4l_mjpg.launch -@@ -0,0 +1,29 @@ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -diff --git a/launch/v4l_ov5640.launch b/launch/v4l_ov5640.launch -new file mode 100644 -index 0000000..f37b060 ---- /dev/null -+++ b/launch/v4l_ov5640.launch -@@ -0,0 +1,32 @@ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -diff --git a/launch/v4l_yuv.launch b/launch/v4l_yuv.launch -new file mode 100644 -index 0000000..a7ab999 ---- /dev/null -+++ b/launch/v4l_yuv.launch -@@ -0,0 +1,29 @@ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -diff --git a/src/gscam.cpp b/src/gscam.cpp -index d0c6cc9..1d19e26 100644 ---- a/src/gscam.cpp -+++ b/src/gscam.cpp -@@ -4,7 +4,6 @@ - #include - #include - -- - #include - extern "C"{ - #include -@@ -16,7 +15,6 @@ extern "C"{ - #include - #include - -- - #include - #include - #include -@@ -73,21 +71,35 @@ namespace gscam { - nh_private_.param("sync_sink", sync_sink_, true); - nh_private_.param("preroll", preroll_, false); - nh_private_.param("use_gst_timestamps", use_gst_timestamps_, false); -- - nh_private_.param("reopen_on_eof", reopen_on_eof_, false); - - // Get the camera parameters file - nh_private_.getParam("camera_info_url", camera_info_url_); - nh_private_.getParam("camera_name", camera_name_); -+ nh_private_.getParam("width", set_width_); -+ nh_private_.getParam("height", set_height_); -+ nh_private_.getParam("framerate", set_framerate_); - - // Get the image encoding -- nh_private_.param("image_encoding", image_encoding_, sensor_msgs::image_encodings::RGB8); -+ nh_private_.param("image_encoding", image_encoding_, std::string("yuv420")); - if (image_encoding_ != sensor_msgs::image_encodings::RGB8 && -- image_encoding_ != sensor_msgs::image_encodings::MONO8 && -+ // image_encoding_ != sensor_msgs::image_encodings::MONO8 && -+ // image_encoding_ != "yuv422" && -+ image_encoding_ != "yuv420" && - image_encoding_ != "jpeg") { - ROS_FATAL_STREAM("Unsupported image encoding: " + image_encoding_); - } - -+ // Mapping between image_encoding_ and app_sink_format_ -+ // 'tiovxcolorconvert' supports: RGB, NV12 -+ if (image_encoding_ == sensor_msgs::image_encodings::RGB8) { -+ app_sink_format_ = "RGB"; -+ } else if (image_encoding_ == "yuv420") { -+ app_sink_format_ = "NV12"; -+ } else if (image_encoding_ == "jpeg") { -+ app_sink_format_ = ""; -+ } -+ - camera_info_manager_.setCameraName(camera_name_); - - if(camera_info_manager_.validateURL(camera_info_url_)) { -@@ -125,32 +137,24 @@ namespace gscam { - return false; - } - -- // Create RGB sink -+ // Create app sink - sink_ = gst_element_factory_make("appsink",NULL); - GstCaps * caps = gst_app_sink_get_caps(GST_APP_SINK(sink_)); - --#if (GST_VERSION_MAJOR == 1) - // http://gstreamer.freedesktop.org/data/doc/gstreamer/head/pwg/html/section-types-definitions.html -- if (image_encoding_ == sensor_msgs::image_encodings::RGB8) { -- caps = gst_caps_new_simple( "video/x-raw", -- "format", G_TYPE_STRING, "RGB", -- NULL); -- } else if (image_encoding_ == sensor_msgs::image_encodings::MONO8) { -- caps = gst_caps_new_simple( "video/x-raw", -- "format", G_TYPE_STRING, "GRAY8", -- NULL); -- } else if (image_encoding_ == "jpeg") { -- caps = gst_caps_new_simple("image/jpeg", NULL, NULL); -+ if (image_encoding_ == "jpeg") { -+ caps = gst_caps_new_simple("image/jpeg", NULL, NULL); - } --#else -- if (image_encoding_ == sensor_msgs::image_encodings::RGB8) { -- caps = gst_caps_new_simple( "video/x-raw-rgb", NULL,NULL); -- } else if (image_encoding_ == sensor_msgs::image_encodings::MONO8) { -- caps = gst_caps_new_simple("video/x-raw-gray", NULL, NULL); -- } else if (image_encoding_ == "jpeg") { -- caps = gst_caps_new_simple("image/jpeg", NULL, NULL); -+ else { -+ ROS_INFO_STREAM("app_sink_format_ = "<("camera/image_raw/compressed",1); -- cinfo_pub_ = nh_.advertise("camera/camera_info",1); -+ jpeg_pub_ = nh_.advertise(camera_name_ + "/image_raw/compressed",1); -+ cinfo_pub_ = nh_.advertise(camera_name_ + "/camera_info",1); - } else { -- camera_pub_ = image_transport_.advertiseCamera("camera/image_raw", 1); -+ camera_pub_ = image_transport_.advertiseCamera(camera_name_ + "/image_raw", 1); - } - - return true; -@@ -262,13 +266,12 @@ namespace gscam { - } - ROS_INFO("Started stream."); - -- // Poll the data as fast a spossible -- while(ros::ok()) -+ // Poll the data as fast as possible -+ while(ros::ok()) - { - // This should block until a new frame is awake, this way, we'll run at the - // actual capture framerate of the device. - // ROS_DEBUG("Getting data..."); --#if (GST_VERSION_MAJOR == 1) - GstSample* sample = gst_app_sink_pull_sample(GST_APP_SINK(sink_)); - if(!sample) { - ROS_ERROR("Could not get gstreamer sample."); -@@ -281,26 +284,10 @@ namespace gscam { - gst_memory_map(memory, &info, GST_MAP_READ); - gsize &buf_size = info.size; - guint8* &buf_data = info.data; --#else -- GstBuffer* buf = gst_app_sink_pull_buffer(GST_APP_SINK(sink_)); -- guint &buf_size = buf->size; -- guint8* &buf_data = buf->data; --#endif - GstClockTime bt = gst_element_get_base_time(pipeline_); - // ROS_INFO("New buffer: timestamp %.6f %lu %lu %.3f", - // GST_TIME_AS_USECONDS(buf->timestamp+bt)/1e6+time_offset_, buf->timestamp, bt, time_offset_); - -- --#if 0 -- GstFormat fmt = GST_FORMAT_TIME; -- gint64 current = -1; -- -- Query the current position of the stream -- if (gst_element_query_position(pipeline_, &fmt, ¤t)) { -- ROS_INFO_STREAM("Position "<header.stamp = ros::Time(GST_TIME_AS_USECONDS(buf->pts+bt)/1e6+time_offset_); --#else -- cinfo->header.stamp = ros::Time(GST_TIME_AS_USECONDS(buf->timestamp+bt)/1e6+time_offset_); --#endif - } else { - cinfo->header.stamp = ros::Time::now(); - } -@@ -346,14 +325,19 @@ namespace gscam { - cinfo_pub_.publish(cinfo); - } else { - // Complain if the returned buffer is smaller than we expect -- const unsigned int expected_frame_size = -- image_encoding_ == sensor_msgs::image_encodings::RGB8 -- ? width_ * height_ * 3 -- : width_ * height_; -- -- if (buf_size < expected_frame_size) { -- ROS_WARN_STREAM( "GStreamer image buffer underflow: Expected frame to be " -- << expected_frame_size << " bytes but got only " -+ unsigned int expected_frame_size; -+ if (image_encoding_ == sensor_msgs::image_encodings::RGB8) { -+ expected_frame_size = width_ * height_ * 3; -+ } -+ else if (image_encoding_ == "yuv420") { -+ expected_frame_size = width_ * height_ * 1.5; -+ } -+ else { -+ expected_frame_size = width_ * height_; -+ } -+ if (buf_size != expected_frame_size) { -+ ROS_WARN_STREAM( "GStreamer image buffer underflow or overflow: Expected frame to be " -+ << expected_frame_size << " bytes but got " - << (buf_size) << " bytes. (make sure frames are correctly encoded)"); - } - -@@ -374,12 +358,12 @@ namespace gscam { - // we can free the buffer allocated by gstreamer - if (image_encoding_ == sensor_msgs::image_encodings::RGB8) { - img->step = width_ * 3; -+ } else if (image_encoding_ == "yuv420") { // NV12 -+ img->step = width_; - } else { - img->step = width_; - } -- std::copy( -- buf_data, -- (buf_data)+(buf_size), -+ std::copy(buf_data, (buf_data)+(buf_size), - img->data.begin()); - - // Publish the image/info -@@ -388,11 +372,11 @@ namespace gscam { - - // Release the buffer - if(buf) { --#if (GST_VERSION_MAJOR == 1) - gst_memory_unmap(memory, &info); - gst_memory_unref(memory); --#endif -- gst_buffer_unref(buf); -+ // https://github.com/clydemcqueen/gscam2/issues/9 -+ // gst_buffer_unref(buf); -+ gst_sample_unref(sample); - } - - ros::spinOnce(); diff --git a/ros1/drivers/zed_capture/CMakeLists.txt b/ros1/drivers/zed_capture/CMakeLists.txt deleted file mode 100644 index b1313c7..0000000 --- a/ros1/drivers/zed_capture/CMakeLists.txt +++ /dev/null @@ -1,31 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(zed_capture) - -find_package(catkin REQUIRED COMPONENTS - cmake_modules - roscpp cv_bridge - image_transport - camera_info_manager -) - -find_package(OpenCV REQUIRED) - -include_directories( - include - ${catkin_INCLUDE_DIRS} - ${OpenCV_INCLUDE_DIRS} -) - -link_directories(${catkin_LIBRARY_DIRS}) - -catkin_package( - LIBRARIES - CATKIN_DEPENDS -) - -# node -add_executable(zed_capture - src/zed_capture_node.cpp - src/usb_stereo_camera.cpp -) -target_link_libraries(zed_capture ${catkin_LIBRARIES} ${OpenCV_LIBS}) diff --git a/ros1/drivers/zed_capture/config/README.txt b/ros1/drivers/zed_capture/config/README.txt deleted file mode 100644 index 76b487c..0000000 --- a/ros1/drivers/zed_capture/config/README.txt +++ /dev/null @@ -1 +0,0 @@ -* SN5867575.conf: ZED1 camera used in zed1_2020-11-09-18-01-08.bag \ No newline at end of file diff --git a/ros1/drivers/zed_capture/config/SN5867575.conf b/ros1/drivers/zed_capture/config/SN5867575.conf deleted file mode 100644 index 41151e4..0000000 --- a/ros1/drivers/zed_capture/config/SN5867575.conf +++ /dev/null @@ -1,105 +0,0 @@ -[LEFT_CAM_2K] -fx=1395.37 -fy=1394.85 -cx=1083.6 -cy=572.86 -k1=-0.172562 -k2=0.0267903 -k3=-7.21089e-11 -p1=0.000134575 -p2=-0.000132517 - -[RIGHT_CAM_2K] -fx=1394.87 -fy=1394.63 -cx=1119.91 -cy=652.569 -k1=-0.17243 -k2=0.0263595 -k3=1.74212e-11 -p1=5.55949e-05 -p2=0.000192213 - -[LEFT_CAM_FHD] -fx=1395.37 -fy=1394.85 -cx=939.6 -cy=491.86 -k1=-0.172562 -k2=0.0267903 -k3=-7.21089e-11 -p1=0.000134575 -p2=-0.000132517 - -[RIGHT_CAM_FHD] -fx=1394.87 -fy=1394.63 -cx=975.91 -cy=571.569 -k1=-0.17243 -k2=0.0263595 -k3=1.74212e-11 -p1=5.55949e-05 -p2=0.000192213 - -[LEFT_CAM_HD] -fx=697.685 -fy=697.425 -cx=628.3 -cy=334.43 -k1=-0.172562 -k2=0.0267903 -k3=-7.21089e-11 -p1=0.000134575 -p2=-0.000132517 - -[RIGHT_CAM_HD] -fx=697.435 -fy=697.315 -cx=646.455 -cy=374.2845 -k1=-0.17243 -k2=0.0263595 -k3=1.74212e-11 -p1=5.55949e-05 -p2=0.000192213 - -[LEFT_CAM_VGA] -fx=348.8425 -fy=348.7125 -cx=329.65 -cy=174.715 -k1=-0.172562 -k2=0.0267903 -k3=-7.21089e-11 -p1=0.000134575 -p2=-0.000132517 - -[RIGHT_CAM_VGA] -fx=348.7175 -fy=348.6575 -cx=338.7275 -cy=194.64225 -k1=-0.17243 -k2=0.0263595 -k3=1.74212e-11 -p1=5.55949e-05 -p2=0.000192213 - -[STEREO] -Baseline=120.127 -TY=0.365526 -TZ=-0.388541 -CV_2K=-0.00366666 -CV_FHD=-0.00366666 -CV_HD=-0.00366666 -CV_VGA=-0.00366666 -RX_2K=-0.00936677 -RX_FHD=-0.00936677 -RX_HD=-0.00936677 -RX_VGA=-0.00936677 -RZ_2K=0.000177629 -RZ_FHD=0.000177629 -RZ_HD=0.000177629 -RZ_VGA=0.000177629 - diff --git a/ros1/drivers/zed_capture/config/SN5867575_FHD2_LUT_left.bin b/ros1/drivers/zed_capture/config/SN5867575_FHD2_LUT_left.bin deleted file mode 100644 index dc19103d20a3793c68f75e6066df3c9b884e8b24..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 509888 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1.3457500000000000e-04, -1.3251699999999999e-04, - -7.2108899999999995e-11 ] -rectification_matrix: !!opencv-matrix - rows: 3 - cols: 3 - dt: d - data: [ 9.9999627032011951e-01, -2.3627198645405651e-03, - -1.3700002525904669e-03, 2.3691073046565336e-03, - 9.9998624406379488e-01, 4.6796382086421789e-03, - 1.3589247327999701e-03, -4.6828664326954966e-03, - 9.9998811197210946e-01 ] -projection_matrix: !!opencv-matrix - rows: 3 - cols: 4 - dt: d - data: [ 1.5066822538456638e+03, 0., 9.5638061523437500e+02, 0., 0., - 1.5066822538456638e+03, 5.0319455337524414e+02, 0., 0., 0., 1., - 0. ] diff --git a/ros1/drivers/zed_capture/config/SN5867575_FHD2_camera_info_right.yaml b/ros1/drivers/zed_capture/config/SN5867575_FHD2_camera_info_right.yaml deleted file mode 100644 index 67ab4da..0000000 --- a/ros1/drivers/zed_capture/config/SN5867575_FHD2_camera_info_right.yaml +++ /dev/null @@ -1,35 +0,0 @@ -%YAML:1.0 ---- -image_width: "1920" -image_height: "1024" -camera_name: camera/right -camera_matrix: !!opencv-matrix - rows: 3 - cols: 3 - dt: d - data: [ 1.3948699999999999e+03, 0., 9.7590999999999997e+02, 0., - 1.3946300000000001e+03, 5.4356899999999996e+02, 0., 0., 1. ] -distortion_model: plumb_bob -distortion_coefficients: !!opencv-matrix - rows: 1 - cols: 5 - dt: d - data: [ -1.7243000000000000e-01, 2.6359500000000001e-02, - 5.5594899999999999e-05, 1.9221300000000000e-04, - 1.7421200000000001e-11 ] -rectification_matrix: !!opencv-matrix - rows: 3 - cols: 3 - dt: d - data: [ 9.9999493591566657e-01, -2.1806504818435660e-03, - 2.3179530836421494e-03, 2.1914775351929740e-03, - 9.9998665340082682e-01, -4.6787227346541576e-03, - -2.3077194878657020e-03, 4.6837787833180896e-03, - 9.9998636823062459e-01 ] -projection_matrix: !!opencv-matrix - rows: 3 - cols: 4 - dt: d - data: [ 1.5066822538456638e+03, 0., 9.5638061523437500e+02, - -2.5255378710001311e+05, 0., 1.5066822538456638e+03, - 5.0319455337524414e+02, 0., 0., 0., 1., 0. ] diff --git 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-%YAML:1.0 ---- -image_width: "1280" -image_height: "720" -camera_name: camera/left -camera_matrix: !!opencv-matrix - rows: 3 - cols: 3 - dt: d - data: [ 1.3953699999999999e+03, 0., 6.1960000000000002e+02, 0., - 1.3948499999999999e+03, 3.1186000000000001e+02, 0., 0., 1. ] -distortion_model: plumb_bob -distortion_coefficients: !!opencv-matrix - rows: 1 - cols: 5 - dt: d - data: [ -1.7256199999999999e-01, 2.6790300000000000e-02, - 1.3457500000000000e-04, -1.3251699999999999e-04, - -7.2108899999999995e-11 ] -rectification_matrix: !!opencv-matrix - rows: 3 - cols: 3 - dt: d - data: [ 9.9999627032011951e-01, -2.3627198645405651e-03, - -1.3700002525904669e-03, 2.3691073046565336e-03, - 9.9998624406379488e-01, 4.6796382086421789e-03, - 1.3589247327999701e-03, -4.6828664326954966e-03, - 9.9998811197210946e-01 ] -projection_matrix: !!opencv-matrix - rows: 3 - cols: 4 - dt: d - data: [ 1.5933113408611089e+03, 0., 6.3684069061279297e+02, 0., 0., - 1.5933113408611089e+03, 3.5151933670043945e+02, 0., 0., 0., 1., - 0. ] diff --git a/ros1/drivers/zed_capture/config/SN5867575_HD2_camera_info_right.yaml b/ros1/drivers/zed_capture/config/SN5867575_HD2_camera_info_right.yaml deleted file mode 100644 index daf817c..0000000 --- a/ros1/drivers/zed_capture/config/SN5867575_HD2_camera_info_right.yaml +++ /dev/null @@ -1,35 +0,0 @@ -%YAML:1.0 ---- -image_width: "1280" -image_height: "720" -camera_name: camera/right -camera_matrix: !!opencv-matrix - rows: 3 - cols: 3 - dt: d - data: [ 1.3948699999999999e+03, 0., 6.5590999999999997e+02, 0., - 1.3946300000000001e+03, 3.9156899999999996e+02, 0., 0., 1. ] -distortion_model: plumb_bob -distortion_coefficients: !!opencv-matrix - rows: 1 - cols: 5 - dt: d - data: [ -1.7243000000000000e-01, 2.6359500000000001e-02, - 5.5594899999999999e-05, 1.9221300000000000e-04, - 1.7421200000000001e-11 ] -rectification_matrix: !!opencv-matrix - rows: 3 - cols: 3 - dt: d - data: [ 9.9999493591566657e-01, -2.1806504818435660e-03, - 2.3179530836421494e-03, 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-rectification_matrix: !!opencv-matrix - rows: 3 - cols: 3 - dt: d - data: [ 9.9998915067312100e-01, -4.5649174228271187e-03, - 9.2739687993882432e-04, 4.5605280249607612e-03, - 9.9997864346743270e-01, 4.6812597841554195e-03, - -9.4874663830662532e-04, -4.6769795761765921e-03, - 9.9998861280609619e-01 ] -projection_matrix: !!opencv-matrix - rows: 3 - cols: 4 - dt: d - data: [ 7.1503230495432081e+02, 0., 6.3259657287597656e+02, 0., 0., - 7.1503230495432081e+02, 3.5359720993041992e+02, 0., 0., 0., 1., - 0. ] diff --git a/ros1/drivers/zed_capture/config/SN5867575_HD_camera_info_right.yaml b/ros1/drivers/zed_capture/config/SN5867575_HD_camera_info_right.yaml deleted file mode 100644 index fab9bd6..0000000 --- a/ros1/drivers/zed_capture/config/SN5867575_HD_camera_info_right.yaml +++ /dev/null @@ -1,35 +0,0 @@ -%YAML:1.0 ---- -image_width: "1280" -image_height: "720" -camera_name: camera/right -camera_matrix: !!opencv-matrix - rows: 3 - cols: 3 - dt: d - data: [ 6.9743499999999995e+02, 0., 6.4645500000000004e+02, 0., - 6.9731500000000005e+02, 3.7428449999999998e+02, 0., 0., 1. ] -distortion_model: plumb_bob -distortion_coefficients: !!opencv-matrix - rows: 1 - cols: 5 - dt: d - data: [ -1.7243000000000000e-01, 2.6359500000000001e-02, - 5.5594899999999999e-05, 1.9221300000000000e-04, - 1.7421200000000001e-11 ] -rectification_matrix: !!opencv-matrix - rows: 3 - cols: 3 - dt: d - data: [ 9.9997974412426338e-01, -4.3612347072841725e-03, - 4.6358357391888018e-03, 4.3828787624158889e-03, - 9.9997949521104446e-01, -4.6689968107471117e-03, - -4.6153780914161072e-03, 4.6892205421352395e-03, - 9.9997835451362682e-01 ] -projection_matrix: !!opencv-matrix - rows: 3 - cols: 4 - dt: d - data: [ 7.1503230495432081e+02, 0., 6.3259657287597656e+02, - -5.9928647697925087e+04, 0., 7.1503230495432081e+02, - 3.5359720993041992e+02, 0., 0., 0., 1., 0. ] diff --git a/ros1/drivers/zed_capture/config/identity_HD_LUT.bin b/ros1/drivers/zed_capture/config/identity_HD_LUT.bin deleted file mode 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Texas Instruments Incorporated grants a world-wide, royalty-free, non-exclusive - * license under copyrights and patents it now or hereafter owns or controls to make, - * have made, use, import, offer to sell and sell ("Utilize") this software subject to the - * terms herein. With respect to the foregoing patent license, such license is granted - * solely to the extent that any such patent is necessary to Utilize the software alone. - * The patent license shall not apply to any combinations which include this software, - * other than combinations with devices manufactured by or for TI ("TI Devices"). - * No hardware patent is licensed hereunder. - * - * Redistributions must preserve existing copyright notices and reproduce this license - * (including the above copyright notice and the disclaimer and (if applicable) source - * code license limitations below) in the documentation and/or other materials provided - * with the distribution - * - * Redistribution and use in binary form, without modification, are permitted provided - * that the following conditions are met: - * - * * No reverse engineering, decompilation, or disassembly of this software is - * permitted with respect to any software provided in binary form. - * - * * any redistribution and use are licensed by TI for use only with TI Devices. - * - * * Nothing shall obligate TI to provide you with source code for the software - * licensed and provided to you in appCntxtect code. - * - * If software source code is provided to you, modification and redistribution of the - * source code are permitted provided that the following conditions are met: - * - * * any redistribution and use of the source code, including any resulting derivative - * works, are licensed by TI for use only with TI Devices. - * - * * any redistribution and use of any appCntxtect code compiled from the source code - * and any resulting derivative works, are licensed by TI for use only with TI Devices. - * - * Neither the name of Texas Instruments Incorporated nor the names of its suppliers - * - * may be used to endorse or promote products derived from this software without - * specific prior written permission. - * - * DISCLAIMER. - * - * THIS SOFTWARE IS PROVIDED BY TI AND TI'S LICENSORS "AS IS" AND ANY EXPRESS - * OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES - * OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. - * IN NO EVENT SHALL TI AND TI'S LICENSORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, - * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY - * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE - * OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED - * OF THE POSSIBILITY OF SUCH DAMAGE. - * - */ - -#ifndef USB_STEREO_CAMERA_H -#define USB_STEREO_CAMERA_H - -#include -#include -#include -#include - -#define ID_WIDTH 3 -#define ID_HEIGHT 4 -#define ID_FPS 5 - -#ifndef _XOPEN_SOURCE -#define _XOPEN_SOURCE // to use swab() -#endif -#include // to use swab() - -void yuyv2uyvy(unsigned char *src, unsigned char *dst, - unsigned long long int num_pixels); - -/** - * @brief USB stereo camera class based on OpenCV VideoCapture API - */ -class StereoCamera -{ -public: - StereoCamera(const std::string device_name, - const std::string camera_mode, - const double frame_rate, - const std::string encoding); - ~StereoCamera(); - void setCameraMode(const std::string camera_mode); - void setFrameRate(const double frame_rate); - bool getImages(cv::Mat &img_left, cv::Mat &img_right); - -private: - cv::VideoCapture* camera_; - int stereo_width_; - int stereo_height_; - int out_width_; - int out_height_; - cv::Rect rect_left_; - cv::Rect rect_right_; - double frame_rate_; - std::string encoding_; -}; - -#endif \ No newline at end of file diff --git a/ros1/drivers/zed_capture/include/zed_capture_node.h b/ros1/drivers/zed_capture/include/zed_capture_node.h deleted file mode 100644 index c045d53..0000000 --- a/ros1/drivers/zed_capture/include/zed_capture_node.h +++ /dev/null @@ -1,108 +0,0 @@ -/* - * - * Copyright (c) 2021 Texas Instruments Incorporated - * - * All rights reserved not granted herein. - * - * Limited License. - * - * Texas Instruments Incorporated grants a world-wide, royalty-free, non-exclusive - * license under copyrights and patents it now or hereafter owns or controls to make, - * have made, use, import, offer to sell and sell ("Utilize") this software subject to the - * terms herein. With respect to the foregoing patent license, such license is granted - * solely to the extent that any such patent is necessary to Utilize the software alone. - * The patent license shall not apply to any combinations which include this software, - * other than combinations with devices manufactured by or for TI ("TI Devices"). - * No hardware patent is licensed hereunder. - * - * Redistributions must preserve existing copyright notices and reproduce this license - * (including the above copyright notice and the disclaimer and (if applicable) source - * code license limitations below) in the documentation and/or other materials provided - * with the distribution - * - * Redistribution and use in binary form, without modification, are permitted provided - * that the following conditions are met: - * - * * No reverse engineering, decompilation, or disassembly of this software is - * permitted with respect to any software provided in binary form. - * - * * any redistribution and use are licensed by TI for use only with TI Devices. - * - * * Nothing shall obligate TI to provide you with source code for the software - * licensed and provided to you in appCntxtect code. - * - * If software source code is provided to you, modification and redistribution of the - * source code are permitted provided that the following conditions are met: - * - * * any redistribution and use of the source code, including any resulting derivative - * works, are licensed by TI for use only with TI Devices. - * - * * any redistribution and use of any appCntxtect code compiled from the source code - * and any resulting derivative works, are licensed by TI for use only with TI Devices. - * - * Neither the name of Texas Instruments Incorporated nor the names of its suppliers - * - * may be used to endorse or promote products derived from this software without - * specific prior written permission. - * - * DISCLAIMER. - * - * THIS SOFTWARE IS PROVIDED BY TI AND TI'S LICENSORS "AS IS" AND ANY EXPRESS - * OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES - * OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. - * IN NO EVENT SHALL TI AND TI'S LICENSORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, - * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY - * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE - * OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED - * OF THE POSSIBILITY OF SUCH DAMAGE. - * - */ - -#ifndef ZED_CAPTURE_NODE_H -#define ZED_CAPTURE_NODE_H - -#include -#include -#include -#include -#include -#include -#include - -#include "usb_stereo_camera.h" - -/** - * @brief ZED camera ROS node - */ -class ZedCameraNode -{ -public: - ZedCameraNode(ros::NodeHandle &nh, ros::NodeHandle &private_nh); - ~ZedCameraNode(); - void publishCamInfo(const ros::Publisher &pub_cam_info, - sensor_msgs::CameraInfo &cam_info_msg, - ros::Time tstamp); - void publishImage(const image_transport::Publisher &pub_img, - const cv::Mat &img, - const std::string &img_frame_id, - ros::Time tstamp); - void validateFrameRate(std::string camera_mode, double &frame_rate); - -private: - std::string camera_mode_; - std::string device_name_; - double frame_rate_; - std::string frame_id_left_; - std::string frame_id_right_; - std::string encoding_; - std::string image_topic_left_; - std::string image_topic_right_; - std::string camera_info_topic_left_; - std::string camera_info_topic_right_; - std::string camera_info_left_yaml_; - std::string camera_info_right_yaml_; -}; - -#endif \ No newline at end of file diff --git a/ros1/drivers/zed_capture/launch/recordbag.launch b/ros1/drivers/zed_capture/launch/recordbag.launch deleted file mode 100644 index dddfa6c..0000000 --- a/ros1/drivers/zed_capture/launch/recordbag.launch +++ /dev/null @@ -1,6 +0,0 @@ - - - - - diff --git a/ros1/drivers/zed_capture/launch/recordbag_split.launch b/ros1/drivers/zed_capture/launch/recordbag_split.launch deleted file mode 100644 index f6b49d8..0000000 --- a/ros1/drivers/zed_capture/launch/recordbag_split.launch +++ /dev/null @@ -1,6 +0,0 @@ - - - - - diff --git a/ros1/drivers/zed_capture/launch/zed_capture.launch b/ros1/drivers/zed_capture/launch/zed_capture.launch deleted file mode 100644 index a9c9ab5..0000000 --- a/ros1/drivers/zed_capture/launch/zed_capture.launch +++ /dev/null @@ -1,43 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ros1/drivers/zed_capture/launch/zed_capture_remap.launch b/ros1/drivers/zed_capture/launch/zed_capture_remap.launch deleted file mode 100644 index fabbee8..0000000 --- a/ros1/drivers/zed_capture/launch/zed_capture_remap.launch +++ /dev/null @@ -1,45 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ros1/drivers/zed_capture/package.xml b/ros1/drivers/zed_capture/package.xml deleted file mode 100644 index 9114c44..0000000 --- a/ros1/drivers/zed_capture/package.xml +++ /dev/null @@ -1,29 +0,0 @@ - - zed_capture - 0.0.1 - - A ZED camera driver ROS node based on OpenCV VideoCapture API for publishing left and right raw images. - - jroh - TBD - - catkin - - cmake_modules - roscpp - cv_bridge - image_transport - camera_info_manager - - roscpp - cv_bridge - image_transport - camera_info_manager - - cmake_modules - roscpp - cv_bridge - image_transport - camera_info_manager - - diff --git a/ros1/drivers/zed_capture/src/usb_stereo_camera.cpp b/ros1/drivers/zed_capture/src/usb_stereo_camera.cpp deleted file mode 100644 index 697f59b..0000000 --- a/ros1/drivers/zed_capture/src/usb_stereo_camera.cpp +++ /dev/null @@ -1,243 +0,0 @@ -/* - * - * Copyright (c) 2021 Texas Instruments Incorporated - * - * All rights reserved not granted herein. - * - * Limited License. - * - * Texas Instruments Incorporated grants a world-wide, royalty-free, non-exclusive - * license under copyrights and patents it now or hereafter owns or controls to make, - * have made, use, import, offer to sell and sell ("Utilize") this software subject to the - * terms herein. With respect to the foregoing patent license, such license is granted - * solely to the extent that any such patent is necessary to Utilize the software alone. - * The patent license shall not apply to any combinations which include this software, - * other than combinations with devices manufactured by or for TI ("TI Devices"). - * No hardware patent is licensed hereunder. - * - * Redistributions must preserve existing copyright notices and reproduce this license - * (including the above copyright notice and the disclaimer and (if applicable) source - * code license limitations below) in the documentation and/or other materials provided - * with the distribution - * - * Redistribution and use in binary form, without modification, are permitted provided - * that the following conditions are met: - * - * * No reverse engineering, decompilation, or disassembly of this software is - * permitted with respect to any software provided in binary form. - * - * * any redistribution and use are licensed by TI for use only with TI Devices. - * - * * Nothing shall obligate TI to provide you with source code for the software - * licensed and provided to you in appCntxtect code. - * - * If software source code is provided to you, modification and redistribution of the - * source code are permitted provided that the following conditions are met: - * - * * any redistribution and use of the source code, including any resulting derivative - * works, are licensed by TI for use only with TI Devices. - * - * * any redistribution and use of any appCntxtect code compiled from the source code - * and any resulting derivative works, are licensed by TI for use only with TI Devices. - * - * Neither the name of Texas Instruments Incorporated nor the names of its suppliers - * - * may be used to endorse or promote products derived from this software without - * specific prior written permission. - * - * DISCLAIMER. - * - * THIS SOFTWARE IS PROVIDED BY TI AND TI'S LICENSORS "AS IS" AND ANY EXPRESS - * OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES - * OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. - * IN NO EVENT SHALL TI AND TI'S LICENSORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, - * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY - * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE - * OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED - * OF THE POSSIBILITY OF SUCH DAMAGE. - * - */ - -#include "usb_stereo_camera.h" - -/** - * @brief Convert YUYV to UYVY - * - * @param [in] src Source - * @param [out] dst Destination - * @param [in] num_pixels Number of pixels of source image - */ -void yuyv2uyvy(unsigned char *src, unsigned char *dst, - unsigned long long int num_pixels) -{ - swab(src, dst, num_pixels<<1); -} - -/** - * @brief Stereo camera driver - * - * @param [in] device_name Device name of the camera - * @param [in] camera_mode Camera mode string: "2K", "FHD", "FHD2", "HD", "HD2", or "VGA" - * @param [in] frame_rate Frame rate - * @param [in] encoding Encoding scheme: "yuv422" (default) or "bgr8" - */ -StereoCamera::StereoCamera(const std::string device_name, - const std::string camera_mode, - const double frame_rate, - const std::string encoding) -{ - camera_ = new cv::VideoCapture(device_name); - encoding_ = encoding; - - // config the camera - setCameraMode(camera_mode); - setFrameRate(frame_rate); - -#if CV_MAJOR_VERSION <= 3 - if (encoding_.compare("yuv422")==0) - { - camera_->set(CV_CAP_PROP_CONVERT_RGB, false); - ROS_INFO("YUV422"); - } - else - { - camera_->set(CV_CAP_PROP_CONVERT_RGB, true); - ROS_INFO("BGR8"); - } -#else - if (encoding_.compare("yuv422")==0) - { - camera_->set(cv::CAP_PROP_CONVERT_RGB, false); - ROS_INFO("YUV422"); - } - else - { - camera_->set(cv::CAP_PROP_CONVERT_RGB, true); - ROS_INFO("BGR8"); - } -#endif - - // setting rect_left_ and rect_right_ - int crop_left = ((float) stereo_width_ / 2.0 - (float) out_width_)/2.0; - int crop_top = ((float) stereo_height_ - (float) out_height_)/2.0; - rect_left_.x = crop_left; - rect_left_.y = crop_top; - rect_left_.width = out_width_; - rect_left_.height = out_height_; - rect_right_.x = stereo_width_/2 + crop_left; - rect_right_.y = crop_top; - rect_right_.width = out_width_; - rect_right_.height = out_height_; - - ROS_INFO("Stereo Camera Mode %s, width %.0f, height %.0f", - camera_mode.c_str(), camera_->get(ID_WIDTH), camera_->get(ID_HEIGHT)); -} - -StereoCamera::~StereoCamera() -{ - delete camera_; -} - -/** - * @brief Set the camera mode - * - * @param [in] camera_mode Camera mode string: "2K", "FHD", "FHD2", "HD", "HD2", or "VGA" - */ -void StereoCamera::setCameraMode(const std::string camera_mode) -{ - if(camera_mode.compare("2K")==0) - { - stereo_width_ = 4416; - stereo_height_ = 1242; - out_width_ = stereo_width_/2; - out_height_ = stereo_height_; - } - else if(camera_mode.compare("FHD")==0) - { - stereo_width_ = 3840; - stereo_height_ = 1080; - out_width_ = stereo_width_/2; - out_height_ = stereo_height_; - } - else if(camera_mode.compare("FHD2")==0) - { - // 1920x1024 output by evenly cropping top and bottom of 1080p - stereo_width_ = 3840; - stereo_height_ = 1080; - out_width_ = stereo_width_/2; - out_height_ = 1024; - } - else if(camera_mode.compare("HD")==0) - { - stereo_width_ = 2560; - stereo_height_ = 720; - out_width_ = stereo_width_/2; - out_height_ = stereo_height_; - } - else if(camera_mode.compare("HD2")==0) - { - // 720p output obtained by center-cropping 1080p images - stereo_width_ = 3840; - stereo_height_ = 1080; - out_width_ = 1280; - out_height_ = 720; - } - else if(camera_mode.compare("VGA")==0) - { - stereo_width_ = 1344; - stereo_height_ = 376; - out_width_ = stereo_width_/2; - out_height_ = stereo_height_; - } - else - { - ROS_FATAL("Unknown camera_mode: %s", camera_mode.c_str()); - } - - camera_->set(ID_WIDTH, stereo_width_); - camera_->set(ID_HEIGHT, stereo_height_); - stereo_width_ = camera_->get(ID_WIDTH); - stereo_height_ = camera_->get(ID_HEIGHT); -} - -/** - * @brief Set the frame rate - * - * @param [in] frame_rate Frame rate - */ -void StereoCamera::setFrameRate(const double frame_rate) -{ - camera_->set(ID_FPS, frame_rate); - frame_rate_ = camera_->get(ID_FPS); -} - -/** - * @brief Capture the images - * - * @param [out] img_left The left image - * @param [out] img_right The right image - */ -bool StereoCamera::getImages(cv::Mat &img_left, cv::Mat &img_right) -{ - cv::Mat img_raw; - if (camera_->grab()) - { - // note: images are captured in yuv422:YUYV format - camera_->retrieve(img_raw); - if (encoding_.compare("yuv422")==0) - { - yuyv2uyvy(img_raw.data, img_raw.data, img_raw.total()); - } - - img_left = img_raw(rect_left_); - img_right = img_raw(rect_right_); - - return true; - } - else - { - return false; - } -} diff --git a/ros1/drivers/zed_capture/src/zed_capture_node.cpp b/ros1/drivers/zed_capture/src/zed_capture_node.cpp deleted file mode 100644 index 9198aa2..0000000 --- a/ros1/drivers/zed_capture/src/zed_capture_node.cpp +++ /dev/null @@ -1,231 +0,0 @@ -/* - * - * Copyright (c) 2021 Texas Instruments Incorporated - * - * All rights reserved not granted herein. - * - * Limited License. - * - * Texas Instruments Incorporated grants a world-wide, royalty-free, non-exclusive - * license under copyrights and patents it now or hereafter owns or controls to make, - * have made, use, import, offer to sell and sell ("Utilize") this software subject to the - * terms herein. With respect to the foregoing patent license, such license is granted - * solely to the extent that any such patent is necessary to Utilize the software alone. - * The patent license shall not apply to any combinations which include this software, - * other than combinations with devices manufactured by or for TI ("TI Devices"). - * No hardware patent is licensed hereunder. - * - * Redistributions must preserve existing copyright notices and reproduce this license - * (including the above copyright notice and the disclaimer and (if applicable) source - * code license limitations below) in the documentation and/or other materials provided - * with the distribution - * - * Redistribution and use in binary form, without modification, are permitted provided - * that the following conditions are met: - * - * * No reverse engineering, decompilation, or disassembly of this software is - * permitted with respect to any software provided in binary form. - * - * * any redistribution and use are licensed by TI for use only with TI Devices. - * - * * Nothing shall obligate TI to provide you with source code for the software - * licensed and provided to you in appCntxtect code. - * - * If software source code is provided to you, modification and redistribution of the - * source code are permitted provided that the following conditions are met: - * - * * any redistribution and use of the source code, including any resulting derivative - * works, are licensed by TI for use only with TI Devices. - * - * * any redistribution and use of any appCntxtect code compiled from the source code - * and any resulting derivative works, are licensed by TI for use only with TI Devices. - * - * Neither the name of Texas Instruments Incorporated nor the names of its suppliers - * - * may be used to endorse or promote products derived from this software without - * specific prior written permission. - * - * DISCLAIMER. - * - * THIS SOFTWARE IS PROVIDED BY TI AND TI'S LICENSORS "AS IS" AND ANY EXPRESS - * OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES - * OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. - * IN NO EVENT SHALL TI AND TI'S LICENSORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, - * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY - * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE - * OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED - * OF THE POSSIBILITY OF SUCH DAMAGE. - * - */ - -#include "zed_capture_node.h" - -static ZedCameraNode *zed_ros_node; - -/** - * @brief ZED camera ROS node - * - * @param [in] resolution Resolution - * @param [in] frame_rate Frame rate - */ -ZedCameraNode::ZedCameraNode(ros::NodeHandle &nh, ros::NodeHandle &private_nh) -{ - // parse ROS parameters - private_nh.param("camera_mode", camera_mode_, std::string("HD")); - private_nh.param("frame_rate", frame_rate_, 15.0); - private_nh.param("frame_id_left", frame_id_left_, std::string("left_camera")); - private_nh.param("frame_id_right", frame_id_right_, std::string("right_camera")); - private_nh.param("device_name", device_name_, std::string("/dev/video1")); - private_nh.param("encoding", encoding_, std::string("yuv422")); - private_nh.param("image_topic_left", image_topic_left_, std::string("camera/left/image_raw")); - private_nh.param("image_topic_right", image_topic_right_, std::string("camera/right/image_raw")); - private_nh.param("camera_info_topic_left", camera_info_topic_left_, std::string("camera/left/camera_info")); - private_nh.param("camera_info_topic_right", camera_info_topic_right_, std::string("camera/right/camera_info")); - private_nh.param("camera_info_left_yaml", camera_info_left_yaml_, std::string("")); - private_nh.param("camera_info_right_yaml", camera_info_right_yaml_, std::string("")); - - // validate frame rate and update if necessary - validateFrameRate(camera_mode_, frame_rate_); - - ROS_INFO("Initialize the ZED camera"); - StereoCamera zed(device_name_, camera_mode_, frame_rate_, encoding_); - - // setup publisher - image_transport::ImageTransport it(nh); - image_transport::Publisher pub_image_left = it.advertise(image_topic_left_, 1); - image_transport::Publisher pub_image_right = it.advertise(image_topic_right_, 1); - ros::Publisher pub_caminfo_left = nh.advertise(camera_info_topic_left_, 1); - ros::Publisher pub_caminfo_right = nh.advertise(camera_info_topic_right_, 1); - - // populate camera_info - ROS_INFO("Loading camera info from yaml files"); - sensor_msgs::CameraInfo caminfo_left; - sensor_msgs::CameraInfo caminfo_right; - ros::NodeHandle nh_left("left"); - ros::NodeHandle nh_right("right"); - camera_info_manager::CameraInfoManager caminfo_left_manager(nh_left, - "camera/left", "package://zed_capture/config/"+camera_info_left_yaml_); - camera_info_manager::CameraInfoManager caminfo_right_manager(nh_right, - "camera/right", "package://zed_capture/config/"+camera_info_right_yaml_); - caminfo_left = caminfo_left_manager.getCameraInfo(); - caminfo_right = caminfo_right_manager.getCameraInfo(); - caminfo_left.header.frame_id = frame_id_left_; - caminfo_right.header.frame_id = frame_id_right_; - - // capture and publish images - cv::Mat img_left; - cv::Mat img_right; - ros::Rate framerate(frame_rate_); - - while (nh.ok()) - { - if (!zed.getImages(img_left, img_right)) - { - ROS_INFO_ONCE("Cannot find the ZED camera"); - } - else - { - ROS_INFO_ONCE("Successfully found the ZED camera"); - } - - ros::Time now = ros::Time::now(); - publishImage(pub_image_left, img_left, "left_frame", now); - publishImage(pub_image_right, img_right, "right_frame", now); - publishCamInfo(pub_caminfo_left, caminfo_left, now); - publishCamInfo(pub_caminfo_right, caminfo_right, now); - - framerate.sleep(); - } -} - -ZedCameraNode::~ZedCameraNode() { } - -/** - * @brief Publish the camera_info - * - * @param [in] pub_cam_info camera_info publisher - * @param [in] cam_info_msg camera_info message - * @param [in] tstamp timestamp - */ -void ZedCameraNode::publishCamInfo(const ros::Publisher &pub_cam_info, - sensor_msgs::CameraInfo &cam_info_msg, - ros::Time tstamp) -{ - cam_info_msg.header.stamp = tstamp; - pub_cam_info.publish(cam_info_msg); -} - -/** - * @brief Publish the image - * - * @param [in] pub_img Image publisher - * @param [in] img Image message - * @param [in] img_frame_id Image frame identifier - * @param [in] tstamp Timestamp - * @param [in] encoding image_transport encoding method - */ -void ZedCameraNode::publishImage(const image_transport::Publisher &pub_img, - const cv::Mat &img, - const std::string &img_frame_id, - ros::Time tstamp) -{ - cv_bridge::CvImage cv_img; - cv_img.image = img; - cv_img.encoding = encoding_; - cv_img.header.frame_id = img_frame_id; - cv_img.header.stamp = tstamp; - pub_img.publish(cv_img.toImageMsg()); -} - -/** - * @brief Validate the frame rate and update it if necessary - * - * @param [in] camera_mode Camera mode string - * @param [in] frame_rate Camera frame rate - */ -void ZedCameraNode::validateFrameRate(std::string camera_mode, double& frame_rate) -{ - double max_frame_rate; - - if(camera_mode.compare("2K")==0) - max_frame_rate= 15; - else if(camera_mode.compare("FHD")==0) - max_frame_rate= 30; - else if(camera_mode.compare("FHD2")==0) - max_frame_rate= 30; - else if(camera_mode.compare("HD")==0) - max_frame_rate= 60; - else if(camera_mode.compare("HD2")==0) - max_frame_rate= 30; - else if(camera_mode.compare("VGA")==0) - max_frame_rate= 100; - else - ROS_FATAL("Unknow camera_mode passed"); - - if (frame_rate > max_frame_rate) - { - ROS_WARN("frame_rate = %f exceeds the max rate with %s, set to %f", - frame_rate, camera_mode.c_str(), max_frame_rate); - frame_rate = max_frame_rate; - } -} - -int main(int argc, char** argv) -{ - try - { - ros::init(argc, argv, "zed_camera"); - ros::NodeHandle nh(""); - ros::NodeHandle private_nh("~"); - - zed_ros_node = new ZedCameraNode(nh, private_nh); - return EXIT_SUCCESS; - } - catch (std::runtime_error& e) - { - ros::shutdown(); - return EXIT_FAILURE; - } -} diff --git a/ros1/msgs/common_msgs/CMakeLists.txt b/ros1/msgs/common_msgs/CMakeLists.txt deleted file mode 100644 index 32e3136..0000000 --- a/ros1/msgs/common_msgs/CMakeLists.txt +++ /dev/null @@ -1,24 +0,0 @@ -cmake_minimum_required(VERSION 3.0.2) -project(common_msgs) - -add_compile_options(-std=c++17) - -find_package(catkin REQUIRED COMPONENTS message_generation std_msgs geometry_msgs) - -add_message_files( - FILES - Detection3D.msg - Disparity.msg - DriveSpace.msg - ObjectPos3D.msg - ObjectPos.msg - StereoDetection.msg - BoundingBox2D.msg - Detection2D.msg - BoundingBox2Dp.msg - Detection2Dp.msg - ) - -generate_messages(DEPENDENCIES std_msgs geometry_msgs) - -catkin_package(CATKIN_DEPENDS message_runtime std_msgs) diff --git a/ros1/msgs/common_msgs/msg/BoundingBox2D.msg b/ros1/msgs/common_msgs/msg/BoundingBox2D.msg deleted file mode 100644 index 0398f78..0000000 --- a/ros1/msgs/common_msgs/msg/BoundingBox2D.msg +++ /dev/null @@ -1,12 +0,0 @@ -# 2D bounding box projected to camera image -# (xmin,ymin)--> +---------+ -# | | -# | | -# | | -# +---------+ <--(xmax,ymax) -int32 xmin -int32 ymin -int32 xmax -int32 ymax -int32 label_id -float32 confidence diff --git a/ros1/msgs/common_msgs/msg/BoundingBox2Dp.msg b/ros1/msgs/common_msgs/msg/BoundingBox2Dp.msg deleted file mode 100644 index e515dad..0000000 --- a/ros1/msgs/common_msgs/msg/BoundingBox2Dp.msg +++ /dev/null @@ -1,14 +0,0 @@ -# 2D bounding box projected to camera image -# (xmin,ymin)--> +---------+ -# | | -# | | -# | | -# +---------+ <--(xmax,ymax) -int32 xmin -int32 ymin -int32 xmax -int32 ymax -int32 label_id -float32 confidence -# position in camera frame -geometry_msgs/Point32 position \ No newline at end of file diff --git a/ros1/msgs/common_msgs/msg/Detection2D.msg b/ros1/msgs/common_msgs/msg/Detection2D.msg deleted file mode 100644 index 05c5df1..0000000 --- a/ros1/msgs/common_msgs/msg/Detection2D.msg +++ /dev/null @@ -1,3 +0,0 @@ -Header header -int32 num_objects -BoundingBox2D[] bounding_boxes diff --git a/ros1/msgs/common_msgs/msg/Detection2Dp.msg b/ros1/msgs/common_msgs/msg/Detection2Dp.msg deleted file mode 100644 index ccfda87..0000000 --- a/ros1/msgs/common_msgs/msg/Detection2Dp.msg +++ /dev/null @@ -1,3 +0,0 @@ -Header header -int32 num_objects -BoundingBox2Dp[] bounding_boxes diff --git a/ros1/msgs/common_msgs/msg/Detection3D.msg b/ros1/msgs/common_msgs/msg/Detection3D.msg deleted file mode 100644 index 058465d..0000000 --- a/ros1/msgs/common_msgs/msg/Detection3D.msg +++ /dev/null @@ -1,5 +0,0 @@ -std_msgs/Header header - -int32 num_objects # number of objects -ObjectPos3D[] obj_pos3d # objects' 3D pos - diff --git a/ros1/msgs/common_msgs/msg/Disparity.msg b/ros1/msgs/common_msgs/msg/Disparity.msg deleted file mode 100644 index ca282ec..0000000 --- a/ros1/msgs/common_msgs/msg/Disparity.msg +++ /dev/null @@ -1,10 +0,0 @@ -std_msgs/Header header - -int32 width # disparity width -int32 height # disparity height - -int32 min_disp # minimum disparity -int32 max_disp # maximum disparity - -int32 step # full row length in bytes -uint16[] data # actual data diff --git a/ros1/msgs/common_msgs/msg/DriveSpace.msg b/ros1/msgs/common_msgs/msg/DriveSpace.msg deleted file mode 100644 index e3895a1..0000000 --- a/ros1/msgs/common_msgs/msg/DriveSpace.msg +++ /dev/null @@ -1,13 +0,0 @@ -float32 depth # depth of object - -int32 p1x # poiht1 x -int32 p1y # point1 y - -int32 p2x # poiht2 x -int32 p2y # poiht2 y - -int32 p3x # poiht3 x -int32 p3y # poiht3 y - -int32 p4x # poiht4 x -int32 p4y # poiht4 y \ No newline at end of file diff --git a/ros1/msgs/common_msgs/msg/ObjectPos.msg b/ros1/msgs/common_msgs/msg/ObjectPos.msg deleted file mode 100644 index e3895a1..0000000 --- a/ros1/msgs/common_msgs/msg/ObjectPos.msg +++ /dev/null @@ -1,13 +0,0 @@ -float32 depth # depth of object - -int32 p1x # poiht1 x -int32 p1y # point1 y - -int32 p2x # poiht2 x -int32 p2y # poiht2 y - -int32 p3x # poiht3 x -int32 p3y # poiht3 y - -int32 p4x # poiht4 x -int32 p4y # poiht4 y \ No newline at end of file diff --git a/ros1/msgs/common_msgs/msg/ObjectPos3D.msg b/ros1/msgs/common_msgs/msg/ObjectPos3D.msg deleted file mode 100644 index 8db2c89..0000000 --- a/ros1/msgs/common_msgs/msg/ObjectPos3D.msg +++ /dev/null @@ -1,36 +0,0 @@ -uint8 class_id - -float32 pf1x # front point1 x -float32 pf1y # front point1 y - -float32 pf2x # front point2 x -float32 pf2y # front point2 y - -float32 pf3x # front point3 x -float32 pf3y # front point3 y - -float32 pf4x # front point4 x -float32 pf4y # front point4 y - - -float32 pr1x # rear point1 x -float32 pr1y # rear point1 y - -float32 pr2x # rear point2 x -float32 pr2y # rear point2 y - -float32 pr3x # rear point3 x -float32 pr3y # rear point3 y - -float32 pr4x # rear point4 x -float32 pr4y # rear point4 y - -float32 front_depth # front depth -float32 rear_depth # rear depth - -float32 top_left_grid_x # X pos of top-left grid in mm -float32 top_left_grid_y # Y pos of top-left grid in mm - -float32 bottom_right_grid_x # X pos of top-left grid in mm -float32 bottom_right_grid_y # Y pos of top-left grid in mm - diff --git a/ros1/msgs/common_msgs/msg/StereoDetection.msg b/ros1/msgs/common_msgs/msg/StereoDetection.msg deleted file mode 100644 index 6378d07..0000000 --- a/ros1/msgs/common_msgs/msg/StereoDetection.msg +++ /dev/null @@ -1,12 +0,0 @@ -std_msgs/Header header - -int32 width # disparity width -int32 height # disparity height - -int32 num_objects # number of objects -ObjectPos[] obj_pos # objects' pos (bounding box) array - -DriveSpace drv_space # drivable space - -int32 fs_boundary_length # down-sample factor in detection algorithm -int32[] fs_boundary # freespace boundary diff --git a/ros1/msgs/common_msgs/package.xml b/ros1/msgs/common_msgs/package.xml deleted file mode 100644 index 64bb371..0000000 --- a/ros1/msgs/common_msgs/package.xml +++ /dev/null @@ -1,23 +0,0 @@ - - - common_msgs - 0.1.0 - The common_msgs package - - - - - d.kwon - - - - - TODO - - catkin - std_msgs - message_generation - - std_msgs - message_runtime - diff --git a/ros1/nodes/external/CMakeLists.txt b/ros1/nodes/external/CMakeLists.txt deleted file mode 100644 index 6974ae4..0000000 --- a/ros1/nodes/external/CMakeLists.txt +++ /dev/null @@ -1,12 +0,0 @@ -cmake_minimum_required(VERSION 3.5) - -project(ti_external) - -include(${CMAKE_CURRENT_SOURCE_DIR}/../../../cmake/common_platform.cmake) - -if(${BUILD_CORE_NODES}) - - set(TI_CORE_BUILD_DIR ${CMAKE_CURRENT_BINARY_DIR}) - add_subdirectory(${TI_CORE_ROOT_DIR} ${TI_CORE_BUILD_DIR}/ti_core) - -endif() diff --git a/ros1/nodes/external/package.xml b/ros1/nodes/external/package.xml deleted file mode 100644 index 1552953..0000000 --- a/ros1/nodes/external/package.xml +++ /dev/null @@ -1,21 +0,0 @@ - - - ti_external - 0.1.0 - The ti_external package - - - Vijay Pothukuchi - - - - - TODO - - catkin - - - - - - diff --git a/ros1/nodes/ti_estop/CMakeLists.txt b/ros1/nodes/ti_estop/CMakeLists.txt deleted file mode 100644 index d6d4fd5..0000000 --- a/ros1/nodes/ti_estop/CMakeLists.txt +++ /dev/null @@ -1,14 +0,0 @@ -cmake_minimum_required(VERSION 3.5) -project(ti_estop) - -include(${CMAKE_CURRENT_SOURCE_DIR}/../../../cmake/ros1_common.cmake) - -if(${BUILD_CORE_NODES} AND ${SDE_AVAILABLE}) - # AMR E-Stop example - set(APP_ESTOP_SRCS - src/estop_main.cpp - src/estop_node.cpp) - - # Build nodes - build_node(estop APP_ESTOP_SRCS) -endif() diff --git a/ros1/nodes/ti_estop/config/params.yaml b/ros1/nodes/ti_estop/config/params.yaml deleted file mode 100644 index 85adb98..0000000 --- a/ros1/nodes/ti_estop/config/params.yaml +++ /dev/null @@ -1,181 +0,0 @@ -# input_format -# 0 - VX_DF_IMAGE_U8 -# 1 - VX_DF_IMAGE_NV12 -# 2 - VX_DF_IMAGE_UYVY -# Should be 2 -input_format: 2 - -# Maximum number of Semantic Segmentation classes -num_classes: 20 - -# SDE type -# 0: Single-layer SDE, 1: Multi-layer SDE -sde_algo_type: 0 - -# For multi-layer SDE only -# number of layers (2, 3) -num_layers: 2 - -# minimum disparity in pixels -# minimum disparity (0 -> 0 pixels, 1 -> -3 pixels) -# Should be 0 -disparity_min: 0 - -# , maximum disparity in pixels -# maximum disparity (0 -> 63 pixels, 1 -> 127 pixels, 2 -> 191 pixels) -disparity_max: 1 - -# disparity threshold -sde_confidence_threshold: 1 - -# <0 - 255>, left-right consistency check threshold in pixels -threshold_left_right: 3 - -# <0 or 1>, disable/enable texture based filtering -texture_filter_enable: 0 - -# <0 - 255>, scaled threshold for texture based filtering -threshold_texture: 100 - -# <0 - 127>, Optimization penalty constant for small disparity change -aggregation_penalty_p1: 32 - -# <0 - 255>, Optimization penalty constant for large disparity change -aggregation_penalty_p2: 192 - -# <0, 1>, median filter in SDE -median_filter_enable: 1 - -# camera parameters -# camera poses -camera_pitch: 0.055 - -# camera height in mm -camera_height: 647.7 - -# baseline in mm -stereo_baseline: 120.0 - -# OG map configs -# x dimension of a grid (in mm) -grid_x_size: 200 - -# y dimension of a grid (in mm) -grid_y_size: 200 - -# min x range to be covered by OG map (in mm) -min_x_range: -14000 - -# max x range to be covered by OG map -max_x_range: 14000 - -# min y range to be covered by OG map -min_y_range: -14000 - -# max y range to be covered by OG map -max_y_range: 14000 - -# Pixel count threshold of grid for occupied/non-occupied decision -min_pixel_count_grid: 5 - -# Pixel count threshold of object for occupied/non-occupied decision -min_pixel_count_object: 15 - -# Maximum number of objects to be detected -# [1 ~ 128] -max_object_to_detect: 50 - -# Number of neighboring grids to check for connected component analysis -# 8 or 24 -num_neighbor_grid: 24 - -# Enabling flag of spatial object merge -# 0: disable -# 1: enable -enable_spatial_obj_merge: 1 - -# Enabling flag of temporal object merge -# 0: disable -# 1: enable -enable_temporal_obj_merge: 1 - -# Enabling flag of temporal object smoothing -# 0: disable -# 1: enable -enable_temporal_obj_smoothing: 0 - -# Method to compute distance between objects -# 0: Distance between centers -# 1: Distance between corners -object_distance_mode: 0 - -# E-Stop Config -# |<--- max_estop_width --->| -# --------------------------- -> max_estop_distance -# - - -# - - -# - - -# -------------------- -> min_estop_distance = 0 -# @ -> camera on the robot -# |<-min_estop_width->| -# -# eStop range is defined by 4 params. -# If there is object in the eStop range, estop flag is published - -# Min distance of estop range should be 0 (uint mm) -min_estop_distance: 0 - -# Max distance of estop range should be configured (unit mm) -max_estop_distance: 3000 - -# Width of estop range at min_estop_distance (unit mm) -min_estop_width: 1500 - -# Width of estop range at max_estop_distance (unit mm) -max_estop_width: 1500 - -# Minimum number of consecutive frames without any obstacle in EStop range -# to set m_eStop = 0 -min_free_frame_run: 3 - -# Minimum number of consecutive frames with any obstacle in EStop range -# to set m_eStop = 1 -min_obs_frame_run: 1 - -# interactive mode -# 0 - disable -# 1 - enable -is_interactive: 0 - -# Flag to indicate if the graph should be exported -# 0 - disable -# 1 - enable -exportGraph: 0 - -# Real-time logging enable. -# 0 - disable -# 1 - enable -rtLogEnable: 0 - -# <1 - 8>, pipeline depth -pipeline_depth: 4 - -# Core deployment -# merge node in multi-layer SDE -disp_merge_deploy_core: TIVX_TARGET_MPU_0 - -# holing filling node in multi-layer SDE -hole_filling_deploy_core: TIVX_TARGET_MPU_0 - -# point cloud creation node in detection -pc_deploy_core: TIVX_TARGET_MPU_0 - -# OG map creation node in detection -og_deploy_core: TIVX_TARGET_MPU_0 - -# log level for the app -# 0 - DEBUG: Used to show general debug messages -# 1 - INFO: Used to show run-time processing debug -# 2 - WARN: Used to warning developers of possible issues -# 3 - ERROR: Used for most errors -log_level: 1 diff --git a/ros1/nodes/ti_estop/launch/bag_estop.launch b/ros1/nodes/ti_estop/launch/bag_estop.launch deleted file mode 100644 index 0acc3c5..0000000 --- a/ros1/nodes/ti_estop/launch/bag_estop.launch +++ /dev/null @@ -1,16 +0,0 @@ - - - - - - - - - - - - - - - diff --git a/ros1/nodes/ti_estop/launch/estop.launch b/ros1/nodes/ti_estop/launch/estop.launch deleted file mode 100644 index d5551c1..0000000 --- a/ros1/nodes/ti_estop/launch/estop.launch +++ /dev/null @@ -1,45 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ros1/nodes/ti_estop/launch/zed_estop.launch b/ros1/nodes/ti_estop/launch/zed_estop.launch deleted file mode 100644 index 752bbdc..0000000 --- a/ros1/nodes/ti_estop/launch/zed_estop.launch +++ /dev/null @@ -1,20 +0,0 @@ - - - - - - - - - - - - - - - - - - - - diff --git a/ros1/nodes/ti_estop/package.xml b/ros1/nodes/ti_estop/package.xml deleted file mode 100644 index fc72219..0000000 --- a/ros1/nodes/ti_estop/package.xml +++ /dev/null @@ -1,40 +0,0 @@ - - - ti_estop - 0.1.0 - The ti_estop package - - - d.kwon - - - - - TODO - - catkin - geometry_msgs - roscpp - cv_bridge - image_transport - sensor_msgs - ti_external - message_generation - geometry_msgs - roscpp - cv_bridge - image_transport - sensor_msgs - message_runtime - geometry_msgs - roscpp - cv_bridge - image_transport - sensor_msgs - message_runtime - - - - - - diff --git a/ros1/nodes/ti_estop/src/estop_main.cpp b/ros1/nodes/ti_estop/src/estop_main.cpp deleted file mode 100644 index 7ed138c..0000000 --- a/ros1/nodes/ti_estop/src/estop_main.cpp +++ /dev/null @@ -1,107 +0,0 @@ -/* - * - * Copyright (c) 2020 Texas Instruments Incorporated - * - * All rights reserved not granted herein. - * - * Limited License. - * - * Texas Instruments Incorporated grants a world-wide, royalty-free, non-exclusive - * license under copyrights and patents it now or hereafter owns or controls to make, - * have made, use, import, offer to sell and sell ("Utilize") this software subject to the - * terms herein. With respect to the foregoing patent license, such license is granted - * solely to the extent that any such patent is necessary to Utilize the software alone. - * The patent license shall not apply to any combinations which include this software, - * other than combinations with devices manufactured by or for TI ("TI Devices"). - * No hardware patent is licensed hereunder. - * - * Redistributions must preserve existing copyright notices and reproduce this license - * (including the above copyright notice and the disclaimer and (if applicable) source - * code license limitations below) in the documentation and/or other materials provided - * with the distribution - * - * Redistribution and use in binary form, without modification, are permitted provided - * that the following conditions are met: - * - * * No reverse engineering, decompilation, or disassembly of this software is - * permitted with respect to any software provided in binary form. - * - * * any redistribution and use are licensed by TI for use only with TI Devices. - * - * * Nothing shall obligate TI to provide you with source code for the software - * licensed and provided to you in appCntxtect code. - * - * If software source code is provided to you, modification and redistribution of the - * source code are permitted provided that the following conditions are met: - * - * * any redistribution and use of the source code, including any resulting derivative - * works, are licensed by TI for use only with TI Devices. - * - * * any redistribution and use of any appCntxtect code compiled from the source code - * and any resulting derivative works, are licensed by TI for use only with TI Devices. - * - * Neither the name of Texas Instruments Incorporated nor the names of its suppliers - * - * may be used to endorse or promote products derived from this software without - * specific prior written permission. - * - * DISCLAIMER. - * - * THIS SOFTWARE IS PROVIDED BY TI AND TI'S LICENSORS "AS IS" AND ANY EXPRESS - * OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES - * OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. - * IN NO EVENT SHALL TI AND TI'S LICENSORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, - * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY - * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE - * OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED - * OF THE POSSIBILITY OF SUCH DAMAGE. - * - */ - -#include -#include -#include -#include - -#include - -static EStopNode *eStopNode{}; - -static void sigHandler(int32_t sig) -{ - if (eStopNode) - { - eStopNode->sigHandler(sig); - } - - ros::shutdown(); -} - -int main(int argc, char **argv) -{ - try - { - ros::init(argc, argv, "ros_app_estop", ros::init_options::NoSigintHandler); - ros::NodeHandle nh(""); - ros::NodeHandle privNh("~"); - - signal(SIGINT, sigHandler); - - eStopNode = new EStopNode(nh, privNh); - - ros::spin(); - - return EXIT_SUCCESS; - } - - catch (std::runtime_error& e) - { - ros::shutdown(); - return EXIT_FAILURE; - } - - return 0; -} - diff --git a/ros1/nodes/ti_estop/src/estop_node.cpp b/ros1/nodes/ti_estop/src/estop_node.cpp deleted file mode 100644 index 76b0861..0000000 --- a/ros1/nodes/ti_estop/src/estop_node.cpp +++ /dev/null @@ -1,1244 +0,0 @@ -/* - * - * Copyright (c) 2020 Texas Instruments Incorporated - * - * All rights reserved not granted herein. - * - * Limited License. - * - * Texas Instruments Incorporated grants a world-wide, royalty-free, non-exclusive - * license under copyrights and patents it now or hereafter owns or controls to make, - * have made, use, import, offer to sell and sell ("Utilize") this software subject to the - * terms herein. With respect to the foregoing patent license, such license is granted - * solely to the extent that any such patent is necessary to Utilize the software alone. - * The patent license shall not apply to any combinations which include this software, - * other than combinations with devices manufactured by or for TI ("TI Devices"). - * No hardware patent is licensed hereunder. - * - * Redistributions must preserve existing copyright notices and reproduce this license - * (including the above copyright notice and the disclaimer and (if applicable) source - * code license limitations below) in the documentation and/or other materials provided - * with the distribution - * - * Redistribution and use in binary form, without modification, are permitted provided - * that the following conditions are met: - * - * * No reverse engineering, decompilation, or disassembly of this software is - * permitted with respect to any software provided in binary form. - * - * * any redistribution and use are licensed by TI for use only with TI Devices. - * - * * Nothing shall obligate TI to provide you with source code for the software - * licensed and provided to you in appCntxtect code. - * - * If software source code is provided to you, modification and redistribution of the - * source code are permitted provided that the following conditions are met: - * - * * any redistribution and use of the source code, including any resulting derivative - * works, are licensed by TI for use only with TI Devices. - * - * * any redistribution and use of any appCntxtect code compiled from the source code - * and any resulting derivative works, are licensed by TI for use only with TI Devices. - * - * Neither the name of Texas Instruments Incorporated nor the names of its suppliers - * - * may be used to endorse or promote products derived from this software without - * specific prior written permission. - * - * DISCLAIMER. - * - * THIS SOFTWARE IS PROVIDED BY TI AND TI'S LICENSORS "AS IS" AND ANY EXPRESS - * OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES - * OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. - * IN NO EVENT SHALL TI AND TI'S LICENSORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, - * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY - * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE - * OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED - * OF THE POSSIBILITY OF SUCH DAMAGE. - * - */ - -#include -#include -#include - -#include - -#include -#include - -using namespace common_msgs; - -EStopNode::EStopNode(ros::NodeHandle &nodeHdl, - ros::NodeHandle &privNodeHdl): - m_nodeHdl(nodeHdl), - m_privNodeHdl(privNodeHdl), - m_imgTrans(new ImgTrans(nodeHdl)) -{ - std::string cfgFile; - std::string leftLUTFile; - std::string rightLUTFile; - bool status; - vx_status vxStatus = VX_SUCCESS; - - // Create initialization control semaphore - initCtrlSem = new Semaphore(0); - - // Create App context - m_cntxt = new ESTOP_APP_Context(); - - if (m_cntxt == nullptr) - { - ROS_ERROR("ESTOP_APP_Context() failed."); - exit(-1); - } - - // camera parameter should be initialized - m_cntxt->state = ESTOP_APP_STATE_INIT; - - // launch the subscriber thread - auto subThread = std::thread([this]{subscriberCamInfoThread();}); - subThread.detach(); - - // launch the input process thread - auto localThread = std::thread([this]{inputProcessThread();}); - localThread.detach(); -} - -void EStopNode::setupInputImgSubscribers() -{ - std::string leftTopicName; - std::string rightTopicName; - bool status; - - // Query the topicname to subscribe to - status = m_privNodeHdl.getParam("left_input_topic_name", leftTopicName); - if (status == true) - { - status = m_privNodeHdl.getParam("right_input_topic_name", rightTopicName); - } - - if (status == false) - { - ROS_INFO("Config parameter 'input_topic_name' not found."); - exit(-1); - } - - m_leftImageSub = new ImgSub(m_nodeHdl, leftTopicName, 1); - m_rightImageSub = new ImgSub(m_nodeHdl, rightTopicName, 1); - - m_sync = new TimeSync(*m_leftImageSub, *m_rightImageSub, 10); - if (m_sync == nullptr) - { - ROS_ERROR("new TimeSync() failed."); - exit(-1); - } - - m_conObj = m_sync->registerCallback(&EStopNode::imgCb, this); - - ROS_INFO_STREAM("Subscribed to the topic: " << leftTopicName); - ROS_INFO_STREAM("Subscribed to the topic: " << rightTopicName); -} - -void EStopNode::inputProcessThread() -{ - // wait until camera params are set - if (initCtrlSem) - { - initCtrlSem->wait(); - } - - // disconnect camera info connection - m_camInfoConObj.disconnect(); - - // Initialize the App context - auto vxStatus = this->init(); - if (vxStatus != (vx_status)VX_SUCCESS) - { - ROS_INFO("Application Initialization failed."); - exit(-1); - } - - // Cache the input and output image sizes - m_ssMapImgWidth = m_cntxt->tensor_width; - m_ssMapImgHeight = m_cntxt->tensor_height; - - m_imgWidth = m_cntxt->width; - m_imgHeight = m_cntxt->height; - - // launch the publisher threads - auto pubThread = std::thread([this]{publisherThread();}); - pubThread.detach(); -} - -void EStopNode::subscriberCamInfoThread() -{ - std::string camInfoTopicName; - bool status; - - status = m_privNodeHdl.getParam("camera_info_topic", camInfoTopicName); - if (status == false) - { - ROS_INFO("Config parameter 'camera_info_topic' not found."); - exit(-1); - } - - m_sub = new CamInfoSub(m_nodeHdl, camInfoTopicName, 1); - if (m_sub == nullptr) - { - ROS_ERROR("new CamInfoSub() failed."); - exit(-1); - } - - m_camInfoConObj = m_sub->registerCallback(&EStopNode::camInfoCb, this); - - ROS_INFO_STREAM("Subscribed to the topic: " << camInfoTopicName); -} - -void EStopNode::publisherThread() -{ - std::string ssTensorTopic; - std::string rectImgTopic; - std::string bbTopic; - std::string rawDispTopic; - std::string ogMapTopic; - std::string eStopTopic; - vx_status vxStatus; - bool status; - bool latch = true; - - // Query the topic name to publish the output tensor. - status = m_privNodeHdl.getParam("semseg_cnn_tensor_topic", ssTensorTopic); - if (status == false) - { - ROS_ERROR("Config parameter 'semseg_cnn_tensor_topic' not found."); - exit(-1); - } - - status = m_privNodeHdl.getParam("rectified_image_topic", rectImgTopic); - if (status == false) - { - ROS_ERROR("Config parameter 'rectified_image_topic' not found."); - exit(-1); - } - - status = m_privNodeHdl.getParam("bounding_box_topic", bbTopic); - if (status == false) - { - ROS_ERROR("Config parameter 'bounding_box_topic' not found."); - exit(-1); - } - - status = m_privNodeHdl.getParam("raw_disparity_topic_name", rawDispTopic); - if (status == false) - { - ROS_ERROR("Config parameter 'raw_disparity_topic_name' not found."); - exit(-1); - } - - status = m_privNodeHdl.getParam("ogmap_topic_name", ogMapTopic); - if (status == false) - { - ROS_ERROR("Config parameter 'ogmap_topic_name' not found."); - exit(-1); - } - - status = m_privNodeHdl.getParam("estop_topic_name", eStopTopic); - if (status == false) - { - ROS_ERROR("Config parameter 'estop_topic_name' not found."); - exit(-1); - } - - /* SS Map tensor data */ - // Pre-allocate vectors used for publishing out SS Map tensor data - m_ssTensorSize = m_cntxt->outTensorSize; - m_ssTensorPubData.data.assign(m_ssTensorSize, 0); - - m_ssTensorPubData.width = m_ssMapImgWidth; - m_ssTensorPubData.height = m_ssMapImgHeight; - m_ssTensorPubData.step = m_ssMapImgWidth; - m_ssTensorPubData.encoding = "mono8"; - m_ssTensorPubData.header.frame_id = "map"; - - - const std::string taskType = m_cntxt->postProcObj->getTaskType(); - - if (taskType == "segmentation") - { - // Create the publisher for the SS map output image - m_ssTensorPub = m_imgTrans->advertise(ssTensorTopic, latch); - } - else - { - ROS_ERROR("Unsupported taskType"); - exit(-1); - } - - // Create the publisher for the SS map output tensor - ROS_INFO_STREAM("Created Publisher for topic: " << ssTensorTopic); - - /* Rectified Right Image */ - m_rectImageSize = m_imgWidth * m_imgHeight; - m_rectImagePubData.data.assign(m_rectImageSize, 0); - - m_rectImagePubData.width = m_imgWidth; - m_rectImagePubData.height = m_imgHeight; - m_rectImagePubData.step = m_imgWidth; - m_rectImagePubData.encoding = "mono8"; - m_rectImagePubData.header.frame_id = "map"; - - // Create the publisher for the rectified image - m_rectImgPub = m_imgTrans->advertise(rectImgTopic, latch); - ROS_INFO_STREAM("Created Publisher for topic: " << rectImgTopic); - - /* Bounding box */ - m_bbSize = m_cntxt->maxNumObject; - m_bbPubData.reserve(m_bbSize*sizeof(ObjectPos3D)); - m_bbData = new ObjectPos3D[m_bbSize]; - - // Create the publisher for the rectified image - m_bbPub = m_nodeHdl.advertise(bbTopic, 1); - ROS_INFO_STREAM("Created Publisher for topic: " << bbTopic); - - /* Raw disparity message */ - m_disparitySize = m_imgWidth * m_imgHeight; - m_disparityPubData.data.assign(m_disparitySize, 0); - - m_disparityPubData.width = m_imgWidth; - m_disparityPubData.height = m_imgHeight; - m_disparityPubData.min_disp = 0; - if (m_cntxt->sde_params.disparity_max == 0) - { - m_disparityPubData.max_disp = 63; - } else if (m_cntxt->sde_params.disparity_max == 1) - { - m_disparityPubData.max_disp = 127; - } else - { - m_disparityPubData.max_disp = 191; - } - m_disparityPubData.step = m_imgWidth * 2; - - // Create the publisher for the disparity output - m_disparityPub = m_nodeHdl.advertise(rawDispTopic, 1); - ROS_INFO_STREAM("Created Publisher for topic: " << rawDispTopic); - - /* OG Map data */ - m_ogMapSize = m_cntxt->xGridNum * m_cntxt->yGridNum; - m_ogMapPubData.data.assign(m_ogMapSize, 0); - - // OG map data - m_ogMapPubData.info.resolution = m_cntxt->xGridSize*1.0/1000; - m_ogMapPubData.info.width = m_cntxt->xGridNum; - m_ogMapPubData.info.height = m_cntxt->yGridNum; - m_ogMapPubData.info.origin.position.x = m_cntxt->xMinRange/1000; - m_ogMapPubData.info.origin.position.y = m_cntxt->yMinRange/1000; - m_ogMapPubData.info.origin.position.z = 0; - m_ogMapPubData.info.origin.orientation.x = 0.0; - m_ogMapPubData.info.origin.orientation.y = 0.0; - m_ogMapPubData.info.origin.orientation.z = 0.0; - m_ogMapPubData.info.origin.orientation.w = 1.0; - m_ogMapPubData.header.frame_id = "map"; - - // Create the publisher for the OG data - m_ogMapPub = m_nodeHdl.advertise(ogMapTopic, 1); - ROS_INFO_STREAM("Created Publisher for topic: " << ogMapTopic); - - /* E-Stop grid init */ - m_freeRun = 0; - m_obsRun = 0; - m_eStop.data = false; - - // define eSTOP area - m_eStopGridIdx = new int32_t[m_ogMapSize]; - - vxStatus = setEStopArea(m_eStopGridIdx, - m_minEStopDistance, - m_maxEStopDistance, - m_minEStopWidth, - m_maxEStopWidth, - m_cntxt->xGridNum, - m_cntxt->yGridNum, - m_cntxt->xMinRange, - m_cntxt->yMinRange, - m_cntxt->xGridSize); - - if (vxStatus != (vx_status)VX_SUCCESS) - { - ROS_ERROR("setEStopArea() failed."); - exit(-1); - } - - // Create the publisher for eStop flag (0; Go, 1: Stop) - m_eStopPub = m_nodeHdl.advertise(eStopTopic, latch); - ROS_INFO_STREAM("Created Publisher for topic: " << eStopTopic); - - // setup input subscribers - setupInputImgSubscribers(); - - // Event handler - processCompleteEvtHdlr(); - - // Shutdown the publishers - m_ssTensorPub.shutdown(); - m_rectImgPub.shutdown(); - m_bbPub.shutdown(); - m_disparityPub.shutdown(); - m_ogMapPub.shutdown(); - m_eStopPub.shutdown(); -} - -void EStopNode::camInfoCb(const CameraInfoConstPtr& cam_info) -{ - ESTOP_APP_init_camInfo(m_cntxt, - cam_info->width, cam_info->height, - cam_info->P[0], cam_info->P[2], cam_info->P[6]); - - if (initCtrlSem) - { - initCtrlSem->notify(); - } -} - -void EStopNode::imgCb(const ImageConstPtr& left_image_ptr, - const ImageConstPtr& right_image_ptr) -{ - if (m_cntxt->state == ESTOP_APP_STATE_INIT) - { - ESTOP_APP_run(m_cntxt, - left_image_ptr->data.data(), - right_image_ptr->data.data(), - right_image_ptr->header.stamp.toNSec()); - } - else if (m_cntxt->state == ESTOP_APP_STATE_INVALID) - { - m_conObj.disconnect(); - } -} - -void EStopNode::processCompleteEvtHdlr() -{ - Detection3D bbMsg; - vx_status vxStatus = VX_SUCCESS; - uint8_t numObjects; - - ROS_INFO("%s Launched.", __FUNCTION__); - - while (m_cntxt->exitOutputThread == false) - { - vx_tensor vxOutputTensor; - - /* Wait for the data ready semaphore. */ - if (m_cntxt->outputCtrlSem) - { - m_cntxt->outputCtrlSem->wait(); - } - - if (m_cntxt->exitOutputThread == true) - { - break; - } - - ESTOP_APP_getOutBuff(m_cntxt, - &m_cntxt->vxDispRightImage, - &m_cntxt->vxDispSSImage, - &vxOutputTensor, - &m_cntxt->vxDisp3DBoundBox, - &m_cntxt->vxDisparity16, - &m_cntxt->outTimestamp); - - /* SS MAP */ - // Extract raw tensor data - vxStatus = CM_extractTensorData(m_ssTensorPubData.data.data(), - vxOutputTensor, - m_cntxt->outTensorSize); - - if (vxStatus != (vx_status)VX_SUCCESS) - { - ROS_ERROR("CM_extractTensorData() failed."); - } - - /* Rectified (Right) Image */ - // Extract rectified right image data (Luma only) - vxStatus = CM_extractImageData(m_rectImagePubData.data.data(), - m_cntxt->vxDispRightImage, - m_rectImagePubData.width, - m_rectImagePubData.height, - 1, - 0); - - if (vxStatus != (vx_status)VX_SUCCESS) - { - ROS_ERROR("CM_extractImageData() failed."); - } - - /* 3D Bounding box data */ - vxStatus = extract3DBBData(m_bbData, - m_cntxt->vxDisp3DBoundBox, - &numObjects); - - if (vxStatus != (vx_status)VX_SUCCESS) - { - ROS_ERROR("extract3DBBData() failed."); - } - - /* Raw Disparity */ - // Extract raw disparity data - vxStatus = CM_extractImageData((uint8_t *)m_disparityPubData.data.data(), - m_cntxt->vxDisparity16, - m_disparityPubData.width, - m_disparityPubData.height, - 1, - 0); - - if (vxStatus != (vx_status)VX_SUCCESS) - { - ROS_ERROR("CM_extractImageData() failed."); - } - - /* OG Map Data */ - vxStatus = extractOGMapData(m_ogMapPubData.data.data(), - m_bbData, - m_cntxt->vxDisp3DBoundBox, - m_ogMapPubData.info.width, - m_ogMapPubData.info.height, - m_cntxt->xMinRange, - m_cntxt->yMinRange, - m_cntxt->xGridSize); - - if (vxStatus != (vx_status)VX_SUCCESS) - { - ROS_ERROR("extractOGMapData() failed."); - } - - /* Make eStop decision */ - vxStatus = makeEStopDecision(m_ogMapPubData.data.data(), - m_eStopGridIdx, - m_ogMapPubData.info.width, - m_ogMapPubData.info.height); - - if (vxStatus != (vx_status)VX_SUCCESS) - { - ROS_ERROR("makeEStopDecision() failed."); - } - - // Release the output buffers - if (vxStatus == (vx_status)VX_SUCCESS) - { - ESTOP_APP_releaseOutBuff(m_cntxt); - } - - if (vxStatus == (vx_status)VX_SUCCESS) - { - //ros::Time time = ros::Time::now(); - ros::Time time; - time.fromNSec(m_cntxt->outTimestamp); - - // Publish SS MAP tensor - m_ssTensorPubData.header.stamp = time; - m_ssTensorPub.publish(m_ssTensorPubData); - - // Publish BB data - m_bbPubData.assign(m_bbData, &m_bbData[numObjects]); - bbMsg.obj_pos3d = m_bbPubData; - bbMsg.num_objects = numObjects; - bbMsg.header.stamp = time; - bbMsg.header.frame_id = "map"; - - m_bbPub.publish(bbMsg); - - // Publish Rectified (Right) image - m_rectImagePubData.header.stamp = time; - m_rectImgPub.publish(m_rectImagePubData); - - // Publish raw Disparity map - m_disparityPubData.header.stamp = time; - m_disparityPub.publish(m_disparityPubData); - - // Publish OG map data - m_ogMapPubData.header.stamp = time; - m_ogMapPub.publish(m_ogMapPubData); - - - // Publish estop flag - m_eStopPub.publish(m_eStop); - } - } - - ROS_INFO("%s Exiting.", __FUNCTION__); -} - -EStopNode::~EStopNode() -{ - if (m_bbData) - { - delete [] m_bbData; - } - - if (m_eStopGridIdx) - { - delete [] m_eStopGridIdx; - } - - if (m_imgTrans) - { - delete m_imgTrans; - } - - if (m_sync) - { - delete m_sync; - } - - if (m_sub) - { - delete m_sub; - } - - if (m_leftImageSub) - { - delete m_leftImageSub; - } - - if (m_rightImageSub) - { - delete m_rightImageSub; - } - - if (m_cntxt) - { - delete m_cntxt; - } -} - -void EStopNode::readParams() -{ - std::string str; - bool status; - int32_t tmp; - float ftmp; - - m_cntxt->sde_params.confidence_score_map[0] = 0; - m_cntxt->sde_params.confidence_score_map[1] = 4; - m_cntxt->sde_params.confidence_score_map[2] = 9; - m_cntxt->sde_params.confidence_score_map[3] = 18; - m_cntxt->sde_params.confidence_score_map[4] = 28; - m_cntxt->sde_params.confidence_score_map[5] = 43; - m_cntxt->sde_params.confidence_score_map[6] = 109; - m_cntxt->sde_params.confidence_score_map[7] = 127; - - /* Get left LUT file path information. */ - status = m_privNodeHdl.getParam("left_lut_file_path", str); - if (status == false) - { - ROS_INFO("Config parameter 'left_lut_file_path' not found."); - exit(-1); - } - - snprintf(m_cntxt->left_LUT_file_name, ESTOP_APP_MAX_LINE_LEN-1, "%s", str.c_str()); - - /* Get right LUT file path information. */ - status = m_privNodeHdl.getParam("right_lut_file_path", str); - if (status == false) - { - ROS_INFO("Config parameter 'right_lut_file_path' not found."); - exit(-1); - } - - snprintf(m_cntxt->right_LUT_file_name, ESTOP_APP_MAX_LINE_LEN-1, "%s", str.c_str()); - - /* Get TIDL network path information. */ - status = m_privNodeHdl.getParam("dl_model_path", str); - - if (status == false) - { - ROS_INFO("Config parameter 'dl_model_path' not found."); - exit(-1); - } - - snprintf(m_cntxt->dlModelPath, ESTOP_APP_MAX_LINE_LEN-1, "%s", str.c_str()); - - /* Get input image format information */ - m_privNodeHdl.param("input_format", tmp, (int32_t)CM_IMG_FORMAT_UYVY); - m_cntxt->inputFormat = (uint8_t)tmp; - - /* Get number of semseg classes information. */ - m_privNodeHdl.param("num_classes", tmp, 20); - m_cntxt->numClasses = (uint16_t)tmp; - - /* Get stereo algorithm type information */ - m_privNodeHdl.param("sde_algo_type", tmp, 0); - m_cntxt->sdeAlgoType = (uint8_t)tmp; - - /* Get the number of layers information when sde_algo_typ = 1*/ - m_privNodeHdl.param("num_layers", tmp, 2); - m_cntxt->numLayers = (uint8_t)tmp; - - /* Get the median filtering flag information when sde_algo_typ = 1*/ - m_privNodeHdl.param("pp_median_filter_enable", tmp, 0); - m_cntxt->ppMedianFilterEnable = (uint8_t)tmp; - - /* SDE Parameters */ - /* Get the SDE minimum disparity information */ - /* Always set to 0 */ - m_cntxt->sde_params.disparity_min = 0; - - /* Get the SDE maximum disparity information */ - m_privNodeHdl.param("disparity_max", tmp, 1); - m_cntxt->sde_params.disparity_max = (uint16_t)tmp; - - /* Get the disparity confidence threshold information */ - m_privNodeHdl.param("sde_confidence_threshold", tmp, 0); - m_cntxt->confidence_threshold = (uint8_t)tmp; - - /* Get the SDE left-right consistency check threshold information */ - m_privNodeHdl.param("threshold_left_right", tmp, 3); - m_cntxt->sde_params.threshold_left_right = (uint16_t)tmp; - - /* Get the SDE texture based filtering enable flag information */ - m_privNodeHdl.param("texture_filter_enable", tmp, 0); - m_cntxt->sde_params.texture_filter_enable = (uint16_t)tmp; - - /* Get the SDE texture filtering threshold information */ - m_privNodeHdl.param("threshold_texture", tmp, 0); - m_cntxt->sde_params.threshold_texture = (uint16_t)tmp; - - /* Get the SDE aggregation penalty p1 information */ - m_privNodeHdl.param("aggregation_penalty_p1", tmp, 32); - m_cntxt->sde_params.aggregation_penalty_p1 = (uint16_t)tmp; - - /* Get the SDE aggregation penalty p2 information */ - m_privNodeHdl.param("aggregation_penalty_p2", tmp, 197); - m_cntxt->sde_params.aggregation_penalty_p2 = (uint16_t)tmp; - - /* Get the SDE median filter enable flag information */ - m_privNodeHdl.param("median_filter_enable", tmp, 1); - m_cntxt->sde_params.median_filter_enable = (uint16_t)tmp; - - /* Get the SDE reduced range search enable flag information */ - m_privNodeHdl.param("reduced_range_search_enable", tmp, 0); - m_cntxt->sde_params.reduced_range_search_enable = (uint16_t)tmp; - - /* Get the camera roll information */ - m_privNodeHdl.param("camera_roll", ftmp, 0.0f); - m_cntxt->camRoll = (float)ftmp; - - /* Get the camera pitch information */ - m_privNodeHdl.param("camera_pitch", ftmp, 0.0f); - m_cntxt->camPitch = (float)ftmp; - - /* Get the camera yaw information */ - m_privNodeHdl.param("camera_yaw", ftmp, 0.0f); - m_cntxt->camYaw = (float)ftmp; - - /* Get the camera height information */ - m_privNodeHdl.param("camera_height", ftmp, 650.0f); - m_cntxt->camHeight = (float)ftmp; - - /* Get the stereo camera baseline information */ - m_privNodeHdl.param("stereo_baseline", ftmp, 120.0f); - m_cntxt->baseline = (float)ftmp; - - /* OG Map Parameters */ - /* Get the horizontal grid size information */ - m_privNodeHdl.param("grid_x_size", tmp, 200); - m_cntxt->xGridSize = (int32_t)tmp; - - /* Get the vertical grid size information */ - m_privNodeHdl.param("grid_y_size", tmp, 200); - m_cntxt->yGridSize = (int32_t)tmp; - - /* Get the minimum X range information covered by OG map */ - m_privNodeHdl.param("min_x_range", tmp, -20000); - m_cntxt->xMinRange = (int32_t)tmp; - - /* Get the maximum X range information covered by OG map */ - m_privNodeHdl.param("max_x_range", tmp, 20000); - m_cntxt->xMaxRange = (int32_t)tmp; - - /* Get the minimum Y range information covered by OG map */ - m_privNodeHdl.param("min_y_range", tmp, -20000); - m_cntxt->yMinRange = (int32_t)tmp; - - /* Get the maximum Y range information covered by OG map */ - m_privNodeHdl.param("max_y_range", tmp, 20000); - m_cntxt->yMaxRange = (int32_t)tmp; - - /* Get the pixel count threshold information for grid occupied/non-occupied decision*/ - m_privNodeHdl.param("min_pixel_count_grid", tmp, 5); - m_cntxt->thCnt = (int16_t)tmp; - - /* Get the pixel count threshold information for object occupied/non-occupied decision*/ - m_privNodeHdl.param("min_pixel_count_object", tmp, 15); - m_cntxt->thObjCnt = (int16_t)tmp; - - /* Get the maximum number of detected objects information */ - m_privNodeHdl.param("max_object_to_detect", tmp, 50); - m_cntxt->maxNumObject = (int16_t)tmp; - - /* Get the CCA neighboring grid number information */ - m_privNodeHdl.param("num_neighbor_grid", tmp, 24); - m_cntxt->cNeighNum = (int16_t)tmp; - - /* Get the spatial object merge enable flag information */ - m_privNodeHdl.param("enable_spatial_obj_merge", tmp, 1); - m_cntxt->enableSpatialObjMerge = (uint8_t)tmp; - - /* Get the temporal object merge enable flag information */ - m_privNodeHdl.param("enable_temporal_obj_merge", tmp, 1); - m_cntxt->enableTemporalObjMerge = (uint8_t)tmp; - - /* Get the temporal object smoothing enable flag information */ - m_privNodeHdl.param("enable_temporal_obj_smoothing", tmp, 0); - m_cntxt->enableTemporalObjSmoothing = (uint8_t)tmp; - - /* Get the distance metric mode information */ - m_privNodeHdl.param("object_distance_mode", tmp, 0); - m_cntxt->objectDistanceMode = (uint8_t)tmp; - - /* E-Stop Configs */ - /* Min distance of estop range in mm */ - m_privNodeHdl.param("min_estop_distance", tmp, 0); - m_minEStopDistance = (int32_t)tmp; - - /* Max distance of estop range in mm */ - m_privNodeHdl.param("max_estop_distance", tmp, 2000); - m_maxEStopDistance = (int32_t)tmp; - - /* Width of estop range at min_estop_distance in mm */ - m_privNodeHdl.param("min_estop_width", tmp, 1500); - m_minEStopWidth = (int32_t)tmp; - - /* Width of estop range at max_estop_distance */ - m_privNodeHdl.param("max_estop_width", tmp, 1500); - m_maxEStopWidth = (int32_t)tmp; - - /* Minimum number of consecutive frames without any obstacle - in EStop range to set m_eStop = 0 */ - m_privNodeHdl.param("min_free_frame_run", tmp, 3); - m_minFreeRun = (int8_t)tmp; - - /* Minimum number of consecutive frames with any obstacle - in EStop range to set m_eStop = 1 */ - m_privNodeHdl.param("min_obs_frame_run", tmp, 1); - m_minObsRun = (int8_t)tmp; - - /* OpenVX Graph Operation Parameters */ - /* Get interactive mode flag information. */ - m_privNodeHdl.param("is_interactive", tmp, 0); - m_cntxt->is_interactive = (uint8_t)tmp; - - /* Get graph export flag information. */ - m_privNodeHdl.param("exportGraph", tmp, 0); - m_cntxt->exportGraph = (uint8_t)tmp; - - /* Get perf export flag information. */ - m_privNodeHdl.param("exportPerfStats", tmp, 0); - m_cntxt->exportPerfStats = (uint8_t)tmp; - - /* Get real-time logging enable information. */ - m_privNodeHdl.param("rtLogEnable", tmp, 0); - m_cntxt->rtLogEnable = (uint8_t)tmp; - - /* set the ti_logger level */ - m_privNodeHdl.param("log_level", tmp, static_cast(ERROR)); - logSetLevel((LogLevel) tmp); - - /* Get pipeline depth information. */ - m_privNodeHdl.param("pipeline_depth", tmp, GRAPH_MAX_PIPELINE_DEPTH); - m_cntxt->pipelineDepth = (uint8_t)tmp; - - /* Get the disparity merge core information. */ - m_privNodeHdl.getParam("disp_merge_deploy_core", str); - m_cntxt->mlSdeCreateParams.dispMergeNodeCore = CM_getCoreName((const char *)str.c_str()); - - /* Get the hole filling core information. */ - m_privNodeHdl.getParam("hole_filling_deploy_core", str); - m_cntxt->mlSdeCreateParams.holeFillingNodeCore = CM_getCoreName((const char *)str.c_str()); - - /* Get the point cloud generation core information. */ - m_privNodeHdl.getParam("pc_deploy_core", str); - m_cntxt->ssDetectCreateParams.pcNodeCore = CM_getCoreName((const char *)str.c_str()); - - /* Get the occupancy grid generation core information. */ - m_privNodeHdl.getParam("og_deploy_core", str); - m_cntxt->ssDetectCreateParams.ogNodeCore = CM_getCoreName((const char *)str.c_str()); - - /* Check paramerters' values */ - m_cntxt->xGridNum = ceil((m_cntxt->xMaxRange - m_cntxt->xMinRange) / m_cntxt->xGridSize); - m_cntxt->yGridNum = ceil((m_cntxt->yMaxRange - m_cntxt->yMinRange) / m_cntxt->yGridSize); - - if (m_cntxt->width < 128) - { - m_cntxt->width = 128; - } - if (m_cntxt->height < 128) - { - m_cntxt->height = 128; - } - - if (m_cntxt->pipelineDepth > GRAPH_MAX_PIPELINE_DEPTH) - { - ROS_INFO("Pipeline depth is larger than maximum pipeline depth allowed. Clipped.."); - m_cntxt->pipelineDepth = GRAPH_MAX_PIPELINE_DEPTH; - } - - if (m_cntxt->inputFormat != CM_IMG_FORMAT_UYVY) - { - ROS_INFO("Input format should be YUV_UYVY..."); - exit(-1); - } - - // when multi-layer SDE is used - if (m_cntxt->sdeAlgoType == 1) - { - int8_t factor = (m_cntxt->numLayers - 1) * 2; - int32_t w, i; - - if (m_cntxt->height % factor != 0 || m_cntxt->width % factor != 0) - { - ROS_INFO("Improper stereo image resolution..."); - exit(-1); - } - - for (i = 1; i < m_cntxt->numLayers; i++) - { - w = m_cntxt->width / (2*i); - - if (w % 16 != 0) - { - ROS_INFO("Improper image width is not multiple of 16...\n"); - exit(-1); - } - } - } - - m_cntxt->renderPeriod = 0; - - return; - -} - -vx_status EStopNode::init() -{ - PTK_CRT ptkConfig; - vx_status vxStatus; - - vxStatus = VX_SUCCESS; - - /* Initialize PTK library. */ - ptkConfig.exit = exit; - ptkConfig.printf = printf; - ptkConfig.time = NULL; - - PTK_init(&ptkConfig); - - /* parse command line */ - readParams(); - - /* Initialize the Application context */ - vxStatus = ESTOP_APP_init(m_cntxt); - - if (vxStatus != (vx_status)VX_SUCCESS) - { - ROS_ERROR("ESTOP_APP_init() failed."); - } - - if (vxStatus == (vx_status)VX_SUCCESS) - { - /* Launch processing threads. */ - ESTOP_APP_launchProcThreads(m_cntxt); - } - - return vxStatus; -} - -void EStopNode::sigHandler(int32_t sig) -{ - (void)sig; - - if (m_cntxt) - { - ESTOP_APP_intSigHandler(m_cntxt); - } -} - -vx_status EStopNode::extract3DBBData(ObjectPos3D * bbData, - vx_user_data_object vx3DBB, - uint8_t * numObjects) -{ - int32_t n; - double floatX, floatY; - float frontDepth; - - PTK_Alg_StereoOG_obs3DBox * obs3DBB; - PTK_Alg_StereoOG_BoxProp * boxProp; - - obs3DBB = (tivx_ss_sde_obs_3d_bound_box_t *) CM_getUserObjDataPayload(vx3DBB); - boxProp = (PTK_Alg_StereoOG_BoxProp *) PTK_Alg_StereOG_get3DBB(obs3DBB); - - // init - *numObjects = obs3DBB->numObject; - - for (n = 0; n < obs3DBB->numObject; n++) - { - bbData[n].class_id = boxProp[n].classId; - bbData[n].pf1x = boxProp[n].pf1x; - bbData[n].pf1y = boxProp[n].pf1y; - bbData[n].pf2x = boxProp[n].pf2x; - bbData[n].pf2y = boxProp[n].pf2y; - bbData[n].pf3x = boxProp[n].pf3x; - bbData[n].pf3y = boxProp[n].pf3y; - bbData[n].pf4x = boxProp[n].pf4x; - bbData[n].pf4y = boxProp[n].pf4y; - - bbData[n].pr1x = boxProp[n].pr1x; - bbData[n].pr1y = boxProp[n].pr1y; - bbData[n].pr2x = boxProp[n].pr2x; - bbData[n].pr2y = boxProp[n].pr2y; - bbData[n].pr3x = boxProp[n].pr3x; - bbData[n].pr3y = boxProp[n].pr3y; - bbData[n].pr4x = boxProp[n].pr4x; - bbData[n].pr4y = boxProp[n].pr4y; - - // compute radial distance from camera - floatX = ((boxProp[n].topLeftGridX + boxProp[n].bottomRightGridX) / 2); - floatY = (boxProp[n].bottomRightGridY); - frontDepth = (float)sqrt(floatX * floatX + floatY * floatY); - - bbData[n].front_depth = frontDepth; - bbData[n].rear_depth = boxProp[n].rearDepth; - bbData[n].top_left_grid_x = boxProp[n].topLeftGridX; - bbData[n].top_left_grid_y = boxProp[n].topLeftGridY; - bbData[n].bottom_right_grid_x = boxProp[n].bottomRightGridX; - bbData[n].bottom_right_grid_y = boxProp[n].bottomRightGridY; - } - - return (vx_status)VX_SUCCESS; -} - -vx_status EStopNode::extractOGMapData(int8_t *ogData, - ObjectPos3D *bbData, - vx_user_data_object vx3DBB, - int32_t width, - int32_t height, - int32_t xMinRange, - int32_t yMinRange, - int32_t gridSize) -{ - PTK_Alg_StereoOG_obs3DBox *obs3DBB; - PTK_Alg_StereoOG_BoxProp *boxProp; - float angle; - float tanAngle; - int32_t minX; - int32_t maxX; - int32_t minY; - int32_t maxY; - int8_t cost; - int32_t offset; - int32_t numGrids; - int32_t n; - int32_t i; - int32_t j; - - numGrids = width*height; - - obs3DBB = - (tivx_ss_sde_obs_3d_bound_box_t *) CM_getUserObjDataPayload(vx3DBB); - - boxProp = - (PTK_Alg_StereoOG_BoxProp *) PTK_Alg_StereOG_get3DBB(obs3DBB); - - // init FOV (assuming 120 degree) - angle = 60 * M_PI / 180.0; - tanAngle = tan(angle); - - // init to NON_FOV_GRID_VALUE. - memset(ogData, NON_FOV_GRID_VALUE, width * height); - - // init grids in FOV to FOV_GRID_VALUE - for (j = height/2; j < height; j++) - { - offset = floor((j - height/2)*tanAngle); - if (offset > width/2) - { - offset = width/2; - } - - for (i = width/2 - offset; i < width/2 + offset; i++) - { - ogData[j * width + i] = FOV_GRID_VALUE; - } - } - - /* e-stop area */ - for (i = 0; i < numGrids; i++) - { - if (m_eStopGridIdx[i] == -1) - { - break; - } - - ogData[m_eStopGridIdx[i]] = ESTOP_AREA_GRID_VALUE; // light red for e-stop area - } - - // mark detected objects - for (n = 0; n < obs3DBB->numObject; n++) - { - minX = (boxProp[n].topLeftGridX - xMinRange) / gridSize; - maxX = (boxProp[n].bottomRightGridX - xMinRange) / gridSize; - - minY = (boxProp[n].bottomRightGridY - yMinRange) / gridSize; - maxY = (boxProp[n].topLeftGridY - yMinRange) / gridSize; - - if (bbData[n].front_depth < 5000) - { - cost = 80; // red (inside safety bubble) - } else - { - cost = 10; // blue (outside safety buddle) - } - - for (j = minY; j < maxY; j++) - { - for (i = minX; i < maxX; i++) - { - ogData[j * width + i] = cost; - } - } - } - - return (vx_status)VX_SUCCESS; -} - -vx_status EStopNode::setEStopArea(int32_t *eStopGridIdx, - int32_t minEStopDist, - int32_t maxEStopDist, - int32_t minEStopWidth, - int32_t maxEStopWidth, - int32_t width, - int32_t height, - int32_t xMinRange, - int32_t yMinRange, - int32_t gridSize) -{ - int32_t minEStopXl; - int32_t maxEStopXl; - int32_t minEStopXr; - int32_t maxEStopXr; - int32_t minEStopY; - int32_t maxEStopY; - int32_t hGridSize; - int32_t idx; - int32_t i; - int32_t j; - int32_t xl; - int32_t xr; - float leftSlope; - float rightSlope; - vx_status vxStatus; - - /* - |<--- max_estop_range --->| - --------------------------- -> max_estop_distance - - - - - - - - - - -------------------- -> min_estop_distance = 0 - @ -> camera on the robot - |<-min_estop_range->| - - eStop range is defined by 4 params. - In this function, we create a table of grid indices, which is in estop range. - */ - - (void)height; - - hGridSize = gridSize / 2; - vxStatus = (vx_status) VX_SUCCESS; - - minEStopXl = (-minEStopWidth/2 - xMinRange) / gridSize; - minEStopXr = ( minEStopWidth/2 - xMinRange + hGridSize) / gridSize - 1; - maxEStopXl = (-maxEStopWidth/2 - xMinRange) / gridSize; - maxEStopXr = ( maxEStopWidth/2 - xMinRange + hGridSize) / gridSize - 1; - minEStopY = (minEStopDist - yMinRange) / gridSize; - maxEStopY = (maxEStopDist - yMinRange + hGridSize) / gridSize - 1; - - // X increment per Y increment for left line - leftSlope = 1.0 * (maxEStopXl - minEStopXl) /(maxEStopY - minEStopY); - // X increment per Y increment for right line - rightSlope = 1.0 * (maxEStopXr - minEStopXr) / (maxEStopY - minEStopY); - - idx = 0; - for (j = minEStopY; j <= maxEStopY; j++) - { - xl = minEStopXl + (int32_t)((j - minEStopY)*leftSlope); - xr = minEStopXr + (int32_t)((j - minEStopY)*rightSlope); - - for (i = xl; i <= xr; i++) - { - eStopGridIdx[idx++] = j * width + i; - } - } - - eStopGridIdx[idx] = -1; - - return vxStatus; -} - -vx_status EStopNode::makeEStopDecision(int8_t *ogData, - int32_t *eStopGridIdx, - int32_t width, - int32_t height) -{ - int32_t numGrids; - bool eStop; - int32_t i; - vx_status vxStatus; - - numGrids = width*height; - eStop = false; - vxStatus = (vx_status) VX_SUCCESS; - - for (i = 0; i < numGrids; i++) - { - if (eStopGridIdx[i] == -1) - { - break; - } - - if (ogData[eStopGridIdx[i]] != ESTOP_AREA_GRID_VALUE && - ogData[eStopGridIdx[i]] != FOV_GRID_VALUE && - ogData[eStopGridIdx[i]] != NON_FOV_GRID_VALUE) - { - eStop = true; - break; - } - } - - if (eStop == false) - { - m_freeRun++; - - if (m_freeRun >= m_minFreeRun) - { - m_obsRun = 0; - m_eStop.data = false; - } - } - else - { - m_obsRun++; - - if (m_obsRun >= m_minObsRun) - { - m_freeRun = 0; - m_eStop.data = true; - } - } - - return vxStatus; -} diff --git a/ros1/nodes/ti_estop/src/estop_node.h b/ros1/nodes/ti_estop/src/estop_node.h deleted file mode 100644 index 84af00e..0000000 --- a/ros1/nodes/ti_estop/src/estop_node.h +++ /dev/null @@ -1,253 +0,0 @@ -/* - * - * Copyright (c) 2020 Texas Instruments Incorporated - * - * All rights reserved not granted herein. - * - * Limited License. - * - * Texas Instruments Incorporated grants a world-wide, royalty-free, non-exclusive - * license under copyrights and patents it now or hereafter owns or controls to make, - * have made, use, import, offer to sell and sell ("Utilize") this software subject to the - * terms herein. With respect to the foregoing patent license, such license is granted - * solely to the extent that any such patent is necessary to Utilize the software alone. - * The patent license shall not apply to any combinations which include this software, - * other than combinations with devices manufactured by or for TI ("TI Devices"). - * No hardware patent is licensed hereunder. - * - * Redistributions must preserve existing copyright notices and reproduce this license - * (including the above copyright notice and the disclaimer and (if applicable) source - * code license limitations below) in the documentation and/or other materials provided - * with the distribution - * - * Redistribution and use in binary form, without modification, are permitted provided - * that the following conditions are met: - * - * * No reverse engineering, decompilation, or disassembly of this software is - * permitted with respect to any software provided in binary form. - * - * * any redistribution and use are licensed by TI for use only with TI Devices. - * - * * Nothing shall obligate TI to provide you with source code for the software - * licensed and provided to you in object code. - * - * If software source code is provided to you, modification and redistribution of the - * source code are permitted provided that the following conditions are met: - * - * * any redistribution and use of the source code, including any resulting derivative - * works, are licensed by TI for use only with TI Devices. - * - * * any redistribution and use of any object code compiled from the source code - * and any resulting derivative works, are licensed by TI for use only with TI Devices. - * - * Neither the name of Texas Instruments Incorporated nor the names of its suppliers - * - * may be used to endorse or promote products derived from this software without - * specific prior written permission. - * - * DISCLAIMER. - * - * THIS SOFTWARE IS PROVIDED BY TI AND TI'S LICENSORS "AS IS" AND ANY EXPRESS - * OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES - * OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. - * IN NO EVENT SHALL TI AND TI'S LICENSORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, - * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY - * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE - * OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED - * OF THE POSSIBILITY OF SUCH DAMAGE. - * - */ -#ifndef _APP_ESTOP_NODE_H_ -#define _APP_ESTOP_NODE_H_ - -#include -#include - -#include -#include -#include -#include -#include -#include -#include - -#include -#include -#include - -#include - -using namespace sensor_msgs; -using namespace message_filters; -using namespace common_msgs; -using namespace nav_msgs; - -class EStopNode -{ - using ImgSub = message_filters::Subscriber; - using CamInfoSub = message_filters::Subscriber; - using TimeSync = TimeSynchronizer; - using ImgPub = image_transport::Publisher; - using ImgTrans = image_transport::ImageTransport; - using SubCon = message_filters::Connection; - - public: - EStopNode(ros::NodeHandle &nodeHdl, - ros::NodeHandle &privNodeHdl); - ~EStopNode(); - - /** Intercept signal handler */ - void sigHandler(int32_t sig); - - private: - /** Initialize App cntxt */ - vx_status init(); - - /** Setup input image subscribers */ - void setupInputImgSubscribers(); - - /** Callback to process camera info data */ - void camInfoCb(const CameraInfoConstPtr& cam_info); - - /** Callback to process input data */ - void imgCb(const ImageConstPtr& left_image_ptr, - const ImageConstPtr& right_image_ptr); - - /** Run camera info subscriber thread */ - void subscriberCamInfoThread(); - - /** Run publisher thread */ - void publisherThread(); - - /** Run iput process thread */ - void inputProcessThread(); - - /** OpenVX graph completion event handler */ - void processCompleteEvtHdlr(); - - /** Extact bounding box data from 3D bounding box object */ - vx_status extract3DBBData(ObjectPos3D * bbData, - vx_user_data_object vx3DBB, - uint8_t * numObjects); - - /** Extact occupancy grid data from 3D bounding box object */ - vx_status extractOGMapData(int8_t * ogData, - ObjectPos3D * bbData, - vx_user_data_object vx3DBB, - int32_t width, - int32_t height, - int32_t xMinRange, - int32_t yMinRange, - int32_t gridSize); - - /** Set emergency stop region */ - vx_status setEStopArea(int32_t * eStopGridIdx, - int32_t minEStopDist, - int32_t maxEStopDist, - int32_t minEStopWidth, - int32_t maxEStopWidth, - int32_t width, - int32_t height, - int32_t xMinRange, - int32_t yMinRange, - int32_t gridSize); - - /** Make decision whether ego is forced to stop */ - vx_status makeEStopDecision(int8_t * ogData, - int32_t * eStopGridIdx, - int32_t width, - int32_t height); - - /** Read yaml algorithm paramters file */ - void readParams(); - - private: - ESTOP_APP_Context *m_cntxt{}; - TimeSync *m_sync{}; - CamInfoSub *m_sub{}; - ImgTrans *m_imgTrans{}; - ImgSub *m_leftImageSub{}; - ImgSub *m_rightImageSub{}; - - int32_t *m_eStopGridIdx{}; - ros::NodeHandle &m_nodeHdl; - ros::NodeHandle &m_privNodeHdl; - SubCon m_conObj; - SubCon m_camInfoConObj; - - /** Semantic segmenation output image publisher */ - uint32_t m_ssMapImgWidth; - uint32_t m_ssMapImgHeight; - - /** Semantic segmentation output tensor publisher */ - Image m_ssTensorPubData; - uint32_t m_ssTensorSize; - ImgPub m_ssTensorPub; - - /** Rectified image publisher */ - uint32_t m_imgWidth; - uint32_t m_imgHeight; - Image m_rectImagePubData; - uint32_t m_rectImageSize; - ImgPub m_rectImgPub; - - /** 3D bounding box publisher */ - ObjectPos3D *m_bbData{}; - std::vector m_bbPubData; - uint32_t m_bbSize; - ros::Publisher m_bbPub; - - /** Disparity map publisher */ - Disparity m_disparityPubData; - uint32_t m_disparitySize; - ros::Publisher m_disparityPub; - - /** OG map publisher */ - OccupancyGrid m_ogMapPubData; - uint32_t m_ogMapSize; - ros::Publisher m_ogMapPub; - - /** e-Stop flag publisher */ - ros::Publisher m_eStopPub; - - /** Initialization control semaphore */ - Semaphore *initCtrlSem; - - /** Min distance of estop range - * Should be 0 - */ - int32_t m_minEStopDistance; - - /** Max distance of estop range in mm */ - int32_t m_maxEStopDistance; - - /** Width of estop range at min_estop_distance in mm */ - int32_t m_minEStopWidth; - - /** Width of estop range at max_estop_distance in mm */ - int32_t m_maxEStopWidth; - - /** When m_eStop = 1, the minimum number of consecutive frames without any obstacle - * in EStop range should be larger than or equal to m_minFreRun to set m_eStop = 0 - */ - int8_t m_minFreeRun; - - /** When m_eStop = 0, the minimum number of consecutive frames with any obstacle - * in EStop range should be larger than or equal to m_minObsRun to set m_eStop = 1 - */ - int8_t m_minObsRun; - - /** the number of consecutive frames without any obstacle in EStop range*/ - int32_t m_freeRun; - - /** the number of consecutive frames with any obstacle in EStop range*/ - int32_t m_obsRun; - - /** EStop flag */ - std_msgs::Bool m_eStop; -}; - -#endif /* _APP_ESTOP_NODE_H_ */ - diff --git a/ros1/nodes/ti_objdet_range/CMakeLists.txt b/ros1/nodes/ti_objdet_range/CMakeLists.txt deleted file mode 100644 index 52b230a..0000000 --- a/ros1/nodes/ti_objdet_range/CMakeLists.txt +++ /dev/null @@ -1,18 +0,0 @@ -cmake_minimum_required(VERSION 3.5) -project(ti_objdet_range) - -include(${CMAKE_CURRENT_SOURCE_DIR}/../../../cmake/ros1_common.cmake) - -# PCL has dependency on libusb-dev which is assumed to be installed in the container -find_package(PCL 1.10 REQUIRED) -include_directories(${PCL_INCLUDE_DIRS}) - -# find_package(Eigen REQUIRED) -# include_directories(${EIGEN3_INCLUDE_DIR}) - -if(${BUILD_CORE_NODES} AND ${SDE_AVAILABLE}) - # objdet_range ROS node - set(OBJDET_RANGE_SRCS src/objdet_disparity_fusion.cpp) - build_node(objdet_disparity_fusion OBJDET_RANGE_SRCS) - -endif() diff --git a/ros1/nodes/ti_objdet_range/launch/bag_objdet_range.launch b/ros1/nodes/ti_objdet_range/launch/bag_objdet_range.launch deleted file mode 100644 index 0cfb852..0000000 --- a/ros1/nodes/ti_objdet_range/launch/bag_objdet_range.launch +++ /dev/null @@ -1,29 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ros1/nodes/ti_objdet_range/launch/objdet_range.launch b/ros1/nodes/ti_objdet_range/launch/objdet_range.launch deleted file mode 100644 index 624c2de..0000000 --- a/ros1/nodes/ti_objdet_range/launch/objdet_range.launch +++ /dev/null @@ -1,74 +0,0 @@ - - - - - - - - - - - - - - disparity_max: 2 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ros1/nodes/ti_objdet_range/launch/zed_objdet_range.launch b/ros1/nodes/ti_objdet_range/launch/zed_objdet_range.launch deleted file mode 100644 index 3dc168a..0000000 --- a/ros1/nodes/ti_objdet_range/launch/zed_objdet_range.launch +++ /dev/null @@ -1,39 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ros1/nodes/ti_objdet_range/package.xml b/ros1/nodes/ti_objdet_range/package.xml deleted file mode 100644 index bd0add8..0000000 --- a/ros1/nodes/ti_objdet_range/package.xml +++ /dev/null @@ -1,40 +0,0 @@ - - - ti_objdet_range - 0.1.0 - The ti_objdet_range package - - - - JuneChul Roh - - - - - TODO - - catkin - geometry_msgs - roscpp - cv_bridge - image_transport - sensor_msgs - message_generation - pcl - pcl_ros - pcl_conversions - geometry_msgs - roscpp - cv_bridge - image_transport - sensor_msgs - message_runtime - pcl - pcl_ros - pcl_conversions - - - - - - diff --git a/ros1/nodes/ti_objdet_range/src/objdet_disparity.h b/ros1/nodes/ti_objdet_range/src/objdet_disparity.h deleted file mode 100644 index b4a4fb2..0000000 --- a/ros1/nodes/ti_objdet_range/src/objdet_disparity.h +++ /dev/null @@ -1,141 +0,0 @@ -/* - * Copyright (C) 2022 Texas Instruments Incorporated - http://www.ti.com/ - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * - * Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the - * distribution. - * - * Neither the name of Texas Instruments Incorporated nor the names of - * its contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR - * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT - * OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, - * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT - * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, - * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY - * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT - * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE - * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - */ - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -// PCL -#include -#include -#include - -#define NUM_FRAC_BITS 4 -#define CLASS_ID_PATCH 92 - -using namespace sensor_msgs; -using namespace message_filters; -using namespace common_msgs; - - -struct FilteredPatch -{ - float fltDisp; - float cx; - float cy; - float validPixelRatio; - // float posx; - // float posy; - // float posz; - // float range; -}; - - -/** - * @brief ObjdetDisparityFusion ROS node class - */ - -class ObjdetDisparityFusion -{ -public: - /** - * @brief { Calculate and add spatial information to each bounding box - * and horizontally scan the disparity map to generate point cloud } - * - */ - ObjdetDisparityFusion(ros::NodeHandle *nh, - ros::NodeHandle *private_nh); - - ~ObjdetDisparityFusion(); - - void callback_ObjdetDisparityFusion(const Disparity::ConstPtr& rawDispPtr, - const Detection2D::ConstPtr& detPtr, - const CameraInfo::ConstPtr& camInfoPtr); - - geometry_msgs::Point32 calcBboxPosition(const BoundingBox2D &bbox, - const uint16_t *rawDisparity, - const int32_t dispWidth, - const int32_t dispHeight); - - float extractProcessPatch(const uint16_t *rawDisparity, - const int32_t idxStart, - const int32_t rowStep, - int32_t& outValidPix); - - geometry_msgs::Point32 disparity2Position(const float& disp, - const float& img_x, - const float& img_y); - - float point2Range(const geometry_msgs::Point32& point); - -private: - ros::Publisher m_Detection2Dp_pub; - std::string m_rawDisparityTopic; - std::string m_tensorTopic; - std::string m_outputTopic; - std::string m_cameraInfoTopic; - int m_bandHeight; - float m_baseline; - float m_focalLength; - float m_distCenterX; - float m_distCenterY; - int m_confidenceTh; - float m_scale = 1.0 / (1 << NUM_FRAC_BITS); - int m_disparityFilter; - float m_validPixRatioTh; - - // bool m_horizScanPcl; - ros::Publisher m_pcl_pub; - std::string m_pclTopic; - std::string m_pclFrame; - int32_t m_disparityWidth; - int32_t m_pixelsToExclude; - int32_t m_patchSize; - int32_t m_patchStride; - int32_t m_patchCols; - int32_t m_patchRowToUse; - int m_pclDisparityFilter; - FilteredPatch* m_fltPatch; - float* m_fltDispModified; - -}; diff --git a/ros1/nodes/ti_objdet_range/src/objdet_disparity_fusion.cpp b/ros1/nodes/ti_objdet_range/src/objdet_disparity_fusion.cpp deleted file mode 100644 index f7356aa..0000000 --- a/ros1/nodes/ti_objdet_range/src/objdet_disparity_fusion.cpp +++ /dev/null @@ -1,486 +0,0 @@ -/* - * - * Copyright (c) 2022 Texas Instruments Incorporated - * - * All rights reserved not granted herein. - * - * Limited License. - * - * Texas Instruments Incorporated grants a world-wide, royalty-free, non-exclusive - * license under copyrights and patents it now or hereafter owns or controls to make, - * have made, use, import, offer to sell and sell ("Utilize") this software subject to the - * terms herein. With respect to the foregoing patent license, such license is granted - * solely to the extent that any such patent is necessary to Utilize the software alone. - * The patent license shall not apply to any combinations which include this software, - * other than combinations with devices manufactured by or for TI ("TI Devices"). - * No hardware patent is licensed hereunder. - * - * Redistributions must preserve existing copyright notices and reproduce this license - * (including the above copyright notice and the disclaimer and (if applicable) source - * code license limitations below) in the documentation and/or other materials provided - * with the distribution - * - * Redistribution and use in binary form, without modification, are permitted provided - * that the following conditions are met: - * - * * No reverse engineering, decompilation, or disassembly of this software is - * permitted with respect to any software provided in binary form. - * - * * any redistribution and use are licensed by TI for use only with TI Devices. - * - * * Nothing shall obligate TI to provide you with source code for the software - * licensed and provided to you in object code. - * - * If software source code is provided to you, modification and redistribution of the - * source code are permitted provided that the following conditions are met: - * - * * any redistribution and use of the source code, including any resulting derivative - * works, are licensed by TI for use only with TI Devices. - * - * * any redistribution and use of any object code compiled from the source code - * and any resulting derivative works, are licensed by TI for use only with TI Devices. - * - * Neither the name of Texas Instruments Incorporated nor the names of its suppliers - * - * may be used to endorse or promote products derived from this software without - * specific prior written permission. - * - * DISCLAIMER. - * - * THIS SOFTWARE IS PROVIDED BY TI AND TI'S LICENSORS "AS IS" AND ANY EXPRESS - * OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES - * OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. - * IN NO EVENT SHALL TI AND TI'S LICENSORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, - * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY - * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE - * OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED - * OF THE POSSIBILITY OF SUCH DAMAGE. - * - */ - -#include "objdet_disparity.h" - -/** - * @brief Function for calculating the median - */ -static float findMedian(std::vector a, int n) -{ - if (n == 0) - { - return 0.0; - } - - if (n % 2 == 0) - { - // applying nth_element on n/2th index - nth_element(a.begin(), a.begin() + n / 2, a.end()); - - // applying nth_element on (n-1)/2 th index - nth_element(a.begin(), a.begin() + (n - 1) / 2, a.end()); - - // find the average of value at index N/2 and (N-1)/2 - return (float)(a[(n - 1) / 2] + a[n / 2]) / 2.0; - } - else - { - // applying nth_element on n/2 - nth_element(a.begin(), a.begin() + n / 2, a.end()); - - // value at index (N/2)th is the median - return (float)a[n / 2]; - } -} - -/** - * @brief Function for calculating the max - */ -static float findMax(std::vector a, int n) -{ - if (n == 0) - { - return 0.0; - } - - int maxval = 0; - for (int32_t i = 0; i < n; i++) - { - if (a[i] > maxval) maxval = a[i]; - } - - return (float)maxval; -} - -/** - * @brief Function for calculating the mean - */ -static float findMean(std::vector a, int n) -{ - if (n == 0) - { - return 0.0; - } - - long sum = 0; - for (int32_t i = 0; i < n; i++) - { - sum += a[i]; - } - - return (float)sum / n; -} - -/** - * @brief Wrapper function for filters - */ -static float runFilter(std::vector patch, const int filterType) -{ - if (filterType==0) - { - return findMax(patch, (int) patch.size()); - } - else if (filterType==1) - { - return findMedian(patch, (int) patch.size()); - } - else if (filterType==2) - { - return findMean(patch, (int) patch.size()); - } - else - { - ROS_ERROR("filterType = %d not valid", filterType); - return -1; - } -} - - -/** - * @brief { Calculate and add spatial information to each bounding box } - * - */ -ObjdetDisparityFusion::ObjdetDisparityFusion(ros::NodeHandle *nh, - ros::NodeHandle *private_nh) -{ - - // parse params from launch file - private_nh->param("disparity_topic", m_rawDisparityTopic, std::string("camera/disparity/raw")); - private_nh->param("vision_cnn_tensor_topic", m_tensorTopic, std::string("vision_cnn/tensor")); - private_nh->param("camera_info_topic", m_cameraInfoTopic, std::string("camera/right/camera_info")); - private_nh->param("outout_topic", m_outputTopic, std::string("camera/fused_objdet_range")); - private_nh->param("band_height", m_bandHeight, 7); - private_nh->param("camera_baseline", m_baseline, 0.12f); - private_nh->param("confidenceTh", m_confidenceTh, 1); - private_nh->param("disparity_filter", m_disparityFilter, 0); - - //==> PCL - // private_nh->param("horiz_scan_pcl", m_horizScanPcl, true); - private_nh->param("pcl_topic", m_pclTopic, std::string("camera/horiz_scan_pcl")); - private_nh->param("pcl_frame", m_pclFrame, std::string("camera_horiz_scan")); - private_nh->param("disparity_width", m_disparityWidth, 1280); - private_nh->param("pixels_to_exclude", m_pixelsToExclude, 128); - private_nh->param("patch_size", m_patchSize, 16); - private_nh->param("patch_stride", m_patchStride, 8); - private_nh->param("pcl_disparity_filter", m_pclDisparityFilter, 0); - private_nh->param("patch_row_to_use", m_patchRowToUse, 0); - private_nh->param("valid_pixel_ratio_th", m_validPixRatioTh, 0.3f); - - m_patchCols = (m_disparityWidth - m_pixelsToExclude - m_patchSize) / m_patchStride; - ROS_INFO("m_patchCols = %d", m_patchCols); - - // publishier object - m_Detection2Dp_pub = nh->advertise(m_outputTopic, 1); - - //==> PCL - m_fltPatch = new FilteredPatch[m_patchCols]; - m_fltDispModified = new float[m_patchCols]; - - m_pcl_pub = nh->advertise(m_pclTopic, 1); - - // subscribers & synchronizer - message_filters::Subscriber disparitySub(*nh, m_rawDisparityTopic, 1); - message_filters::Subscriber tensorSub(*nh, m_tensorTopic, 1); - message_filters::Subscriber cameraInfoSub(*nh, m_cameraInfoTopic, 1); - - typedef sync_policies::ApproximateTime SyncPolicy; - message_filters::Synchronizer sync(SyncPolicy(10), disparitySub, tensorSub, cameraInfoSub); - sync.registerCallback(boost::bind(&ObjdetDisparityFusion::callback_ObjdetDisparityFusion, this, _1, _2, _3)); - - ros::spin(); -} - -ObjdetDisparityFusion::~ObjdetDisparityFusion() -{ - delete[] m_fltPatch; - delete[] m_fltDispModified; -} - -void ObjdetDisparityFusion::callback_ObjdetDisparityFusion( - const Disparity::ConstPtr& rawDispPtr, - const Detection2D::ConstPtr& detPtr, - const CameraInfo::ConstPtr& camInfoPtr) -{ - int32_t num_objects = detPtr->num_objects; - BoundingBox2D bbox; - Detection2Dp outDetArray; - geometry_msgs::Point32 position; - - // extract camera params from camera_info - m_focalLength = camInfoPtr->P[0]; - m_distCenterX = camInfoPtr->P[2]; - m_distCenterY = camInfoPtr->P[6]; - - // pass though - outDetArray.header = detPtr->header; - outDetArray.num_objects = detPtr->num_objects + 1; - outDetArray.bounding_boxes.assign(outDetArray.num_objects, BoundingBox2Dp{}); - - for (int32_t idx = 0; idx < num_objects; idx++) - { - bbox = detPtr->bounding_boxes[idx]; - - // coordinate values of bounding box are sometimes out of range - // when object is near the edge of the image. - if (bbox.xmin < 0) { bbox.xmin = 0; } - if (bbox.ymin < 0) { bbox.ymin = 0; } - if (bbox.xmax >= rawDispPtr->width) { bbox.xmax = rawDispPtr->width-1; } - if (bbox.ymax >= rawDispPtr->height) { bbox.ymax = rawDispPtr->height-1; } - - position = calcBboxPosition(bbox, - (uint16_t *) rawDispPtr->data.data(), - rawDispPtr->width, - rawDispPtr->height); - // ROS_INFO("class_id = %3d, confidence = %.2f, position: (%5.2f, %5.2f, %5.2f) ", - // bbox.label_id, bbox.confidence, position.x, position.y, position.z); - - // form the output message - outDetArray.bounding_boxes[idx].xmin = bbox.xmin; - outDetArray.bounding_boxes[idx].ymin = bbox.ymin; - outDetArray.bounding_boxes[idx].xmax = bbox.xmax; - outDetArray.bounding_boxes[idx].ymax = bbox.ymax; - outDetArray.bounding_boxes[idx].label_id = bbox.label_id; - outDetArray.bounding_boxes[idx].confidence = bbox.confidence; - outDetArray.bounding_boxes[idx].position = position; - } - - /* - * Horizontally scan the disparity map and generate pcl::PointXYZ message - */ - pcl::PointCloud cloud; - pcl::PointXYZ pclPoint; - geometry_msgs::Point32 pos; - int32_t rowIdx = m_patchRowToUse; - int32_t idxStart = rowIdx*(m_disparityWidth*m_patchSize); - float cx = ((float)m_patchSize - 1.0)/2.0; - float cy = ((float)m_patchSize - 1.0)/2.0 + rowIdx*m_patchSize; - int32_t pixelsPerPatch = m_patchSize*m_patchSize; - float disp; - int32_t numValidPix; - float validPixelRatio; - - for(int32_t c = 0; c < m_patchCols; c++) - { - disp = extractProcessPatch((uint16_t *) rawDispPtr->data.data(), - idxStart, - m_disparityWidth, - numValidPix); - idxStart += m_patchStride; - - // calculate position in camera_right frame - pos = disparity2Position(disp, cx, cy); - - validPixelRatio = (float)numValidPix / pixelsPerPatch; - m_fltPatch[c].validPixelRatio = validPixelRatio; - m_fltPatch[c].fltDisp = disp; - m_fltPatch[c].cx = cx; - m_fltPatch[c].cy = cy; - // m_fltPatch[c].posx = pos.x; - // m_fltPatch[c].posy = pos.y; - // m_fltPatch[c].posz = pos.z; - // m_fltPatch[c].range = point2Range(pos_); - // ROS_INFO(" m_fltPatch[%2d].fltDisp = %6.0f, %.3f", c, m_fltPatch[c].fltDisp, m_fltPatch[c].validPixelRatio); - - // update center of patch - cx += (float) m_patchStride; - - // check reliability and populate point cloud - if ((validPixelRatio > m_validPixRatioTh)) - { - m_fltDispModified[c] = m_fltPatch[c].fltDisp; - - //==> PCL - pclPoint.x = pos.z; - pclPoint.y = -(pos.x); - pclPoint.z = -(pos.y); - cloud.points.push_back(pclPoint); - } - else - { - m_fltDispModified[c] = -99.; - } - } - - // select a patch that has largest disparity - int32_t optIdx = std::distance(m_fltDispModified, - std::max_element(m_fltDispModified, m_fltDispModified + m_patchCols)); - // ROS_INFO("===> optIdx = %d, value = %6.0f, %.3f", - // optIdx, m_fltPatch[optIdx].fltDisp, m_fltPatch[optIdx].validPixelRatio); - - // include the selected patch as the last bounding box in the msg - outDetArray.bounding_boxes[num_objects].xmin = m_fltPatch[optIdx].cx - (m_patchSize/2 - 1); - outDetArray.bounding_boxes[num_objects].ymin = m_fltPatch[optIdx].cy - (m_patchSize/2 - 1); - outDetArray.bounding_boxes[num_objects].xmax = m_fltPatch[optIdx].cx + m_patchSize/2; - outDetArray.bounding_boxes[num_objects].ymax = m_fltPatch[optIdx].cy + m_patchSize/2; - outDetArray.bounding_boxes[num_objects].label_id = CLASS_ID_PATCH; - outDetArray.bounding_boxes[num_objects].confidence = 1.0; - pos = disparity2Position(m_fltPatch[optIdx].fltDisp, m_fltPatch[optIdx].cx, m_fltPatch[optIdx].cy); - outDetArray.bounding_boxes[num_objects].position.x = pos.x; - outDetArray.bounding_boxes[num_objects].position.y = pos.y; - outDetArray.bounding_boxes[num_objects].position.z = pos.z; - - // publish - m_Detection2Dp_pub.publish(outDetArray); - - //==> PCL - cloud.width = (int) cloud.points.size(); - cloud.height = 1; // height =1 implies this is not an "ordered" point - cloud.header.frame_id = m_pclFrame; - // ROS_INFO("cloud.width = %d", cloud.width); - - // convert the cloud to ROS message - sensor_msgs::PointCloud2 pcl_output; - pcl::toROSMsg(cloud, pcl_output); - m_pcl_pub.publish(pcl_output); - -} - -geometry_msgs::Point32 ObjdetDisparityFusion::calcBboxPosition( - const BoundingBox2D &bbox, - const uint16_t *rawDisparity, - const int32_t dispWidth, - const int32_t dispHeight) -{ - uint16_t rawDisparityPix; - uint16_t pixRawDisparity; - uint8_t confidence; - float fltDisparity; - geometry_msgs::Point32 position; - - // sanity check - if (m_bandHeight > (bbox.ymax - bbox.ymin)) - { - ROS_WARN("m_bandHeight is larger than height of the bounding box"); - } - - // center of of the bounding box - float ctrX = ((float) bbox.xmin + bbox.xmax) / 2.0; - float ctrY = ((float) bbox.ymin + bbox.ymax) / 2.0; - - // extract a horizontal band around (ctrX, ctrY) - std::vector horizBand; - horizBand.reserve(m_bandHeight*(bbox.xmax-bbox.xmin)); - - int32_t jStart = ctrY - m_bandHeight/2; - int32_t jEnd = jStart + m_bandHeight; - - for(int32_t j = jStart; j < jEnd; j++) - { - int32_t jstep = j*dispWidth; - for(int32_t i = bbox.xmin; i < bbox.xmax; i++) - { - rawDisparityPix = rawDisparity[jstep + i]; - confidence = (rawDisparityPix & 0x07); - if (confidence >= m_confidenceTh) - { - horizBand.push_back((int) ((rawDisparityPix & 0x7FFF) >> 3)); - } - } - } - - // filter the horizBand - fltDisparity = runFilter(horizBand, m_disparityFilter); - - // calculate position in camera_right frame - position = disparity2Position(fltDisparity, ctrX, ctrY); - - return position; -} - -float ObjdetDisparityFusion::extractProcessPatch( - const uint16_t *rawDisparity, - const int32_t idxStart, - const int32_t rowStep, - int32_t& outValidPix) -{ - uint8_t confidence; - uint16_t rawDisparityPix; - int32_t jStep = idxStart; - float fltPatch; - - std::vector patch; - patch.reserve(m_patchSize*m_patchSize); - - for(int32_t j = 0; j < m_patchSize; j++) - { - for(int32_t i = 0; i < m_patchSize; i++) - { - rawDisparityPix = rawDisparity[jStep + i]; - confidence = (rawDisparityPix & 0x07); - if (confidence >= m_confidenceTh) - { - patch.push_back((int) ((rawDisparityPix & 0x7FFF) >> 3)); - } - } - jStep += rowStep; - } - - // filter the patch - fltPatch = runFilter(patch, m_pclDisparityFilter); - - outValidPix = (int32_t) patch.size(); - return fltPatch; -} - -geometry_msgs::Point32 ObjdetDisparityFusion::disparity2Position( - const float& disp, - const float& img_x, - const float& img_y) -{ - geometry_msgs::Point32 point; - float baselineDisparityRatio = m_baseline/(disp * m_scale); - - point.z = m_focalLength * baselineDisparityRatio; - point.x = (img_x - m_distCenterX) * baselineDisparityRatio; - point.y = (img_y - m_distCenterY) * baselineDisparityRatio; - - return point; -} - -// calculate range in X-Z plane in camera frame -float ObjdetDisparityFusion::point2Range(const geometry_msgs::Point32& point) -{ - float range = sqrt(point.x*point.x + point.z*point.z); - return range; -} - -/** - * Main - */ -int main(int argc, char **argv) -{ - try - { - ros::init(argc, argv, "objdet_disparity_fusion"); - ros::NodeHandle nh; - ros::NodeHandle private_nh("~"); - ObjdetDisparityFusion objdetDisparityFusion(&nh, &private_nh); - - return EXIT_SUCCESS; - } - catch (std::runtime_error& e) - { - ros::shutdown(); - return EXIT_FAILURE; - } -} diff --git a/ros1/nodes/ti_sde/CMakeLists.txt b/ros1/nodes/ti_sde/CMakeLists.txt deleted file mode 100644 index 79b13fe..0000000 --- a/ros1/nodes/ti_sde/CMakeLists.txt +++ /dev/null @@ -1,14 +0,0 @@ -cmake_minimum_required(VERSION 3.5) -project(ti_sde) - -include(${CMAKE_CURRENT_SOURCE_DIR}/../../../cmake/ros1_common.cmake) - -if(${BUILD_CORE_NODES} AND ${SDE_AVAILABLE}) - # LDC+SDE+PCL example - set(APP_SDE_SRCS - src/sde_main.cpp - src/sde_node.cpp) - - # Build nodes - build_node(sde APP_SDE_SRCS) -endif() diff --git a/ros1/nodes/ti_sde/config/params.yaml b/ros1/nodes/ti_sde/config/params.yaml deleted file mode 100644 index 8d3ed0f..0000000 --- a/ros1/nodes/ti_sde/config/params.yaml +++ /dev/null @@ -1,125 +0,0 @@ -# input_format -# 0 - VX_DF_IMAGE_U8 -# 1 - VX_DF_IMAGE_NV12 -# 2 - VX_DF_IMAGE_UYVY -# Should be 2 -input_format: 2 - -####### SDE params BEGIN ####### - -# minimum disparity in pixels -# minimum disparity (0 -> 0 pixels, 1 -> -3 pixels) -# Should be 0 -disparity_min: 0 - -# , maximum disparity in pixels -# maximum disparity (0 -> 63 pixels, 1 -> 127 pixels) -disparity_max: 1 - -# <0 - 255>, left-right consistency check threshold in pixels -threshold_left_right: 3 - -# <0 or 1>, disable/enable texture based filtering -texture_filter_enable: 0 - -# <0 - 255>, scaled threshold for texture based filtering -threshold_texture: 0 - -# <0 - 127>, Optimization penalty constant for small disparity change -aggregation_penalty_p1: 32 - -# <0 - 255>, Optimization penalty constant for large disparity change -aggregation_penalty_p2: 192 - -# <0, 1>, median filter in SDE -median_filter_enable: 1 - -####### SDE params END ####### - -# baseline in meter -stereo_baseline: 0.12 - -# PC subsampling ratio (1, 2, 4) -pc_subsample_ratio: 1 - -# Enabling flag for the following point cloud configurations: -# sde_confidence_threshold, -# point_low_x, point_high_x, point_low_y, point_high_y, point_low_z, point_high_z -use_pc_config: 1 - -# disparity threshold to be mapped to point cloud (0 ~ 7) -sde_confidence_threshold: 1 - -# 3D point range to be rendered - -# Only 3D points in [low_x:high_x, low_y:high_y, low_z:high_z] -# are redered -# -# (Z) (Y) -# | / -# | / -# | / -# |/________ (X) -# - -# Low X limit in meter -point_low_x: -10.0 - -# Hig X limit in meter -point_high_x: 10.0 - -# Low Y limits in meter (depth) -point_low_y: 0.0 - -# High Y limits in meter (depth) -point_high_y: 10.0 - -# Low Z limit in meter (depth) -point_low_z: -2.0 - -# High Z limit in meter (depth) -point_high_z: 5.0 - -# interactive mode -# 0 - disable -# 1 - enable -is_interactive: 0 - -# Flag to indicate if the graph should be exported -# 0 - disable -# 1 - enable -exportGraph: 0 - -# Real-time logging enable. -# 0 - disable -# 1 - enable -rtLogEnable: 0 - -# <1 - 8>, pipeline depth -pipeline_depth: 4 - -# Core deployment -# merge node in multi-layer SDE -# TIVX_TARGET_DSP1 -# TIVX_TARGET_DSP2 -# TIVX_TARGET_MPU_0 -# TIVX_TARGET_MPU_1 -disp_merge_deploy_core: TIVX_TARGET_MPU_0 - -# holing filling node in multi-layer SDE -# TIVX_TARGET_DSP1 -# TIVX_TARGET_DSP2 -# TIVX_TARGET_MPU_0 -# TIVX_TARGET_MPU_1 -hole_filling_deploy_core: TIVX_TARGET_MPU_0 - -# point cloud creation node in detection -# TIVX_TARGET_DSP1 -# TIVX_TARGET_DSP2 -color_conv_deploy_core: TIVX_TARGET_DSP1 - -# OG map creation node in detection -# TIVX_TARGET_DSP1 -# TIVX_TARGET_DSP2 -# TIVX_TARGET_MPU_0 -# TIVX_TARGET_MPU_1 -triang_deploy_core: TIVX_TARGET_MPU_0 diff --git a/ros1/nodes/ti_sde/launch/bag_sde.launch b/ros1/nodes/ti_sde/launch/bag_sde.launch deleted file mode 100644 index b6c5d5a..0000000 --- a/ros1/nodes/ti_sde/launch/bag_sde.launch +++ /dev/null @@ -1,16 +0,0 @@ - - - - - - - - - - - - - - - diff --git a/ros1/nodes/ti_sde/launch/bag_sde_pcl.launch b/ros1/nodes/ti_sde/launch/bag_sde_pcl.launch deleted file mode 100644 index 310c285..0000000 --- a/ros1/nodes/ti_sde/launch/bag_sde_pcl.launch +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - - - - - - - - - - - - diff --git a/ros1/nodes/ti_sde/launch/bag_sde_semseg.launch b/ros1/nodes/ti_sde/launch/bag_sde_semseg.launch deleted file mode 100644 index 2bc16cf..0000000 --- a/ros1/nodes/ti_sde/launch/bag_sde_semseg.launch +++ /dev/null @@ -1,31 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ros1/nodes/ti_sde/launch/sde.launch b/ros1/nodes/ti_sde/launch/sde.launch deleted file mode 100644 index 75fc646..0000000 --- a/ros1/nodes/ti_sde/launch/sde.launch +++ /dev/null @@ -1,39 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ros1/nodes/ti_sde/launch/zed_sde.launch b/ros1/nodes/ti_sde/launch/zed_sde.launch deleted file mode 100644 index a763d51..0000000 --- a/ros1/nodes/ti_sde/launch/zed_sde.launch +++ /dev/null @@ -1,20 +0,0 @@ - - - - - - - - - - - - - - - - - - - - diff --git a/ros1/nodes/ti_sde/launch/zed_sde_pcl.launch b/ros1/nodes/ti_sde/launch/zed_sde_pcl.launch deleted file mode 100644 index d43ce58..0000000 --- a/ros1/nodes/ti_sde/launch/zed_sde_pcl.launch +++ /dev/null @@ -1,22 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - diff --git a/ros1/nodes/ti_sde/launch/zed_sde_semseg.launch b/ros1/nodes/ti_sde/launch/zed_sde_semseg.launch deleted file mode 100644 index 851c338..0000000 --- a/ros1/nodes/ti_sde/launch/zed_sde_semseg.launch +++ /dev/null @@ -1,33 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ros1/nodes/ti_sde/package.xml b/ros1/nodes/ti_sde/package.xml deleted file mode 100644 index a2f39ae..0000000 --- a/ros1/nodes/ti_sde/package.xml +++ /dev/null @@ -1,40 +0,0 @@ - - - ti_sde - 0.1.0 - The ti_sde package - - - d.kwon - - - - - TODO - - catkin - geometry_msgs - roscpp - cv_bridge - image_transport - sensor_msgs - ti_external - message_generation - geometry_msgs - roscpp - cv_bridge - image_transport - sensor_msgs - message_runtime - geometry_msgs - roscpp - cv_bridge - image_transport - sensor_msgs - message_runtime - - - - - - diff --git a/ros1/nodes/ti_sde/src/sde_main.cpp b/ros1/nodes/ti_sde/src/sde_main.cpp deleted file mode 100644 index 07c358a..0000000 --- a/ros1/nodes/ti_sde/src/sde_main.cpp +++ /dev/null @@ -1,107 +0,0 @@ -/* - * - * Copyright (c) 2021 Texas Instruments Incorporated - * - * All rights reserved not granted herein. - * - * Limited License. - * - * Texas Instruments Incorporated grants a world-wide, royalty-free, non-exclusive - * license under copyrights and patents it now or hereafter owns or controls to make, - * have made, use, import, offer to sell and sell ("Utilize") this software subject to the - * terms herein. With respect to the foregoing patent license, such license is granted - * solely to the extent that any such patent is necessary to Utilize the software alone. - * The patent license shall not apply to any combinations which include this software, - * other than combinations with devices manufactured by or for TI ("TI Devices"). - * No hardware patent is licensed hereunder. - * - * Redistributions must preserve existing copyright notices and reproduce this license - * (including the above copyright notice and the disclaimer and (if applicable) source - * code license limitations below) in the documentation and/or other materials provided - * with the distribution - * - * Redistribution and use in binary form, without modification, are permitted provided - * that the following conditions are met: - * - * * No reverse engineering, decompilation, or disassembly of this software is - * permitted with respect to any software provided in binary form. - * - * * any redistribution and use are licensed by TI for use only with TI Devices. - * - * * Nothing shall obligate TI to provide you with source code for the software - * licensed and provided to you in object code. - * - * If software source code is provided to you, modification and redistribution of the - * source code are permitted provided that the following conditions are met: - * - * * any redistribution and use of the source code, including any resulting derivative - * works, are licensed by TI for use only with TI Devices. - * - * * any redistribution and use of any object code compiled from the source code - * and any resulting derivative works, are licensed by TI for use only with TI Devices. - * - * Neither the name of Texas Instruments Incorporated nor the names of its suppliers - * - * may be used to endorse or promote products derived from this software without - * specific prior written permission. - * - * DISCLAIMER. - * - * THIS SOFTWARE IS PROVIDED BY TI AND TI'S LICENSORS "AS IS" AND ANY EXPRESS - * OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES - * OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. - * IN NO EVENT SHALL TI AND TI'S LICENSORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, - * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY - * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE - * OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED - * OF THE POSSIBILITY OF SUCH DAMAGE. - * - */ - -#include -#include -#include -#include - -#include - -static SDEAppNode *sdeAppNode{}; - -static void sigHandler(int32_t sig) -{ - if (sdeAppNode) - { - sdeAppNode->sigHandler(sig); - } - - ros::shutdown(); -} - -int main(int argc, char **argv) -{ - try - { - ros::init(argc, argv, "ros_app_sde", ros::init_options::NoSigintHandler); - ros::NodeHandle nh(""); - ros::NodeHandle privNh("~"); - - signal(SIGINT, sigHandler); - - sdeAppNode = new SDEAppNode(nh, privNh); - - ros::spin(); - - return EXIT_SUCCESS; - } - - catch (std::runtime_error& e) - { - ros::shutdown(); - return EXIT_FAILURE; - } - - return 0; -} - diff --git a/ros1/nodes/ti_sde/src/sde_node.cpp b/ros1/nodes/ti_sde/src/sde_node.cpp deleted file mode 100644 index f386256..0000000 --- a/ros1/nodes/ti_sde/src/sde_node.cpp +++ /dev/null @@ -1,756 +0,0 @@ -/* - * - * Copyright (c) 2021 Texas Instruments Incorporated - * - * All rights reserved not granted herein. - * - * Limited License. - * - * Texas Instruments Incorporated grants a world-wide, royalty-free, non-exclusive - * license under copyrights and patents it now or hereafter owns or controls to make, - * have made, use, import, offer to sell and sell ("Utilize") this software subject to the - * terms herein. With respect to the foregoing patent license, such license is granted - * solely to the extent that any such patent is necessary to Utilize the software alone. - * The patent license shall not apply to any combinations which include this software, - * other than combinations with devices manufactured by or for TI ("TI Devices"). - * No hardware patent is licensed hereunder. - * - * Redistributions must preserve existing copyright notices and reproduce this license - * (including the above copyright notice and the disclaimer and (if applicable) source - * code license limitations below) in the documentation and/or other materials provided - * with the distribution - * - * Redistribution and use in binary form, without modification, are permitted provided - * that the following conditions are met: - * - * * No reverse engineering, decompilation, or disassembly of this software is - * permitted with respect to any software provided in binary form. - * - * * any redistribution and use are licensed by TI for use only with TI Devices. - * - * * Nothing shall obligate TI to provide you with source code for the software - * licensed and provided to you in object code. - * - * If software source code is provided to you, modification and redistribution of the - * source code are permitted provided that the following conditions are met: - * - * * any redistribution and use of the source code, including any resulting derivative - * works, are licensed by TI for use only with TI Devices. - * - * * any redistribution and use of any object code compiled from the source code - * and any resulting derivative works, are licensed by TI for use only with TI Devices. - * - * Neither the name of Texas Instruments Incorporated nor the names of its suppliers - * - * may be used to endorse or promote products derived from this software without - * specific prior written permission. - * - * DISCLAIMER. - * - * THIS SOFTWARE IS PROVIDED BY TI AND TI'S LICENSORS "AS IS" AND ANY EXPRESS - * OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES - * OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. - * IN NO EVENT SHALL TI AND TI'S LICENSORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, - * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY - * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE - * OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED - * OF THE POSSIBILITY OF SUCH DAMAGE. - * - */ - -#include -#include -#include - -#include - -#include -#include - -using namespace common_msgs; - -#define PC_POINT_SIZE (16) - -SDEAppNode::SDEAppNode(ros::NodeHandle &nodeHdl, - ros::NodeHandle &privNodeHdl): - m_nodeHdl(nodeHdl), - m_privNodeHdl(privNodeHdl), - m_imgTrans(new ImgTrans(nodeHdl)) -{ - std::string cfgFile; - std::string leftLUTFile; - std::string rightLUTFile; - bool status; - vx_status vxStatus = VX_SUCCESS; - - // Create initialization control semaphore - initCtrlSem = new Semaphore(0); - - // Create App context - m_cntxt = new SDEAPP_Context(); - if (m_cntxt == nullptr) - { - ROS_ERROR("new SDEAPP_Context() failed."); - vxStatus = VX_FAILURE; - } - - if (vxStatus == VX_SUCCESS) - { - // camera parameter should be initialized - m_cntxt->state = SDEAPP_STATE_INIT; - - // launch the subscriber thread - m_subThread = std::thread([this]{subscriberCamInfoThread();}); - m_subThread.detach(); - - // launch the input process thread - auto localThread = std::thread([this]{inputProcessThread();}); - localThread.detach(); - } -} - -void SDEAppNode::process() -{ - std::string leftTopicName; - std::string rightTopicName; - bool status; - - // Query the topicname to subscribe to - status = m_privNodeHdl.getParam("left_input_topic", leftTopicName); - if (status == true) - { - status = m_privNodeHdl.getParam("right_input_topic", rightTopicName); - } - - if (status == false) - { - ROS_INFO("Config parameter 'input_topic_name' not found."); - exit(-1); - } - - m_leftImageSub = new ImgSub(m_nodeHdl, leftTopicName, 1); - m_rightImageSub = new ImgSub(m_nodeHdl, rightTopicName, 1); - - m_sync = new TimeSync(*m_leftImageSub, *m_rightImageSub, 10); - - if (m_sync == nullptr) - { - ROS_ERROR("new TimeSync() failed."); - exit(-1); - } - - m_conObj = m_sync->registerCallback(&SDEAppNode::imgCb, this); - - ROS_INFO_STREAM("Subscribed to the topic: " << leftTopicName); - ROS_INFO_STREAM("Subscribed to the topic: " << rightTopicName); -} - -void SDEAppNode::inputProcessThread() -{ - // wait until camera params are set - if (initCtrlSem) - { - initCtrlSem->wait(); - } - - // disconnect camera info connection - m_camInfoConObj.disconnect(); - - // Initialize the App context - auto vxStatus = this->init(); - if (vxStatus != (vx_status)VX_SUCCESS) - { - ROS_INFO("Application Initialization failed."); - exit(-1); - } - - m_imgWidth = m_cntxt->width; - m_imgHeight = m_cntxt->height; - - // launch the publisher threads - m_pubThread = std::thread([this]{publisherThread();}); - m_pubThread.detach(); - - // process input frames - process(); -} - -void SDEAppNode::subscriberCamInfoThread() -{ - std::string camInfoTopicName; - bool status; - - status = m_privNodeHdl.getParam("camera_info_topic", camInfoTopicName); - if (status == false) - { - ROS_INFO("Config parameter 'camera_info_topic' not found."); - exit(-1); - } - - m_sub = new CamInfoSub(m_nodeHdl, camInfoTopicName, 1); - if (m_sub == nullptr) - { - ROS_ERROR("new CamInfoSub() failed."); - exit(-1); - } - - m_camInfoConObj = m_sub->registerCallback(&SDEAppNode::camInfoCb, this); - - ROS_INFO_STREAM("Subscribed to the topic: " << camInfoTopicName); -} - -void SDEAppNode::publisherThread() -{ - std::string rawDispTopic; - std::string pcTopic; - - vx_status vxStatus; - - bool status; - bool latch = true; - uint32_t offset; - int8_t i; - - - // Query the topic name to publish the output image. - status = m_privNodeHdl.getParam("disparity_topic", rawDispTopic); - if (status == false) - { - ROS_ERROR("Config parameter 'disparity_topic' not found."); - exit(-1); - } - - status = m_privNodeHdl.getParam("point_cloud_topic", pcTopic); - if (status == false) - { - ROS_ERROR("Config parameter 'point_cloud_topic' not found."); - exit(-1); - } - - /* Raw disparity */ - // Pre-allocate vectors used for publishing out raw disparity - m_disparitySize = m_imgWidth * m_imgHeight; - - m_disparityPubData.data.assign(m_disparitySize, 0); - m_disparityPubData.width = m_imgWidth; - m_disparityPubData.height = m_imgHeight; - m_disparityPubData.min_disp = 0; - if (m_cntxt->sde_params.disparity_max == 0) - { - m_disparityPubData.max_disp = 63; - } else if (m_cntxt->sde_params.disparity_max == 1) - { - m_disparityPubData.max_disp = 127; - } else - { - m_disparityPubData.max_disp = 191; - } - - m_disparityPubData.step = m_imgWidth * 2; - - // Create the publisher for the disparity output - m_disparityPub = m_nodeHdl.advertise(rawDispTopic, 1); - ROS_INFO_STREAM("Created Publisher for topic: " << rawDispTopic); - - /* Point cloud data */ - // Pre-allocate vectors used for publishing out point cloud data - // XYZRGB is total 4*3 + 1*4 = 16 bytes - if (m_cntxt->enablePC) - { - m_pcSize = m_imgWidth * m_imgHeight * PC_POINT_SIZE; - m_pcPubData.data.assign(m_pcSize, 0); - - m_pcPubData.header.frame_id = "PointCloud"; - m_pcPubData.height = 1; - m_pcPubData.width = 0; // should be updated for every PC frame - m_pcPubData.fields.resize(4); - - m_pcPubData.fields[0].name = "x"; - m_pcPubData.fields[1].name = "y"; - m_pcPubData.fields[2].name = "z"; - m_pcPubData.fields[3].name = "rgb"; - - offset = 0; - for(i = 0; i < 3; i++) - { - m_pcPubData.fields[i].offset = offset; - m_pcPubData.fields[i].datatype = 7; // float32 - m_pcPubData.fields[i].count = 1; - offset += 4; - } - - for(i = 3; i < 4; i++) - { - m_pcPubData.fields[i].offset = offset; - m_pcPubData.fields[i].datatype = 6; // unit32 - m_pcPubData.fields[i].count = 1; - - offset += 4; - } - - m_pcPubData.is_bigendian = false; - m_pcPubData.point_step = offset; // should be PC_POINT_SIZE - m_pcPubData.row_step = 0; // should be updated for every PC frame - m_pcPubData.is_dense = 1; - - // Create the publisher for the OG data - m_pcPub = m_nodeHdl.advertise(pcTopic, 1); - - ROS_INFO_STREAM("Created Publisher for topic: " << pcTopic); - } - - // Event handler - graphCompleteEvtHdlr(); - - m_disparityPub.shutdown(); - if (m_cntxt->enablePC) - { - m_pcPub.shutdown(); - } -} - -void SDEAppNode::camInfoCb(const CameraInfoConstPtr& cam_info) -{ - SDEAPP_init_camInfo(m_cntxt, - cam_info->width, cam_info->height, - cam_info->P[0], cam_info->P[2], cam_info->P[6]); - - if (initCtrlSem) - { - initCtrlSem->notify(); - } -} - - -void SDEAppNode::imgCb(const ImageConstPtr& left_image_ptr, - const ImageConstPtr& right_image_ptr) -{ - if (m_cntxt->state == SDEAPP_STATE_INIT) - { - SDEAPP_run(m_cntxt, - left_image_ptr->data.data(), - right_image_ptr->data.data(), - right_image_ptr->header.stamp.toNSec()); - } else - if (m_cntxt->state == SDEAPP_STATE_INVALID) - { - m_conObj.disconnect(); - } -} - -void SDEAppNode::graphCompleteEvtHdlr() -{ - vx_status vxStatus = VX_SUCCESS; - - ROS_INFO("%s Launched.", __FUNCTION__); - - while (m_cntxt->exitOutputThread == false) - { - vx_reference outRef{}; - - /* Wait for the data ready semaphore. */ - if (m_cntxt->outputCtrlSem) - { - m_cntxt->outputCtrlSem->wait(); - } - - if (m_cntxt->exitOutputThread == true) - { - break; - } - - SDEAPP_getOutBuff(m_cntxt, - &m_cntxt->vxDispRightImage, - &m_cntxt->vxDisparity16, - &m_cntxt->vxDispTriangPC, - &m_cntxt->outTimestamp); - - /* Raw Disparity */ - // Extract raw disparity data - vxStatus = CM_extractImageData((uint8_t *)m_disparityPubData.data.data(), - m_cntxt->vxDisparity16, - m_disparityPubData.width, - m_disparityPubData.height, - 1, - 0); - - if (vxStatus != (vx_status)VX_SUCCESS) - { - ROS_ERROR("CM_extractImageData() failed."); - } - - /* Point cloude data */ - if (m_cntxt->enablePC) - { - // Get the number of points - vxStatus = CM_extractPointCloudData((uint8_t *)m_pcPubData.data.data(), - m_cntxt->vxDispTriangPC, - m_pcPubData.point_step, - &m_numPcPoints, - 0); - // resize m_pcPubData.data - m_pcPubData.data.resize(m_numPcPoints*m_pcPubData.point_step); - - // Extract point cloud data - vxStatus = CM_extractPointCloudData((uint8_t *)m_pcPubData.data.data(), - m_cntxt->vxDispTriangPC, - m_pcPubData.point_step, - &m_numPcPoints, - 1); - } - - // Release the output buffers - if (vxStatus == (vx_status)VX_SUCCESS) - { - SDEAPP_releaseOutBuff(m_cntxt); - } - - if (vxStatus == (vx_status)VX_SUCCESS) - { - ros::Time time; - time.fromNSec(m_cntxt->outTimestamp); - - // Publish raw Disparity map - m_disparityPubData.header.stamp = time; - m_disparityPub.publish(m_disparityPubData); - - if (m_cntxt->enablePC) - { - // Publish point cloud data - m_pcPubData.width = m_numPcPoints; - m_pcPubData.row_step = m_numPcPoints * m_pcPubData.point_step; - m_pcPubData.header.stamp = time; - m_pcPub.publish(m_pcPubData); - } - } - } - - ROS_INFO("%s Exiting.", __FUNCTION__); -} - -SDEAppNode::~SDEAppNode() -{ - if (m_imgTrans) - { - delete m_imgTrans; - } - - if (m_sync) - { - delete m_sync; - } - - if (m_sub) - { - delete m_sub; - } - - if (m_leftImageSub) - { - delete m_leftImageSub; - } - - if (m_rightImageSub) - { - delete m_rightImageSub; - } - - if (m_cntxt) - { - delete m_cntxt; - } - - if (initCtrlSem) - { - delete initCtrlSem; - } -} - -void SDEAppNode::readParams() -{ - std::string str; - bool status; - int32_t tmp; - float ftmp; - - m_cntxt->sde_params.confidence_score_map[0] = 0; - m_cntxt->sde_params.confidence_score_map[1] = 4; - m_cntxt->sde_params.confidence_score_map[2] = 9; - m_cntxt->sde_params.confidence_score_map[3] = 18; - m_cntxt->sde_params.confidence_score_map[4] = 28; - m_cntxt->sde_params.confidence_score_map[5] = 43; - m_cntxt->sde_params.confidence_score_map[6] = 109; - m_cntxt->sde_params.confidence_score_map[7] = 127; - - /* Get left LUT file path information. */ - status = m_privNodeHdl.getParam("left_lut_file_path", str); - if (status == false) - { - ROS_INFO("Config parameter 'left_lut_file_path' not found."); - exit(-1); - } - - snprintf(m_cntxt->left_LUT_file_name, SDEAPP_MAX_LINE_LEN-1, "%s", str.c_str()); - - /* Get right LUT file path information. */ - status = m_privNodeHdl.getParam("right_lut_file_path", str); - if (status == false) - { - ROS_INFO("Config parameter 'right_lut_file_path' not found."); - exit(-1); - } - - snprintf(m_cntxt->right_LUT_file_name, SDEAPP_MAX_LINE_LEN-1, "%s", str.c_str()); - - /* Get input image format information */ - m_privNodeHdl.param("input_format", tmp, (int32_t)CM_IMG_FORMAT_UYVY); - m_cntxt->inputFormat = (uint8_t)tmp; - - /* Get stereo algorithm type information */ - m_privNodeHdl.param("sde_algo_type", tmp, 0); - m_cntxt->sdeAlgoType = (uint8_t)tmp; - - /* Get the number of layers information when sde_algo_typ = 1*/ - m_privNodeHdl.param("num_layers", tmp, 2); - m_cntxt->numLayers = (uint8_t)tmp; - - /* Get the median filtering flag information when sde_algo_typ = 1*/ - m_privNodeHdl.param("pp_median_filter_enable", tmp, 0); - m_cntxt->ppMedianFilterEnable = (uint8_t)tmp; - - /* SDE Parameters */ - /* Get the SDE minimum disparity information */ - /* Always set to 0 */ - m_cntxt->sde_params.disparity_min = 0; - - /* Get the SDE maximum disparity information */ - m_privNodeHdl.param("disparity_max", tmp, 1); - m_cntxt->sde_params.disparity_max = (uint16_t)tmp; - - /* Get the SDE left-right consistency check threshold information */ - m_privNodeHdl.param("threshold_left_right", tmp, 3); - m_cntxt->sde_params.threshold_left_right = (uint16_t)tmp; - - /* Get the SDE texture based filtering enable flag information */ - m_privNodeHdl.param("texture_filter_enable", tmp, 0); - m_cntxt->sde_params.texture_filter_enable = (uint16_t)tmp; - - /* Get the SDE texture filtering threshold information */ - m_privNodeHdl.param("threshold_texture", tmp, 0); - m_cntxt->sde_params.threshold_texture = (uint16_t)tmp; - - /* Get the SDE aggregation penalty p1 information */ - m_privNodeHdl.param("aggregation_penalty_p1", tmp, 32); - m_cntxt->sde_params.aggregation_penalty_p1 = (uint16_t)tmp; - - /* Get the SDE aggregation penalty p2 information */ - m_privNodeHdl.param("aggregation_penalty_p2", tmp, 197); - m_cntxt->sde_params.aggregation_penalty_p2 = (uint16_t)tmp; - - /* Get the SDE median filter enable flag information */ - m_privNodeHdl.param("median_filter_enable", tmp, 1); - m_cntxt->sde_params.median_filter_enable = (uint16_t)tmp; - - /* Get the SDE reduced range search enable flag information */ - m_privNodeHdl.param("reduced_range_search_enable", tmp, 0); - m_cntxt->sde_params.reduced_range_search_enable = (uint16_t)tmp; - - - /* Get the stereo camera baseline information */ - m_privNodeHdl.param("stereo_baseline", ftmp, 0.12f); - m_cntxt->baseline = (float)ftmp; - - /* Get PC creation flag information */ - m_privNodeHdl.param("enable_pc", tmp, 0); - m_cntxt->enablePC = (uint8_t)tmp; - - /* Set logFileName based on enablePC */ - m_cntxt->logFileName = (m_cntxt->enablePC == 0) ? "sde" : "sdepcl"; - - /*Sub-sampling ratio of point cloud */ - m_privNodeHdl.param("pc_subsample_ratio", tmp, 1); - m_cntxt->pcSubsampleRatio = (uint8_t)tmp; - - /* Get use of PC configuration flag information*/ - m_privNodeHdl.param("use_pc_config", tmp, 1); - m_cntxt->usePCConfig = (uint8_t)tmp; - - /* Get the disparity confidence threshold information */ - m_privNodeHdl.param("sde_confidence_threshold", tmp, 0); - m_cntxt->dispConfidence = (uint8_t)tmp; - - /* Low X pos limit for which 3D point is rendered */ - m_privNodeHdl.param("point_low_x", ftmp, -20.0f); - m_cntxt->lowPtX = (float)ftmp; - - /* High X pos limit for which 3D point is rendered */ - m_privNodeHdl.param("point_high_x", ftmp, 20.0f); - m_cntxt->highPtX = (float)ftmp; - - /* Low Y pos (depth) limit for which 3D point is rendered */ - m_privNodeHdl.param("point_low_y", ftmp, 0.0f); - m_cntxt->lowPtY = (float)ftmp; - - /* High Y pos (depth) limit for which 3D point is rendered */ - m_privNodeHdl.param("point_high_y", ftmp, 20.0f); - m_cntxt->highPtY = (float)ftmp; - - /* Low Z pos limit for which 3D point is rendered */ - m_privNodeHdl.param("point_low_Z", ftmp, -2.0f); - m_cntxt->lowPtZ = (float)ftmp; - - /* High Z pos limit for which 3D point is rendered */ - m_privNodeHdl.param("point_high_Z", ftmp, 5.0f); - m_cntxt->highPtZ = (float)ftmp; - - /* OpenVX Graph Operation Parameters */ - /* Get interactive mode flag information. */ - m_privNodeHdl.param("is_interactive", tmp, 0); - m_cntxt->is_interactive = (uint8_t)tmp; - - /* Get graph export flag information. */ - m_privNodeHdl.param("exportGraph", tmp, 0); - m_cntxt->exportGraph = (uint8_t)tmp; - - /* Get perf export flag information. */ - m_privNodeHdl.param("exportPerfStats", tmp, 0); - m_cntxt->exportPerfStats = (uint8_t)tmp; - - /* Get real-time logging enable information. */ - m_privNodeHdl.param("rtLogEnable", tmp, 0); - m_cntxt->rtLogEnable = (uint8_t)tmp; - - /* Get pipeline depth information. */ - m_privNodeHdl.param("pipeline_depth", tmp, GRAPH_MAX_PIPELINE_DEPTH); - m_cntxt->pipelineDepth = (uint8_t)tmp; - - /* Get the disparity merge core information. */ - m_privNodeHdl.getParam("disp_merge_deploy_core", str); - m_cntxt->mlSdeCreateParams.dispMergeNodeCore = CM_getCoreName((const char *)str.c_str()); - - /* Get the hole filling core information. */ - m_privNodeHdl.getParam("hole_filling_deploy_core", str); - m_cntxt->mlSdeCreateParams.holeFillingNodeCore = CM_getCoreName((const char *)str.c_str()); - - /* Get the point cloud generation core information. */ - m_privNodeHdl.getParam("color_conv_deploy_core", str); - m_cntxt->sdeTriangCreateParams.ccNodeCore = CM_getCoreName((const char *)str.c_str()); - - /* Get the occupancy grid generation core information. */ - m_privNodeHdl.getParam("triang_deploy_core", str); - m_cntxt->sdeTriangCreateParams.triangNodeCore = CM_getCoreName((const char *)str.c_str()); - - - if (m_cntxt->width < 128) - { - m_cntxt->width = 128; - } - if (m_cntxt->height < 128) - { - m_cntxt->height = 128; - } - - if (m_cntxt->pipelineDepth > GRAPH_MAX_PIPELINE_DEPTH) - { - ROS_INFO("Pipeline depth is larger than maximum pipeline depth allowed. Clipped.."); - m_cntxt->pipelineDepth = GRAPH_MAX_PIPELINE_DEPTH; - } - - if (m_cntxt->inputFormat != CM_IMG_FORMAT_UYVY) - { - ROS_INFO("Input format should be YUV_UYVY..."); - exit(-1); - } - - if (m_cntxt->enablePC) - { - if (m_cntxt->pcSubsampleRatio != 1 || m_cntxt->pcSubsampleRatio != 2 || m_cntxt->pcSubsampleRatio != 4) - { - ROS_INFO("Improper point cloud sub-sample ratio. Set to 1"); - m_cntxt->pcSubsampleRatio = 1; - } - } - - // when multi-layer SDE is used - if (m_cntxt->sdeAlgoType == 1) - { - int8_t factor = (m_cntxt->numLayers - 1) * 2; - int32_t w, i; - - if (m_cntxt->height % factor != 0 || m_cntxt->width % factor != 0) - { - ROS_INFO("Improper stereo image resolution..."); - exit(-1); - } - - for (i = 1; i < m_cntxt->numLayers; i++) - { - w = m_cntxt->width / (2*i); - - if (w % 16 != 0) - { - ROS_INFO("Improper image width is not multiple of 16...\n"); - exit(-1); - } - } - } - - m_cntxt->renderPeriod = 0; - - return; - -} - -vx_status SDEAppNode::init() -{ - PTK_CRT ptkConfig; - vx_status vxStatus; - - vxStatus = VX_SUCCESS; - - /* Initialize PTK library. */ - ptkConfig.exit = exit; - ptkConfig.printf = printf; - ptkConfig.time = NULL; - - //tivx_set_debug_zone(VX_ZONE_INFO); - - PTK_init(&ptkConfig); - - - if (vxStatus == (vx_status)VX_SUCCESS) - { - /* parse command line */ - readParams(); - - SDEAPP_setAllParams(m_cntxt); - - /* Initialize the Application context */ - vxStatus = SDEAPP_init(m_cntxt); - - if (vxStatus != (vx_status)VX_SUCCESS) - { - ROS_ERROR("SDEAPP_init() failed."); - } - } - - if (vxStatus == (vx_status)VX_SUCCESS) - { - /* Launch processing threads. */ - SDEAPP_launchProcThreads(m_cntxt); - } - - return vxStatus; -} - -void SDEAppNode::sigHandler(int32_t sig) -{ - if (m_cntxt) - { - SDEAPP_intSigHandler(m_cntxt); - } -} - - diff --git a/ros1/nodes/ti_sde/src/sde_node.h b/ros1/nodes/ti_sde/src/sde_node.h deleted file mode 100644 index 26dbc15..0000000 --- a/ros1/nodes/ti_sde/src/sde_node.h +++ /dev/null @@ -1,169 +0,0 @@ -/* - * - * Copyright (c) 2021 Texas Instruments Incorporated - * - * All rights reserved not granted herein. - * - * Limited License. - * - * Texas Instruments Incorporated grants a world-wide, royalty-free, non-exclusive - * license under copyrights and patents it now or hereafter owns or controls to make, - * have made, use, import, offer to sell and sell ("Utilize") this software subject to the - * terms herein. With respect to the foregoing patent license, such license is granted - * solely to the extent that any such patent is necessary to Utilize the software alone. - * The patent license shall not apply to any combinations which include this software, - * other than combinations with devices manufactured by or for TI ("TI Devices"). - * No hardware patent is licensed hereunder. - * - * Redistributions must preserve existing copyright notices and reproduce this license - * (including the above copyright notice and the disclaimer and (if applicable) source - * code license limitations below) in the documentation and/or other materials provided - * with the distribution - * - * Redistribution and use in binary form, without modification, are permitted provided - * that the following conditions are met: - * - * * No reverse engineering, decompilation, or disassembly of this software is - * permitted with respect to any software provided in binary form. - * - * * any redistribution and use are licensed by TI for use only with TI Devices. - * - * * Nothing shall obligate TI to provide you with source code for the software - * licensed and provided to you in object code. - * - * If software source code is provided to you, modification and redistribution of the - * source code are permitted provided that the following conditions are met: - * - * * any redistribution and use of the source code, including any resulting derivative - * works, are licensed by TI for use only with TI Devices. - * - * * any redistribution and use of any object code compiled from the source code - * and any resulting derivative works, are licensed by TI for use only with TI Devices. - * - * Neither the name of Texas Instruments Incorporated nor the names of its suppliers - * - * may be used to endorse or promote products derived from this software without - * specific prior written permission. - * - * DISCLAIMER. - * - * THIS SOFTWARE IS PROVIDED BY TI AND TI'S LICENSORS "AS IS" AND ANY EXPRESS - * OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES - * OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. - * IN NO EVENT SHALL TI AND TI'S LICENSORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, - * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY - * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE - * OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED - * OF THE POSSIBILITY OF SUCH DAMAGE. - * - */ -#ifndef _APP_SDE_NODE_H_ -#define _APP_SDE_NODE_H_ - -#include -#include - -#include -#include -#include -#include -#include -#include -#include - -#include - -using namespace sensor_msgs; -using namespace message_filters; -using namespace common_msgs; - -class SDEAppNode -{ - using ImgSub = message_filters::Subscriber; - using CamInfoSub = message_filters::Subscriber; - using TimeSync = TimeSynchronizer; - using ImgPub = image_transport::Publisher; - using ImgTrans = image_transport::ImageTransport; - using SubCon = message_filters::Connection; - - public: - SDEAppNode(ros::NodeHandle &nodeHdl, - ros::NodeHandle &privNodeHdl); - ~SDEAppNode(); - - /** Intercept signal handler */ - void sigHandler(int32_t sig); - - private: - /** Initialize App cntxt */ - vx_status init(); - - /** process input frames */ - void process(); - - /** Callback to process camera info data */ - void camInfoCb(const CameraInfoConstPtr& cam_info); - - /** Callback to process input data */ - void imgCb(const ImageConstPtr& left_image_ptr, - const ImageConstPtr& right_image_ptr); - - /** Run camera info subscriber thread */ - void subscriberCamInfoThread(); - - /** Run publisher thread */ - void publisherThread(); - - /** Run iput process thread */ - void inputProcessThread(); - - /** OpenVX graph completion event handler */ - void graphCompleteEvtHdlr(); - - /** Read yaml algorithm paramters file */ - void readParams(); - - private: - SDEAPP_Context *m_cntxt{}; - TimeSync *m_sync{}; - CamInfoSub *m_sub{}; - ImgTrans *m_imgTrans{}; - ImgSub *m_leftImageSub{}; - ImgSub *m_rightImageSub{}; - SubCon m_conObj; - SubCon m_camInfoConObj; - - ros::NodeHandle &m_nodeHdl; - ros::NodeHandle &m_privNodeHdl; - - /** Subscriber thread */ - std::thread m_subThread; - - /** Publisher thread */ - std::thread m_pubThread; - - /** Input image width */ - uint32_t m_imgWidth; - - /** Input image height */ - uint32_t m_imgHeight; - - /** Disparity map publisher */ - Disparity m_disparityPubData; - uint32_t m_disparitySize; - ros::Publisher m_disparityPub; - - /** Point Cloud publisher */ - PointCloud2 m_pcPubData; - uint32_t m_numPcPoints; - uint32_t m_pcSize; - ros::Publisher m_pcPub; - - /** Initialize control semaphore */ - Semaphore *initCtrlSem; -}; - -#endif /* _APP_SDE_NODE_H_ */ - diff --git a/ros1/nodes/ti_vision_cnn/CMakeLists.txt b/ros1/nodes/ti_vision_cnn/CMakeLists.txt deleted file mode 100644 index 4ce9360..0000000 --- a/ros1/nodes/ti_vision_cnn/CMakeLists.txt +++ /dev/null @@ -1,14 +0,0 @@ -cmake_minimum_required(VERSION 3.5) -project(ti_vision_cnn) - -include(${CMAKE_CURRENT_SOURCE_DIR}/../../../cmake/ros1_common.cmake) - -if(${BUILD_CORE_NODES}) - # Vision CNN app - set(APP_VISION_CNN_SRCS - src/vision_cnn_main.cpp - src/vision_cnn_node.cpp) - - # Build nodes - build_node(vision_cnn APP_VISION_CNN_SRCS) -endif() diff --git a/ros1/nodes/ti_vision_cnn/config/params.yaml b/ros1/nodes/ti_vision_cnn/config/params.yaml deleted file mode 100644 index 074a0ed..0000000 --- a/ros1/nodes/ti_vision_cnn/config/params.yaml +++ /dev/null @@ -1,28 +0,0 @@ -# Maximum number of Semantic Segmentation classes -num_classes: 20 - -# interactive mode -is_interactive: 0 - -# to enable showing output on display when display_option = 1 -display_option: 1 - -# pipeline depth -pipeline_depth: 4 - -# flag to indicate if the graph should be exported -# 0 - disable -# 1 - enable -exportGraph: 0 - -# real-time logging enable. -# 0 - disable -# 1 - enable -rtLogEnable: 0 - -# log level for the app -# 0 - DEBUG: Used to show general debug messages -# 1 - INFO: Used to show run-time processing debug -# 2 - WARN: Used to warning developers of possible issues -# 3 - ERROR: Used for most errors -log_level: 2 diff --git a/ros1/nodes/ti_vision_cnn/launch/bag_objdet_cnn.launch b/ros1/nodes/ti_vision_cnn/launch/bag_objdet_cnn.launch deleted file mode 100644 index acfb25b..0000000 --- a/ros1/nodes/ti_vision_cnn/launch/bag_objdet_cnn.launch +++ /dev/null @@ -1,25 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ros1/nodes/ti_vision_cnn/launch/bag_semseg_cnn.launch b/ros1/nodes/ti_vision_cnn/launch/bag_semseg_cnn.launch deleted file mode 100644 index 2a782e8..0000000 --- a/ros1/nodes/ti_vision_cnn/launch/bag_semseg_cnn.launch +++ /dev/null @@ -1,23 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - diff --git a/ros1/nodes/ti_vision_cnn/launch/gscam_objdet_cnn.launch b/ros1/nodes/ti_vision_cnn/launch/gscam_objdet_cnn.launch deleted file mode 100644 index 45a0c10..0000000 --- a/ros1/nodes/ti_vision_cnn/launch/gscam_objdet_cnn.launch +++ /dev/null @@ -1,42 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ros1/nodes/ti_vision_cnn/launch/gscam_objdet_cnn_imx219.launch b/ros1/nodes/ti_vision_cnn/launch/gscam_objdet_cnn_imx219.launch deleted file mode 100644 index e7012c4..0000000 --- a/ros1/nodes/ti_vision_cnn/launch/gscam_objdet_cnn_imx219.launch +++ /dev/null @@ -1,48 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ros1/nodes/ti_vision_cnn/launch/gscam_objdet_cnn_imx390.launch b/ros1/nodes/ti_vision_cnn/launch/gscam_objdet_cnn_imx390.launch deleted file mode 100644 index ab17cf8..0000000 --- a/ros1/nodes/ti_vision_cnn/launch/gscam_objdet_cnn_imx390.launch +++ /dev/null @@ -1,48 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ros1/nodes/ti_vision_cnn/launch/gscam_semseg_cnn.launch b/ros1/nodes/ti_vision_cnn/launch/gscam_semseg_cnn.launch deleted file mode 100644 index 79a4185..0000000 --- a/ros1/nodes/ti_vision_cnn/launch/gscam_semseg_cnn.launch +++ /dev/null @@ -1,34 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ros1/nodes/ti_vision_cnn/launch/gscam_semseg_cnn_imx219.launch b/ros1/nodes/ti_vision_cnn/launch/gscam_semseg_cnn_imx219.launch deleted file mode 100644 index 569f24d..0000000 --- a/ros1/nodes/ti_vision_cnn/launch/gscam_semseg_cnn_imx219.launch +++ /dev/null @@ -1,46 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ros1/nodes/ti_vision_cnn/launch/gscam_semseg_cnn_imx390.launch b/ros1/nodes/ti_vision_cnn/launch/gscam_semseg_cnn_imx390.launch deleted file mode 100644 index 8e560fe..0000000 --- a/ros1/nodes/ti_vision_cnn/launch/gscam_semseg_cnn_imx390.launch +++ /dev/null @@ -1,46 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ros1/nodes/ti_vision_cnn/launch/mono_objdet_cnn.launch b/ros1/nodes/ti_vision_cnn/launch/mono_objdet_cnn.launch deleted file mode 100644 index ba7c38a..0000000 --- a/ros1/nodes/ti_vision_cnn/launch/mono_objdet_cnn.launch +++ /dev/null @@ -1,38 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ros1/nodes/ti_vision_cnn/launch/mono_semseg_cnn.launch b/ros1/nodes/ti_vision_cnn/launch/mono_semseg_cnn.launch deleted file mode 100644 index 3846560..0000000 --- a/ros1/nodes/ti_vision_cnn/launch/mono_semseg_cnn.launch +++ /dev/null @@ -1,36 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ros1/nodes/ti_vision_cnn/launch/objdet_cnn.launch b/ros1/nodes/ti_vision_cnn/launch/objdet_cnn.launch deleted file mode 100644 index 4cd11d2..0000000 --- a/ros1/nodes/ti_vision_cnn/launch/objdet_cnn.launch +++ /dev/null @@ -1,50 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ros1/nodes/ti_vision_cnn/launch/semseg_cnn.launch b/ros1/nodes/ti_vision_cnn/launch/semseg_cnn.launch deleted file mode 100644 index fbba66c..0000000 --- a/ros1/nodes/ti_vision_cnn/launch/semseg_cnn.launch +++ /dev/null @@ -1,47 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ros1/nodes/ti_vision_cnn/launch/zed_objdet_cnn.launch b/ros1/nodes/ti_vision_cnn/launch/zed_objdet_cnn.launch deleted file mode 100644 index 52922ef..0000000 --- a/ros1/nodes/ti_vision_cnn/launch/zed_objdet_cnn.launch +++ /dev/null @@ -1,24 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ros1/nodes/ti_vision_cnn/launch/zed_semseg_cnn.launch b/ros1/nodes/ti_vision_cnn/launch/zed_semseg_cnn.launch deleted file mode 100644 index d18608d..0000000 --- a/ros1/nodes/ti_vision_cnn/launch/zed_semseg_cnn.launch +++ /dev/null @@ -1,22 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - diff --git a/ros1/nodes/ti_vision_cnn/package.xml b/ros1/nodes/ti_vision_cnn/package.xml deleted file mode 100644 index b7d6c40..0000000 --- a/ros1/nodes/ti_vision_cnn/package.xml +++ /dev/null @@ -1,40 +0,0 @@ - - - ti_vision_cnn - 0.1.0 - The ti_vision_cnn package - - - d.kwon - - - - - TODO - - catkin - geometry_msgs - roscpp - cv_bridge - image_transport - sensor_msgs - ti_external - message_generation - geometry_msgs - roscpp - cv_bridge - image_transport - sensor_msgs - message_runtime - geometry_msgs - roscpp - cv_bridge - image_transport - sensor_msgs - message_runtime - - - - - - diff --git a/ros1/nodes/ti_vision_cnn/src/vision_cnn_main.cpp b/ros1/nodes/ti_vision_cnn/src/vision_cnn_main.cpp deleted file mode 100644 index d55cf1c..0000000 --- a/ros1/nodes/ti_vision_cnn/src/vision_cnn_main.cpp +++ /dev/null @@ -1,107 +0,0 @@ -/* - * - * Copyright (c) 2020 Texas Instruments Incorporated - * - * All rights reserved not granted herein. - * - * Limited License. - * - * Texas Instruments Incorporated grants a world-wide, royalty-free, non-exclusive - * license under copyrights and patents it now or hereafter owns or controls to make, - * have made, use, import, offer to sell and sell ("Utilize") this software subject to the - * terms herein. With respect to the foregoing patent license, such license is granted - * solely to the extent that any such patent is necessary to Utilize the software alone. - * The patent license shall not apply to any combinations which include this software, - * other than combinations with devices manufactured by or for TI ("TI Devices"). - * No hardware patent is licensed hereunder. - * - * Redistributions must preserve existing copyright notices and reproduce this license - * (including the above copyright notice and the disclaimer and (if applicable) source - * code license limitations below) in the documentation and/or other materials provided - * with the distribution - * - * Redistribution and use in binary form, without modification, are permitted provided - * that the following conditions are met: - * - * * No reverse engineering, decompilation, or disassembly of this software is - * permitted with respect to any software provided in binary form. - * - * * any redistribution and use are licensed by TI for use only with TI Devices. - * - * * Nothing shall obligate TI to provide you with source code for the software - * licensed and provided to you in appCntxtect code. - * - * If software source code is provided to you, modification and redistribution of the - * source code are permitted provided that the following conditions are met: - * - * * any redistribution and use of the source code, including any resulting derivative - * works, are licensed by TI for use only with TI Devices. - * - * * any redistribution and use of any appCntxtect code compiled from the source code - * and any resulting derivative works, are licensed by TI for use only with TI Devices. - * - * Neither the name of Texas Instruments Incorporated nor the names of its suppliers - * - * may be used to endorse or promote products derived from this software without - * specific prior written permission. - * - * DISCLAIMER. - * - * THIS SOFTWARE IS PROVIDED BY TI AND TI'S LICENSORS "AS IS" AND ANY EXPRESS - * OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES - * OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. - * IN NO EVENT SHALL TI AND TI'S LICENSORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, - * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY - * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE - * OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED - * OF THE POSSIBILITY OF SUCH DAMAGE. - * - */ - -#include -#include -#include -#include - -#include - -static VisionCnnNode *visCnnNode{}; - -static void sigHandler(int32_t sig) -{ - if (visCnnNode) - { - visCnnNode->sigHandler(sig); - } - - ros::shutdown(); -} - -int main(int argc, char **argv) -{ - try - { - ros::init(argc, argv, "ros_app_vison_cnn", ros::init_options::NoSigintHandler); - ros::NodeHandle nh(""); - ros::NodeHandle privNh("~"); - - signal(SIGINT, sigHandler); - - visCnnNode = new VisionCnnNode(nh, privNh); - - ros::spin(); - - return EXIT_SUCCESS; - } - - catch (std::runtime_error& e) - { - ros::shutdown(); - return EXIT_FAILURE; - } - - return 0; -} - diff --git a/ros1/nodes/ti_vision_cnn/src/vision_cnn_node.cpp b/ros1/nodes/ti_vision_cnn/src/vision_cnn_node.cpp deleted file mode 100644 index ec25845..0000000 --- a/ros1/nodes/ti_vision_cnn/src/vision_cnn_node.cpp +++ /dev/null @@ -1,489 +0,0 @@ -/* - * - * Copyright (c) 2020 Texas Instruments Incorporated - * - * All rights reserved not granted herein. - * - * Limited License. - * - * Texas Instruments Incorporated grants a world-wide, royalty-free, non-exclusive - * license under copyrights and patents it now or hereafter owns or controls to make, - * have made, use, import, offer to sell and sell ("Utilize") this software subject to the - * terms herein. With respect to the foregoing patent license, such license is granted - * solely to the extent that any such patent is necessary to Utilize the software alone. - * The patent license shall not apply to any combinations which include this software, - * other than combinations with devices manufactured by or for TI ("TI Devices"). - * No hardware patent is licensed hereunder. - * - * Redistributions must preserve existing copyright notices and reproduce this license - * (including the above copyright notice and the disclaimer and (if applicable) source - * code license limitations below) in the documentation and/or other materials provided - * with the distribution - * - * Redistribution and use in binary form, without modification, are permitted provided - * that the following conditions are met: - * - * * No reverse engineering, decompilation, or disassembly of this software is - * permitted with respect to any software provided in binary form. - * - * * any redistribution and use are licensed by TI for use only with TI Devices. - * - * * Nothing shall obligate TI to provide you with source code for the software - * licensed and provided to you in appCntxtect code. - * - * If software source code is provided to you, modification and redistribution of the - * source code are permitted provided that the following conditions are met: - * - * * any redistribution and use of the source code, including any resulting derivative - * works, are licensed by TI for use only with TI Devices. - * - * * any redistribution and use of any appCntxtect code compiled from the source code - * and any resulting derivative works, are licensed by TI for use only with TI Devices. - * - * Neither the name of Texas Instruments Incorporated nor the names of its suppliers - * - * may be used to endorse or promote products derived from this software without - * specific prior written permission. - * - * DISCLAIMER. - * - * THIS SOFTWARE IS PROVIDED BY TI AND TI'S LICENSORS "AS IS" AND ANY EXPRESS - * OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES - * OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. - * IN NO EVENT SHALL TI AND TI'S LICENSORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, - * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY - * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE - * OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED - * OF THE POSSIBILITY OF SUCH DAMAGE. - * - */ - -#include - -#include - -#include - -VisionCnnNode::VisionCnnNode(ros::NodeHandle &nodeHdl, - ros::NodeHandle &privNodeHdl): - m_nodeHdl(nodeHdl), - m_privNodeHdl(privNodeHdl), - m_imgTrans(new ImgTrans(nodeHdl)) -{ - vx_status vxStatus; - - // Initialize the CNN context - vxStatus = this->init(); - - if (vxStatus != (vx_status)VX_SUCCESS) - { - ROS_INFO("Application Initialization failed."); - exit(-1); - } - - // Cache the input and output image sizes - m_inputImgWidth = m_cntxt->inputImageWidth; - m_inputImgHeight = m_cntxt->inputImageHeight; - m_outImgWidth = m_cntxt->outImageWidth; - m_outImgHeight = m_cntxt->outImageHeight; - - // launch the publisher threads - auto pubThread = std::thread([this]{publisherThread();}); - pubThread.detach(); -} - -void VisionCnnNode::subscriberThread() -{ - std::string topicName; - bool status; - - // Query the topicname to subscribe to - status = m_privNodeHdl.getParam("input_topic_name", topicName); - - if (status == false) - { - ROS_INFO("Config parameter 'input_topic_name' not found."); - exit(-1); - } - - m_sub = new ImgSub(m_nodeHdl, topicName, 1); - - if (m_sub == nullptr) - { - ROS_ERROR("new ImgSub() failed."); - exit(-1); - } - - m_conObj = m_sub->registerCallback(&VisionCnnNode::imgCb, this); - - ROS_INFO_STREAM("Subscribed to the topic: " << topicName); -} - -void VisionCnnNode::publisherThread() -{ - std::string rectImgTopic; - std::string rectImgFrame; - std::string outTensorTopic; - bool status; - bool latch = true; - - status = m_privNodeHdl.getParam("rectified_image_topic", rectImgTopic); - if (status == false) - { - ROS_ERROR("Config parameter 'rectified_image_topic' not found."); - exit(-1); - } - - status = m_privNodeHdl.getParam("rectified_image_frame_id", rectImgFrame); - if (status == false) - { - ROS_ERROR("Config parameter 'rectified_image_frame_id' not found."); - exit(-1); - } - - // rectified image in YUV420 (NV12) - m_rectImageSize = 1.5 * m_inputImgWidth * m_inputImgHeight; - m_rectImagePubData.data.assign(m_rectImageSize, 0); - m_rectImagePubData.width = m_inputImgWidth; - m_rectImagePubData.height = m_inputImgHeight; - m_rectImagePubData.step = m_inputImgWidth; - m_rectImagePubData.encoding = "yuv420"; - m_rectImagePubData.header.frame_id = rectImgFrame; - - // Create the publisher for the rectified image - m_rectImgPub = m_imgTrans->advertise(rectImgTopic, latch); - ROS_INFO_STREAM("Created Publisher for topic: " << rectImgTopic); - - status = m_privNodeHdl.getParam("vision_cnn_tensor_topic", outTensorTopic); - if (status == false) - { - ROS_ERROR("Config parameter 'vision_cnn_tensor_topic' not found."); - exit(-1); - } - - m_outTensorSize = m_cntxt->outTensorSize; - m_outTensorPubData.data.assign(m_outTensorSize, 0); - m_outTensorPubData.width = m_outImgWidth; - m_outTensorPubData.height = m_outImgHeight; - m_outTensorPubData.step = m_outImgWidth; - m_outTensorPubData.encoding = "mono8"; - - m_taskType = m_cntxt->postProcObj->getTaskType(); - - if (m_taskType == "segmentation") - { - // Create the publisher for the output tensor - m_outTensorPub = m_imgTrans->advertise(outTensorTopic, latch); - } - else if (m_taskType == "detection") - { - // Create the publisher for the rectified image - m_odPub = m_nodeHdl.advertise(outTensorTopic, 1); - } - else - { - ROS_ERROR("Unsupported taskType"); - exit(-1); - } - - ROS_INFO_STREAM("Created Publisher for topic: " << outTensorTopic); - - // To gauranttee all publisher objects are set up before running - // subscriberThread() - // launch the subscriber thread - auto subThread = std::thread([this]{subscriberThread();}); - subThread.detach(); - - // Start processing the output from the inference chain - processCompleteEvtHdlr(); - - // Shutdown the publishers - m_rectImgPub.shutdown(); - - m_outTensorPub.shutdown(); -} - -void VisionCnnNode::imgCb(const ImageConstPtr& imgPtr) -{ - if (m_cntxt->state == VISION_CNN_STATE_INIT) - { - VISION_CNN_run(m_cntxt, imgPtr->data.data(), imgPtr->header.stamp.toNSec()); - } - else - { - m_conObj.disconnect(); - } -} - -void VisionCnnNode::processCompleteEvtHdlr() -{ - ROS_INFO("%s Launched.", __FUNCTION__); - - while (m_cntxt->exitOutputThread == false) - { - vx_reference outRef{}; - vx_status vxStatus; - - /* Wait for the data ready semaphore. */ - if (m_cntxt->outputCtrlSem) - { - m_cntxt->outputCtrlSem->wait(); - } - - if (m_cntxt->exitOutputThread == true) - { - break; - } - - VISION_CNN_getOutBuff(m_cntxt, - &m_cntxt->vxInputDisplayImage, - &outRef, - &m_cntxt->outTimestamp); - - // Extract rectified right image data (YUV420 or NV12) - vxStatus = CM_extractImageData(m_rectImagePubData.data.data(), - m_cntxt->vxInputDisplayImage, - m_rectImagePubData.width, - m_rectImagePubData.height, - 2, - 0); - - if (vxStatus != (vx_status)VX_SUCCESS) - { - ROS_ERROR("CM_extractImageData() failed."); - } - - // Extract raw tensor data - vxStatus = CM_extractTensorData(m_outTensorPubData.data.data(), - (vx_tensor)outRef, - m_outTensorSize); - - if (vxStatus != (vx_status)VX_SUCCESS) - { - ROS_ERROR("CM_extractTensorData() failed."); - } - - // Release the output buffers - VISION_CNN_releaseOutBuff(m_cntxt); - - if (vxStatus == (vx_status)VX_SUCCESS) - { - ros::Time time; - time.fromNSec(m_cntxt->outTimestamp); - - // Publish Rectified (Right) image - m_rectImagePubData.header.stamp = time; - m_rectImgPub.publish(m_rectImagePubData); - - // Publish output tensor - if (m_taskType == "segmentation") - { - m_outTensorPubData.header.stamp = time; - m_outTensorPub.publish(m_outTensorPubData); - } - else // m_taskType == "detection" - { - float *data; - Detection2D det; - - data = reinterpret_cast(m_outTensorPubData.data.data()); - det.header.stamp = time; - det.num_objects = static_cast(*data++); - det.bounding_boxes.assign(det.num_objects, BoundingBox2D{}); - - for (int32_t i = 0; i < det.num_objects; i++) - { - auto &box = det.bounding_boxes[i]; - - box.xmin = static_cast(*data++); - box.ymin = static_cast(*data++); - box.xmax = static_cast(*data++); - box.ymax = static_cast(*data++); - box.label_id = static_cast(*data++); - box.confidence = *data++; - } - - m_odPub.publish(det); - } - } - } - - ROS_INFO("%s Exiting.", __FUNCTION__); -} - -VisionCnnNode::~VisionCnnNode() -{ - if (m_imgTrans) - { - delete m_imgTrans; - } - - if (m_sub) - { - delete m_sub; - } - - if (m_cntxt) - { - delete m_cntxt; - } -} - -void VisionCnnNode::readParams() -{ - std::string str; - bool status; - int32_t tmp; - - /* Get LUT file path information. */ - status = m_privNodeHdl.getParam("lut_file_path", str); - - if (status == false) - { - ROS_INFO("Config parameter 'lut_file_path' not found."); - exit(-1); - } - - snprintf(m_cntxt->ldcLutFilePath, VISION_CNN_MAX_LINE_LEN-1, "%s", str.c_str()); - - /* Get TIDL network path information. */ - status = m_privNodeHdl.getParam("dl_model_path", str); - - if (status == false) - { - ROS_INFO("Config parameter 'dl_model_path' not found."); - exit(-1); - } - - snprintf(m_cntxt->dlModelPath, VISION_CNN_MAX_LINE_LEN-1, "%s", str.c_str()); - - /* Get input image width information. */ - m_privNodeHdl.param("width", m_cntxt->inputImageWidth, VISION_CNN_DEFAULT_IMAGE_WIDTH); - - /* Get input image height information. */ - m_privNodeHdl.param("height", m_cntxt->inputImageHeight, VISION_CNN_DEFAULT_IMAGE_HEIGHT); - - /* Get input image format information. */ - status = m_privNodeHdl.param("image_format", tmp, 0); - - if (status == false) - { - ROS_INFO("Config parameter 'image_format' not found."); - exit(-1); - } - - if (tmp == CM_IMG_FORMAT_UYVY) - { - m_cntxt->inputImageFormat = VX_DF_IMAGE_UYVY; - } - else if (tmp == CM_IMG_FORMAT_NV12) - { - m_cntxt->inputImageFormat = VX_DF_IMAGE_NV12; - } - else - { - ROS_INFO("Config parameter 'image_format' not supported."); - exit(-1); - } - - /* Get enable ldc node flag */ - m_privNodeHdl.param("enable_ldc_node", tmp, 1); - m_cntxt->enableLdcNode = (bool)tmp; - - if (m_cntxt->enableLdcNode == 0 && m_cntxt->inputImageFormat != VX_DF_IMAGE_NV12) - { - ROS_INFO("LDC Node can be bypassed only when input is NV12."); - exit(-1); - } - - /* Get class count information. */ - status = m_privNodeHdl.getParam("num_classes", tmp); - - if (status == false) - { - ROS_INFO("Config parameter 'num_classes' not found."); - exit(-1); - } - - m_cntxt->numClasses = (int16_t)tmp; - - /* Get interactive mode flag information. */ - m_privNodeHdl.param("is_interactive", tmp, 0); - m_cntxt->is_interactive = (uint8_t)tmp; - - /* Get pipeline depth information. */ - m_privNodeHdl.param("pipeline_depth", tmp, 1); - m_cntxt->pipelineDepth = (uint8_t)tmp; - - /* Get graph export flag information. */ - m_privNodeHdl.param("exportGraph", tmp, 0); - m_cntxt->exportGraph = (uint8_t)tmp; - - /* Get perf export flag information. */ - m_privNodeHdl.param("exportPerfStats", tmp, 0); - m_cntxt->exportPerfStats = (uint8_t)tmp; - - /* Get perf export flag information. */ - m_privNodeHdl.param("detVizThreshold", m_cntxt->detVizThreshold, 0.5f); - - /* Get real-time logging enable information. */ - m_privNodeHdl.param("rtLogEnable", tmp, 0); - m_cntxt->rtLogEnable = (uint8_t)tmp; - - /* set the ti_logger level */ - m_privNodeHdl.param("log_level", tmp, static_cast(ERROR)); - logSetLevel((LogLevel) tmp); - - return; -} - -vx_status VisionCnnNode::init() -{ - vx_status vxStatus; - - vxStatus = VX_SUCCESS; - - //tivx_set_debug_zone(VX_ZONE_INFO); - - m_cntxt = new VISION_CNN_Context(); - - if (m_cntxt == nullptr) - { - ROS_ERROR("new VISION_CNN_Context() failed."); - vxStatus = VX_FAILURE; - } - - if (vxStatus == (vx_status)VX_SUCCESS) - { - /* Read the node parameters. */ - readParams(); - - /* Initialize the Application context */ - vxStatus = VISION_CNN_init(m_cntxt); - - if (vxStatus != (vx_status)VX_SUCCESS) - { - ROS_ERROR("VISION_CNN_init() failed."); - } - } - - if (vxStatus == (vx_status)VX_SUCCESS) - { - /* Launch processing threads. */ - VISION_CNN_launchProcThreads(m_cntxt); - } - - return vxStatus; -} - -void VisionCnnNode::sigHandler(int32_t sig) -{ - (void)sig; - - if (m_cntxt) - { - VISION_CNN_intSigHandler(m_cntxt); - } -} diff --git a/ros1/nodes/ti_vision_cnn/src/vision_cnn_node.h b/ros1/nodes/ti_vision_cnn/src/vision_cnn_node.h deleted file mode 100644 index 36cec88..0000000 --- a/ros1/nodes/ti_vision_cnn/src/vision_cnn_node.h +++ /dev/null @@ -1,127 +0,0 @@ -/* - * - * Copyright (c) 2020 Texas Instruments Incorporated - * - * All rights reserved not granted herein. - * - * Limited License. - * - * Texas Instruments Incorporated grants a world-wide, royalty-free, non-exclusive - * license under copyrights and patents it now or hereafter owns or controls to make, - * have made, use, import, offer to sell and sell ("Utilize") this software subject to the - * terms herein. With respect to the foregoing patent license, such license is granted - * solely to the extent that any such patent is necessary to Utilize the software alone. - * The patent license shall not apply to any combinations which include this software, - * other than combinations with devices manufactured by or for TI ("TI Devices"). - * No hardware patent is licensed hereunder. - * - * Redistributions must preserve existing copyright notices and reproduce this license - * (including the above copyright notice and the disclaimer and (if applicable) source - * code license limitations below) in the documentation and/or other materials provided - * with the distribution - * - * Redistribution and use in binary form, without modification, are permitted provided - * that the following conditions are met: - * - * * No reverse engineering, decompilation, or disassembly of this software is - * permitted with respect to any software provided in binary form. - * - * * any redistribution and use are licensed by TI for use only with TI Devices. - * - * * Nothing shall obligate TI to provide you with source code for the software - * licensed and provided to you in object code. - * - * If software source code is provided to you, modification and redistribution of the - * source code are permitted provided that the following conditions are met: - * - * * any redistribution and use of the source code, including any resulting derivative - * works, are licensed by TI for use only with TI Devices. - * - * * any redistribution and use of any object code compiled from the source code - * and any resulting derivative works, are licensed by TI for use only with TI Devices. - * - * Neither the name of Texas Instruments Incorporated nor the names of its suppliers - * - * may be used to endorse or promote products derived from this software without - * specific prior written permission. - * - * DISCLAIMER. - * - * THIS SOFTWARE IS PROVIDED BY TI AND TI'S LICENSORS "AS IS" AND ANY EXPRESS - * OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES - * OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. - * IN NO EVENT SHALL TI AND TI'S LICENSORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, - * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY - * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE - * OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED - * OF THE POSSIBILITY OF SUCH DAMAGE. - * - */ -#ifndef _APP_VISION_CNN_NODE_H_ -#define _APP_VISION_CNN_NODE_H_ - -#include -#include - -#include -#include -#include -#include - -#include - -#include - -/* to use ti_logger MACROS */ -#include - -using namespace sensor_msgs; -using namespace message_filters; -using namespace common_msgs; - -class VisionCnnNode -{ - using ImgSub = message_filters::Subscriber; - using ImgPub = image_transport::Publisher; - using ImgTrans = image_transport::ImageTransport; - using SubCon = message_filters::Connection; - - public: - VisionCnnNode(ros::NodeHandle &nodeHdl, - ros::NodeHandle &privNodeHdl); - ~VisionCnnNode(); - void sigHandler(int32_t sig); - - private: - vx_status init(); - void readParams(); - void imgCb(const ImageConstPtr& imgPtr); - void subscriberThread(); - void publisherThread(); - void processCompleteEvtHdlr(); - - private: - VISION_CNN_Context *m_cntxt{}; - ImgSub *m_sub{}; - ImgTrans *m_imgTrans{}; - ros::NodeHandle &m_nodeHdl; - ros::NodeHandle &m_privNodeHdl; - SubCon m_conObj; - ImgPub m_rectImgPub; - ImgPub m_outTensorPub; - ros::Publisher m_odPub; - uint32_t m_inputImgWidth; - uint32_t m_inputImgHeight; - uint32_t m_outImgWidth; - uint32_t m_outImgHeight; - Image m_outTensorPubData; - Image m_rectImagePubData; - uint32_t m_rectImageSize; - uint32_t m_outTensorSize; - std::string m_taskType; -}; - -#endif /* _APP_VISION_CNN_NODE_H_ */ - diff --git a/ros1/nodes/ti_viz_nodes/CMakeLists.txt b/ros1/nodes/ti_viz_nodes/CMakeLists.txt deleted file mode 100644 index 8470cf3..0000000 --- a/ros1/nodes/ti_viz_nodes/CMakeLists.txt +++ /dev/null @@ -1,32 +0,0 @@ -cmake_minimum_required(VERSION 3.5) -project(ti_viz_nodes) - -include(${CMAKE_CURRENT_SOURCE_DIR}/../../../cmake/ros1_common.cmake) - -if (${BUILD_VISUALIZATION_NODES}) - # viz_disparity - set(VIZ_DISP_SRCS src/viz_disparity_node.cpp) - build_node(viz_disparity VIZ_DISP_SRCS) - - # YUV to RGB conversion - set(VIZ_COL_CONV_SRCS src/viz_color_conversion_node.cpp) - build_node(viz_color_conv_yuv2rgb VIZ_COL_CONV_SRCS) - - # viz_semseg - set(VIZ_SEMSEG_SRCS src/viz_semseg_node.cpp) - build_node(viz_semseg VIZ_SEMSEG_SRCS) - - # viz_objdet - set(VIZ_OBJDET_SRCS src/viz_objdet_node.cpp) - build_node(viz_objdet VIZ_OBJDET_SRCS) - - # viz_estop - set(VIZ_ESTOP_SRCS src/viz_estop_node.cpp) - build_node(viz_estop VIZ_ESTOP_SRCS) - - # viz_objdet_range_node - set(VIZ_OBJDET_RANGE_SRCS src/viz_objdet_range_node.cpp) - build_node(viz_objdet_range VIZ_OBJDET_RANGE_SRCS) - -endif() - diff --git a/ros1/nodes/ti_viz_nodes/launch/gscam_nv12.launch b/ros1/nodes/ti_viz_nodes/launch/gscam_nv12.launch deleted file mode 100644 index b22bdac..0000000 --- a/ros1/nodes/ti_viz_nodes/launch/gscam_nv12.launch +++ /dev/null @@ -1,22 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - diff --git a/ros1/nodes/ti_viz_nodes/launch/rviz_estop.launch b/ros1/nodes/ti_viz_nodes/launch/rviz_estop.launch deleted file mode 100644 index db9fbd3..0000000 --- a/ros1/nodes/ti_viz_nodes/launch/rviz_estop.launch +++ /dev/null @@ -1,15 +0,0 @@ - - - - - - - - - - - - - - - diff --git a/ros1/nodes/ti_viz_nodes/launch/rviz_estop_ogmap.launch b/ros1/nodes/ti_viz_nodes/launch/rviz_estop_ogmap.launch deleted file mode 100644 index 3519eeb..0000000 --- a/ros1/nodes/ti_viz_nodes/launch/rviz_estop_ogmap.launch +++ /dev/null @@ -1,9 +0,0 @@ - - - - - - - - - diff --git a/ros1/nodes/ti_viz_nodes/launch/rviz_objdet_cnn.launch b/ros1/nodes/ti_viz_nodes/launch/rviz_objdet_cnn.launch deleted file mode 100644 index 77aaf1f..0000000 --- a/ros1/nodes/ti_viz_nodes/launch/rviz_objdet_cnn.launch +++ /dev/null @@ -1,26 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ros1/nodes/ti_viz_nodes/launch/rviz_objdet_range.launch b/ros1/nodes/ti_viz_nodes/launch/rviz_objdet_range.launch deleted file mode 100644 index f8198d3..0000000 --- a/ros1/nodes/ti_viz_nodes/launch/rviz_objdet_range.launch +++ /dev/null @@ -1,34 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - box_color_rgb: [102, 255, 102] - patch_color_rgb: [255, 128, 0] - text_color_rgb: [244, 35, 232] - text_bg_color_rgb: [120, 120, 120] - - - - - - - - - diff --git a/ros1/nodes/ti_viz_nodes/launch/rviz_sde.launch b/ros1/nodes/ti_viz_nodes/launch/rviz_sde.launch deleted file mode 100644 index 2a5a890..0000000 --- a/ros1/nodes/ti_viz_nodes/launch/rviz_sde.launch +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - - - - - - - - - - - - - diff --git a/ros1/nodes/ti_viz_nodes/launch/rviz_sde_pcl.launch b/ros1/nodes/ti_viz_nodes/launch/rviz_sde_pcl.launch deleted file mode 100644 index a7e456d..0000000 --- a/ros1/nodes/ti_viz_nodes/launch/rviz_sde_pcl.launch +++ /dev/null @@ -1,6 +0,0 @@ - - - - - - diff --git a/ros1/nodes/ti_viz_nodes/launch/rviz_sde_semseg.launch b/ros1/nodes/ti_viz_nodes/launch/rviz_sde_semseg.launch deleted file mode 100644 index 9a0d01a..0000000 --- a/ros1/nodes/ti_viz_nodes/launch/rviz_sde_semseg.launch +++ /dev/null @@ -1,35 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ros1/nodes/ti_viz_nodes/launch/rviz_semseg_cnn.launch b/ros1/nodes/ti_viz_nodes/launch/rviz_semseg_cnn.launch deleted file mode 100644 index ec2c9ed..0000000 --- a/ros1/nodes/ti_viz_nodes/launch/rviz_semseg_cnn.launch +++ /dev/null @@ -1,36 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ros1/nodes/ti_viz_nodes/launch/rviz_visloc.launch b/ros1/nodes/ti_viz_nodes/launch/rviz_visloc.launch deleted file mode 100644 index 22dbc88..0000000 --- a/ros1/nodes/ti_viz_nodes/launch/rviz_visloc.launch +++ /dev/null @@ -1,6 +0,0 @@ - - - - - - diff --git a/ros1/nodes/ti_viz_nodes/launch/viz_disparity.launch b/ros1/nodes/ti_viz_nodes/launch/viz_disparity.launch deleted file mode 100644 index 73f61ab..0000000 --- a/ros1/nodes/ti_viz_nodes/launch/viz_disparity.launch +++ /dev/null @@ -1,20 +0,0 @@ - - - - - - - - - - - - - - - - - - - - diff --git a/ros1/nodes/ti_viz_nodes/launch/viz_estop.launch b/ros1/nodes/ti_viz_nodes/launch/viz_estop.launch deleted file mode 100644 index 9612cd9..0000000 --- a/ros1/nodes/ti_viz_nodes/launch/viz_estop.launch +++ /dev/null @@ -1,26 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ros1/nodes/ti_viz_nodes/launch/viz_mmwave.launch b/ros1/nodes/ti_viz_nodes/launch/viz_mmwave.launch deleted file mode 100644 index 4b7b957..0000000 --- a/ros1/nodes/ti_viz_nodes/launch/viz_mmwave.launch +++ /dev/null @@ -1,10 +0,0 @@ - - - - - - - diff --git a/ros1/nodes/ti_viz_nodes/launch/viz_mmwave_quad.launch b/ros1/nodes/ti_viz_nodes/launch/viz_mmwave_quad.launch deleted file mode 100644 index 9cb854e..0000000 --- a/ros1/nodes/ti_viz_nodes/launch/viz_mmwave_quad.launch +++ /dev/null @@ -1,10 +0,0 @@ - - - - - - - diff --git a/ros1/nodes/ti_viz_nodes/launch/viz_objdet.launch b/ros1/nodes/ti_viz_nodes/launch/viz_objdet.launch deleted file mode 100644 index ed45137..0000000 --- a/ros1/nodes/ti_viz_nodes/launch/viz_objdet.launch +++ /dev/null @@ -1,16 +0,0 @@ - - - - - - - - - - - - - - - - diff --git a/ros1/nodes/ti_viz_nodes/launch/viz_semseg.launch b/ros1/nodes/ti_viz_nodes/launch/viz_semseg.launch deleted file mode 100644 index 973c202..0000000 --- a/ros1/nodes/ti_viz_nodes/launch/viz_semseg.launch +++ /dev/null @@ -1,15 +0,0 @@ - - - - - - - - - - - - - - - diff --git a/ros1/nodes/ti_viz_nodes/launch/yuv_to_rgb.launch b/ros1/nodes/ti_viz_nodes/launch/yuv_to_rgb.launch deleted file mode 100644 index 4ad85d4..0000000 --- a/ros1/nodes/ti_viz_nodes/launch/yuv_to_rgb.launch +++ /dev/null @@ -1,20 +0,0 @@ - - - - - - - - - - - - - - - - - - - - diff --git a/ros1/nodes/ti_viz_nodes/package.xml b/ros1/nodes/ti_viz_nodes/package.xml deleted file mode 100644 index e2dec76..0000000 --- a/ros1/nodes/ti_viz_nodes/package.xml +++ /dev/null @@ -1,41 +0,0 @@ - - - ti_viz_nodes - 0.1.0 - The ti_viz_nodes package - - - - - d.kwon - - - - - TODO - - catkin - geometry_msgs - roscpp - cv_bridge - image_transport - sensor_msgs - message_generation - geometry_msgs - roscpp - cv_bridge - image_transport - sensor_msgs - message_runtime - geometry_msgs - roscpp - cv_bridge - image_transport - sensor_msgs - message_runtime - - - - - - diff --git a/ros1/nodes/ti_viz_nodes/rviz/estop.rviz b/ros1/nodes/ti_viz_nodes/rviz/estop.rviz deleted file mode 100644 index 869b6c9..0000000 --- a/ros1/nodes/ti_viz_nodes/rviz/estop.rviz +++ /dev/null @@ -1,136 +0,0 @@ -Panels: - - Class: rviz/Displays - Help Height: 78 - Name: Displays - Property Tree Widget: - Expanded: - - /Global Options1 - - /Status1 - - /Image1 - - /Image2 - - /Image3 - Splitter Ratio: 0.5 - Tree Height: 363 - - Class: rviz/Selection - Name: Selection - - Class: rviz/Tool Properties - Expanded: - - /2D Pose Estimate1 - - /2D Nav Goal1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.5886790156364441 - - Class: rviz/Time - Experimental: false - Name: Time - SyncMode: 0 - SyncSource: Image -Preferences: - PromptSaveOnExit: true -Toolbars: - toolButtonStyle: 2 -Visualization Manager: - Class: "" - Displays: - - Class: rviz/Image - Enabled: true - Image Topic: /detection3D/BB3DImage - Max Value: 1 - Median window: 5 - Min Value: 0 - Name: Image - Normalize Range: true - Queue Size: 2 - Transport Hint: raw - Unreliable: false - Value: true - - Class: rviz/Image - Enabled: true - Image Topic: /semseg_cnn/out_image - Max Value: 1 - Median window: 5 - Min Value: 0 - Name: Image - Normalize Range: true - Queue Size: 2 - Transport Hint: raw - Unreliable: false - Value: true - - Class: rviz/Image - Enabled: true - Image Topic: /camera/disparity/ccDisparity - Max Value: 1 - Median window: 5 - Min Value: 0 - Name: Image - Normalize Range: true - Queue Size: 2 - Transport Hint: raw - Unreliable: false - Value: true - Enabled: true - Global Options: - Background Color: 48; 48; 48 - Default Light: true - Fixed Frame: map - Frame Rate: 30 - Name: root - Tools: - - Class: rviz/Interact - Hide Inactive Objects: true - - Class: rviz/MoveCamera - - Class: rviz/Select - - Class: rviz/FocusCamera - - Class: rviz/Measure - - Class: rviz/SetInitialPose - Theta std deviation: 0.2617993950843811 - Topic: /initialpose - X std deviation: 0.5 - Y std deviation: 0.5 - - Class: rviz/SetGoal - Topic: /move_base_simple/goal - - Class: rviz/PublishPoint - Single click: true - Topic: /clicked_point - Value: true - Views: - Current: - Class: rviz/Orbit - Distance: 14.049280166625977 - Enable Stereo Rendering: - Stereo Eye Separation: 0.05999999865889549 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Focal Point: - X: 0 - Y: 0 - Z: 0 - Focal Shape Fixed Size: true - Focal Shape Size: 0.05000000074505806 - Invert Z Axis: false - Name: Current View - Near Clip Distance: 0.009999999776482582 - Pitch: 1.1503978967666626 - Target Frame: - Value: Orbit (rviz) - Yaw: 0.8753975629806519 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 1123 - Hide Left Dock: false - Hide Right Dock: false - Image: - collapsed: false - QMainWindow State: 000000ff00000000fd0000000400000000000006190000025afc0200000008fb0000001200530065006c0065006300740069006f006e00000001ec0000025a0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000000cf000000ad0000019f00000216fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007302000000a900000094000001c70000041cfb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c0000026100000001000006190000025afc0200000004fb0000000a0049006d00610067006501000001ec0000025a0000001600fffffffb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002b00000000000000000fb0000001200530065006c0065006300740069006f006e010000025a000000b20000000000000000000000020000063f000001d0fc0100000003fb0000000a0049006d00610067006501000000000000030d0000005e00fffffffb0000000a0049006d00610067006501000003130000032c0000005e00fffffffb0000000a00560069006500770073030000004e00000080000002e10000019700000003000008720000003efc0100000002fb0000000800540069006d0065000000000000000872000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000000200000025a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000 - Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false - Width: 1599 - X: 213 - Y: 139 diff --git a/ros1/nodes/ti_viz_nodes/rviz/estop_ogmap.rviz b/ros1/nodes/ti_viz_nodes/rviz/estop_ogmap.rviz deleted file mode 100644 index d91ab9c..0000000 --- a/ros1/nodes/ti_viz_nodes/rviz/estop_ogmap.rviz +++ /dev/null @@ -1,163 +0,0 @@ -Panels: - - Class: rviz/Selection - Name: Selection - - Class: rviz/Tool Properties - Expanded: - - /2D Pose Estimate1 - - /2D Nav Goal1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.5886790156364441 - - Class: rviz/Views - Expanded: - - /Current View1 - Name: Views - Splitter Ratio: 0.5 - - Class: rviz/Time - Experimental: false - Name: Time - SyncMode: 0 - SyncSource: Image - - Class: rviz/Displays - Help Height: 70 - Name: Displays - Property Tree Widget: - Expanded: - - /Grid1 - - /Image1 - - /Map1 - Splitter Ratio: 0.5 - Tree Height: 604 -Preferences: - PromptSaveOnExit: true -Toolbars: - toolButtonStyle: 2 -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.5 - Cell Size: 0.20000000298023224 - Class: rviz/Grid - Color: 160; 160; 164 - Enabled: true - Line Style: - Line Width: 0.029999999329447746 - Value: Lines - Name: Grid - Normal Cell Count: 0 - Offset: - X: 0 - Y: 0 - Z: 0 - Plane: XY - Plane Cell Count: 140 - Reference Frame: - Value: true - - Class: rviz/Image - Enabled: true - Image Topic: /detection3D/BB3DImage - Max Value: 1 - Median window: 5 - Min Value: 0 - Name: Image - Normalize Range: true - Queue Size: 2 - Transport Hint: raw - Unreliable: false - Value: true - - Alpha: 0.699999988079071 - Class: rviz/Map - Color Scheme: costmap - Draw Behind: false - Enabled: true - Name: Map - Topic: /detection3D/ogmap - Unreliable: false - Use Timestamp: false - Value: true - - Alpha: 1 - Class: rviz/Polygon - Color: 239; 41; 41 - Enabled: false - Name: Polygon - Topic: /ti_base/safetyp_bubble - Unreliable: false - Value: false - - Class: rviz/Axes - Enabled: true - Length: 0.5 - Name: Axes - Radius: 0.10000000149011612 - Reference Frame: - Value: true - - Alpha: 1 - Class: rviz/Polygon - Color: 204; 0; 0 - Enabled: true - Name: Polygon - Topic: /estop/safety_bubble - Unreliable: false - Value: true - Enabled: true - Global Options: - Background Color: 48; 48; 48 - Default Light: true - Fixed Frame: map - Frame Rate: 30 - Name: root - Tools: - - Class: rviz/Interact - Hide Inactive Objects: true - - Class: rviz/MoveCamera - - Class: rviz/Select - - Class: rviz/FocusCamera - - Class: rviz/Measure - - Class: rviz/SetInitialPose - Theta std deviation: 0.2617993950843811 - Topic: /initialpose - X std deviation: 0.5 - Y std deviation: 0.5 - - Class: rviz/SetGoal - Topic: /move_base_simple/goal - - Class: rviz/PublishPoint - Single click: true - Topic: /clicked_point - Value: true - Views: - Current: - Angle: -8.568167686462402e-7 - Class: rviz/TopDownOrtho - Enable Stereo Rendering: - Stereo Eye Separation: 0.05999999865889549 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Invert Z Axis: false - Name: Current View - Near Clip Distance: 0.009999999776482582 - Scale: 17.073204040527344 - Target Frame: - Value: TopDownOrtho (rviz) - X: 0.052046507596969604 - Y: -1.199871301651001 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 1052 - Hide Left Dock: false - Hide Right Dock: false - Image: - collapsed: false - QMainWindow State: 000000ff00000000fd0000000400000000000004f0000003e9fc020000000cfb0000000a0049006d0061006700650100000016000003e90000001600fffffffb0000000a0049006d0061006700650100000016000003e90000000000000000fb0000001200530065006c0065006300740069006f006e00000003080000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000100044006900730070006c00610079007302000002c400000115000003ed000002e1fb0000000a0049006d0061006700650000000016000003e90000000000000000fb000000100044006900730070006c00610079007300000002ea000001150000000000000000000000010000010f000003e9fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000016000003e9000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000780000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000078000000056fc0100000002fb0000000800540069006d00650200000043000002cd0000078000000056fb0000000800540069006d006501000000000000045000000000000000000000028a000003e900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000 - Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: false - Width: 1920 - X: 2048 - Y: 0 diff --git a/ros1/nodes/ti_viz_nodes/rviz/objdet_cnn.rviz b/ros1/nodes/ti_viz_nodes/rviz/objdet_cnn.rviz deleted file mode 100644 index 359232a..0000000 --- a/ros1/nodes/ti_viz_nodes/rviz/objdet_cnn.rviz +++ /dev/null @@ -1,79 +0,0 @@ -Panels: - [] -Preferences: - PromptSaveOnExit: true -Toolbars: - toolButtonStyle: 2 -Visualization Manager: - Class: "" - Displays: - - Class: rviz/Image - Enabled: true - Image Topic: vision_cnn/out_image - Max Value: 1 - Median window: 5 - Min Value: 0 - Name: Image - Normalize Range: true - Queue Size: 2 - Transport Hint: raw - Unreliable: false - Value: true - Enabled: true - Global Options: - Background Color: 48; 48; 48 - Default Light: true - Fixed Frame: map - Frame Rate: 30 - Name: root - Tools: - - Class: rviz/Interact - Hide Inactive Objects: true - - Class: rviz/MoveCamera - - Class: rviz/Select - - Class: rviz/FocusCamera - - Class: rviz/Measure - - Class: rviz/SetInitialPose - Theta std deviation: 0.2617993950843811 - Topic: /initialpose - X std deviation: 0.5 - Y std deviation: 0.5 - - Class: rviz/SetGoal - Topic: /move_base_simple/goal - - Class: rviz/PublishPoint - Single click: true - Topic: /clicked_point - Value: true - Views: - Current: - Class: rviz/Orbit - Distance: 14.049280166625977 - Enable Stereo Rendering: - Stereo Eye Separation: 0.05999999865889549 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Field of View: 0.7853981852531433 - Focal Point: - X: 0 - Y: 0 - Z: 0 - Focal Shape Fixed Size: true - Focal Shape Size: 0.05000000074505806 - Invert Z Axis: false - Name: Current View - Near Clip Distance: 0.009999999776482582 - Pitch: 1.1503978967666626 - Target Frame: - Yaw: 0.8753975629806519 - Saved: ~ -Window Geometry: - Height: 965 - Hide Left Dock: false - Hide Right Dock: false - Image: - collapsed: false - QMainWindow State: 000000ff00000000fd0000000400000000000006190000025afc0200000008fb0000001200530065006c0065006300740069006f006e00000001ec0000025a0000000000000000fb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000000cf000000ad0000019f00000216fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007302000000a900000094000001c70000041cfb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c0000026100000001000006190000021ffc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002b00000000000000000fb0000001200530065006c0065006300740069006f006e010000025a000000b20000000000000000000000020000062900000379fc0100000004fb0000000a0049006d0061006700650100000000000006290000005a00fffffffb0000000a0049006d0061006700650100000000000006290000000000000000fb0000000a0049006d00610067006501000003130000032c0000000000000000fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000008720000003efc0100000002fb0000000800540069006d00650000000000000008720000000000000000fb0000000800540069006d00650100000000000004500000000000000000000006290000001700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000 - Width: 1577 - X: 445 - Y: 140 diff --git a/ros1/nodes/ti_viz_nodes/rviz/objdet_range_disp_pcl.rviz b/ros1/nodes/ti_viz_nodes/rviz/objdet_range_disp_pcl.rviz deleted file mode 100644 index 92a8d60..0000000 --- a/ros1/nodes/ti_viz_nodes/rviz/objdet_range_disp_pcl.rviz +++ /dev/null @@ -1,182 +0,0 @@ -Panels: - - Class: rviz/Displays - Help Height: 78 - Name: Displays - Property Tree Widget: - Expanded: - - /Global Options1 - - /Status1 - - /Image1 - - /Image2 - - /PointCloud21 - - /Grid1 - - /Axes1 - Splitter Ratio: 0.5 - Tree Height: 365 - - Class: rviz/Selection - Name: Selection - - Class: rviz/Tool Properties - Expanded: - - /2D Pose Estimate1 - - /2D Nav Goal1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.5886790156364441 - - Class: rviz/Time - Experimental: false - Name: Time - SyncMode: 0 - SyncSource: Image - - Class: rviz/Views - Expanded: - - /Current View1 - Name: Views - Splitter Ratio: 0.5 -Preferences: - PromptSaveOnExit: true -Toolbars: - toolButtonStyle: 2 -Visualization Manager: - Class: "" - Displays: - - Class: rviz/Image - Enabled: true - Image Topic: vision_cnn/out_image - Max Value: 1 - Median window: 5 - Min Value: 0 - Name: Image - Normalize Range: true - Queue Size: 2 - Transport Hint: raw - Unreliable: false - Value: true - - Class: rviz/Image - Enabled: true - Image Topic: /camera/disparity/ccDisparity - Max Value: 1 - Median window: 5 - Min Value: 0 - Name: Image - Normalize Range: true - Queue Size: 2 - Transport Hint: raw - Unreliable: false - Value: true - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 2745.723876953125 - Min Value: 4.303642272949219 - Value: true - Axis: X - Channel Name: intensity - Class: rviz/PointCloud2 - Color: 255; 85; 255 - Color Transformer: AxisColor - Decay Time: 0 - Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Min Color: 0; 0; 0 - Name: PointCloud2 - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.05000000074505806 - Style: Flat Squares - Topic: /camera/horiz_scan_pcl - Unreliable: false - Use Fixed Frame: true - Use rainbow: true - Value: true - - Alpha: 0.5 - Cell Size: 0.5 - Class: rviz/Grid - Color: 160; 160; 164 - Enabled: true - Line Style: - Line Width: 0.029999999329447746 - Value: Lines - Name: Grid - Normal Cell Count: 0 - Offset: - X: 3 - Y: 0 - Z: 0 - Plane: XY - Plane Cell Count: 30 - Reference Frame: - Value: true - - Alpha: 1 - Class: rviz/Axes - Enabled: true - Length: 0.5 - Name: Axes - Radius: 0.05000000074505806 - Reference Frame: - Show Trail: false - Value: true - Enabled: true - Global Options: - Background Color: 48; 48; 48 - Default Light: true - Fixed Frame: camera_horiz_scan - Frame Rate: 30 - Name: root - Tools: - - Class: rviz/Interact - Hide Inactive Objects: true - - Class: rviz/MoveCamera - - Class: rviz/Select - - Class: rviz/FocusCamera - - Class: rviz/Measure - - Class: rviz/SetInitialPose - Theta std deviation: 0.2617993950843811 - Topic: /initialpose - X std deviation: 0.5 - Y std deviation: 0.5 - - Class: rviz/SetGoal - Topic: /move_base_simple/goal - - Class: rviz/PublishPoint - Single click: true - Topic: /clicked_point - Value: true - Views: - Current: - Angle: -1.5799988508224487 - Class: rviz/TopDownOrtho - Enable Stereo Rendering: - Stereo Eye Separation: 0.05999999865889549 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Invert Z Axis: false - Name: Current View - Near Clip Distance: 0.009999999776482582 - Scale: 90.55635833740234 - Target Frame: - X: 2.871985673904419 - Y: 0.18898478150367737 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 1154 - Hide Left Dock: false - Hide Right Dock: false - Image: - collapsed: false - QMainWindow State: 000000ff00000000fd00000004000000000000056d00000453fc020000000afb0000000a0049006d0061006700650100000014000001140000001600fffffffb0000000a0049006d006100670065010000012e000003390000001600fffffffb0000001200530065006c0065006300740069006f006e00000001ec0000025a0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000000cf000000ad0000019f00000216fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a00560069006500770073020000016c0000032a0000036d00000210000000010000031800000018fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002b00000000000000000fb0000001200530065006c0065006300740069006f006e010000025a000000b20000000000000000000000020000078d0000033bfc0100000003fb000000100044006900730070006c006100790073020000002d00000091000001ba000003d3fb0000000a0049006d006100670065010000048a000004810000000000000000fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000008720000003efc0100000002fb0000000800540069006d00650000000000000008720000042700fffffffb0000000800540069006d006501000000000000045000000000000000000000029f0000045300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000 - Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: false - Width: 2066 - X: 223 - Y: 27 diff --git a/ros1/nodes/ti_viz_nodes/rviz/objdet_range_side_by_side.rviz b/ros1/nodes/ti_viz_nodes/rviz/objdet_range_side_by_side.rviz deleted file mode 100644 index 3894aef..0000000 --- a/ros1/nodes/ti_viz_nodes/rviz/objdet_range_side_by_side.rviz +++ /dev/null @@ -1,123 +0,0 @@ -Panels: - - Class: rviz/Displays - Help Height: 78 - Name: Displays - Property Tree Widget: - Expanded: - - /Global Options1 - - /Status1 - - /Image1 - - /Image2 - Splitter Ratio: 0.5 - Tree Height: 365 - - Class: rviz/Selection - Name: Selection - - Class: rviz/Tool Properties - Expanded: - - /2D Pose Estimate1 - - /2D Nav Goal1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.5886790156364441 - - Class: rviz/Time - Experimental: false - Name: Time - SyncMode: 0 - SyncSource: Image -Preferences: - PromptSaveOnExit: true -Toolbars: - toolButtonStyle: 2 -Visualization Manager: - Class: "" - Displays: - - Class: rviz/Image - Enabled: true - Image Topic: vision_cnn/out_image - Max Value: 1 - Median window: 5 - Min Value: 0 - Name: Image - Normalize Range: true - Queue Size: 2 - Transport Hint: raw - Unreliable: false - Value: true - - Class: rviz/Image - Enabled: true - Image Topic: /camera/disparity/ccDisparity - Max Value: 1 - Median window: 5 - Min Value: 0 - Name: Image - Normalize Range: true - Queue Size: 2 - Transport Hint: raw - Unreliable: false - Value: true - Enabled: true - Global Options: - Background Color: 48; 48; 48 - Default Light: true - Fixed Frame: map - Frame Rate: 30 - Name: root - Tools: - - Class: rviz/Interact - Hide Inactive Objects: true - - Class: rviz/MoveCamera - - Class: rviz/Select - - Class: rviz/FocusCamera - - Class: rviz/Measure - - Class: rviz/SetInitialPose - Theta std deviation: 0.2617993950843811 - Topic: /initialpose - X std deviation: 0.5 - Y std deviation: 0.5 - - Class: rviz/SetGoal - Topic: /move_base_simple/goal - - Class: rviz/PublishPoint - Single click: true - Topic: /clicked_point - Value: true - Views: - Current: - Class: rviz/Orbit - Distance: 14.049280166625977 - Enable Stereo Rendering: - Stereo Eye Separation: 0.05999999865889549 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Field of View: 0.7853981852531433 - Focal Point: - X: 0 - Y: 0 - Z: 0 - Focal Shape Fixed Size: true - Focal Shape Size: 0.05000000074505806 - Invert Z Axis: false - Name: Current View - Near Clip Distance: 0.009999999776482582 - Pitch: 1.1503978967666626 - Target Frame: - Yaw: 0.8753975629806519 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 840 - Hide Left Dock: false - Hide Right Dock: false - Image: - collapsed: false - QMainWindow State: 000000ff00000000fd00000004000000000000036d000003c1fc0200000007fb0000001200530065006c0065006300740069006f006e00000001ec0000025a0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000000cf000000ad0000019f00000216fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000031800000018fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002b00000000000000000fb0000001200530065006c0065006300740069006f006e010000025a000000b2000000000000000000000002000007ad000002fcfc0100000004fc00000000000005590000005a00fffffffa000000010200000002fb000000100044006900730070006c0061007900730000000000ffffffff000000c700fffffffb0000000a0049006d00610067006501000000140000021f0000001600fffffffb0000000a0049006d006100670065010000055f0000024e0000005a00fffffffb0000000a0049006d006100670065010000048a000004810000000000000000fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000008720000003efc0100000002fb0000000800540069006d00650000000000000008720000042700fffffffb0000000800540069006d00650100000000000004500000000000000000000007ad0000001700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000 - Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false - Width: 1965 - X: 114 - Y: 43 diff --git a/ros1/nodes/ti_viz_nodes/rviz/sde.rviz b/ros1/nodes/ti_viz_nodes/rviz/sde.rviz deleted file mode 100644 index 928abb9..0000000 --- a/ros1/nodes/ti_viz_nodes/rviz/sde.rviz +++ /dev/null @@ -1,136 +0,0 @@ -Panels: - - Class: rviz/Displays - Help Height: 78 - Name: Displays - Property Tree Widget: - Expanded: - - /Global Options1 - - /Status1 - - /Image1 - - /Image2 - - /Image3 - Splitter Ratio: 0.5 - Tree Height: 363 - - Class: rviz/Selection - Name: Selection - - Class: rviz/Tool Properties - Expanded: - - /2D Pose Estimate1 - - /2D Nav Goal1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.5886790156364441 - - Class: rviz/Time - Experimental: false - Name: Time - SyncMode: 0 - SyncSource: Image -Preferences: - PromptSaveOnExit: true -Toolbars: - toolButtonStyle: 2 -Visualization Manager: - Class: "" - Displays: - - Class: rviz/Image - Enabled: true - Image Topic: /camera/right/image_raw_rgb - Max Value: 1 - Median window: 5 - Min Value: 0 - Name: Image - Normalize Range: true - Queue Size: 2 - Transport Hint: raw - Unreliable: false - Value: true - - Class: rviz/Image - Enabled: true - Image Topic: /camera/disparity/ccDisparity - Max Value: 1 - Median window: 5 - Min Value: 0 - Name: Image - Normalize Range: true - Queue Size: 2 - Transport Hint: raw - Unreliable: false - Value: true - - Class: rviz/Image - Enabled: true - Image Topic: /camera/disparity/ccConfidence - Max Value: 1 - Median window: 5 - Min Value: 0 - Name: Image - Normalize Range: true - Queue Size: 2 - Transport Hint: raw - Unreliable: false - Value: true - Enabled: true - Global Options: - Background Color: 48; 48; 48 - Default Light: true - Fixed Frame: map - Frame Rate: 30 - Name: root - Tools: - - Class: rviz/Interact - Hide Inactive Objects: true - - Class: rviz/MoveCamera - - Class: rviz/Select - - Class: rviz/FocusCamera - - Class: rviz/Measure - - Class: rviz/SetInitialPose - Theta std deviation: 0.2617993950843811 - Topic: /initialpose - X std deviation: 0.5 - Y std deviation: 0.5 - - Class: rviz/SetGoal - Topic: /move_base_simple/goal - - Class: rviz/PublishPoint - Single click: true - Topic: /clicked_point - Value: true - Views: - Current: - Class: rviz/Orbit - Distance: 14.049280166625977 - Enable Stereo Rendering: - Stereo Eye Separation: 0.05999999865889549 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Focal Point: - X: 0 - Y: 0 - Z: 0 - Focal Shape Fixed Size: true - Focal Shape Size: 0.05000000074505806 - Invert Z Axis: false - Name: Current View - Near Clip Distance: 0.009999999776482582 - Pitch: 1.1503978967666626 - Target Frame: - Value: Orbit (rviz) - Yaw: 0.8753975629806519 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 1123 - Hide Left Dock: false - Hide Right Dock: false - Image: - collapsed: false - QMainWindow State: 000000ff00000000fd0000000400000000000006190000025afc0200000008fb0000001200530065006c0065006300740069006f006e00000001ec0000025a0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000000cf000000ad0000019f00000216fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007302000000a900000094000001c70000041cfb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c0000026100000001000006190000025afc0200000004fb0000000a0049006d00610067006501000001ec0000025a0000001600fffffffb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002b00000000000000000fb0000001200530065006c0065006300740069006f006e010000025a000000b20000000000000000000000020000063f000001d0fc0100000003fb0000000a0049006d00610067006501000000000000030d0000005e00fffffffb0000000a0049006d00610067006501000003130000032c0000005e00fffffffb0000000a00560069006500770073030000004e00000080000002e10000019700000003000008720000003efc0100000002fb0000000800540069006d0065000000000000000872000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000000200000025a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000 - Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false - Width: 1599 - X: 213 - Y: 139 diff --git a/ros1/nodes/ti_viz_nodes/rviz/sde_pcl.rviz b/ros1/nodes/ti_viz_nodes/rviz/sde_pcl.rviz deleted file mode 100644 index e22be10..0000000 --- a/ros1/nodes/ti_viz_nodes/rviz/sde_pcl.rviz +++ /dev/null @@ -1,132 +0,0 @@ -Panels: - - Class: rviz/Displays - Help Height: 78 - Name: Displays - Property Tree Widget: - Expanded: - - /Global Options1 - - /PointCloud21 - Splitter Ratio: 0.5 - Tree Height: 755 - - Class: rviz/Selection - Name: Selection - - Class: rviz/Tool Properties - Expanded: - - /2D Pose Estimate1 - - /2D Nav Goal1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.5886790156364441 - - Class: rviz/Views - Expanded: - - /Current View1 - Name: Views - Splitter Ratio: 0.5 - - Class: rviz/Time - Experimental: false - Name: Time - SyncMode: 0 - SyncSource: PointCloud2 -Preferences: - PromptSaveOnExit: true -Toolbars: - toolButtonStyle: 2 -Visualization Manager: - Class: "" - Displays: - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/PointCloud2 - Color: 255; 255; 255 - Color Transformer: RGB8 - Decay Time: 0 - Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 4096 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: PointCloud2 - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 1 - Size (m): 0.009999999776482582 - Style: Points - Topic: /point_cloud - Unreliable: false - Use Fixed Frame: true - Use rainbow: true - Value: true - Enabled: true - Global Options: - Background Color: 48; 48; 48 - Default Light: true - Fixed Frame: PointCloud - Frame Rate: 30 - Name: root - Tools: - - Class: rviz/Interact - Hide Inactive Objects: true - - Class: rviz/MoveCamera - - Class: rviz/Select - - Class: rviz/FocusCamera - - Class: rviz/Measure - - Class: rviz/SetInitialPose - Theta std deviation: 0.2617993950843811 - Topic: /initialpose - X std deviation: 0.5 - Y std deviation: 0.5 - - Class: rviz/SetGoal - Topic: /move_base_simple/goal - - Class: rviz/PublishPoint - Single click: true - Topic: /clicked_point - Value: true - Views: - Current: - Class: rviz/Orbit - Distance: 7.866060733795166 - Enable Stereo Rendering: - Stereo Eye Separation: 0.05999999865889549 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Focal Point: - X: -0.04450209438800812 - Y: 2.785609245300293 - Z: 0.2689113914966583 - Focal Shape Fixed Size: true - Focal Shape Size: 0.05000000074505806 - Invert Z Axis: false - Name: Current View - Near Clip Distance: 0.009999999776482582 - Pitch: -0.034795746207237244 - Target Frame: - Value: Orbit (rviz) - Yaw: 4.778635025024414 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 1052 - Hide Left Dock: false - Hide Right Dock: false - QMainWindow State: 000000ff00000000fd0000000400000000000001560000037efc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000037e000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000037efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d0000037e000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d0065010000000000000780000002eb00fffffffb0000000800540069006d006501000000000000045000000000000000000000050f0000037e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: false - Width: 1920 - X: 2048 - Y: 0 diff --git a/ros1/nodes/ti_viz_nodes/rviz/sde_semseg.rviz b/ros1/nodes/ti_viz_nodes/rviz/sde_semseg.rviz deleted file mode 100644 index 97155ef..0000000 --- a/ros1/nodes/ti_viz_nodes/rviz/sde_semseg.rviz +++ /dev/null @@ -1,136 +0,0 @@ -Panels: - - Class: rviz/Displays - Help Height: 78 - Name: Displays - Property Tree Widget: - Expanded: - - /Global Options1 - - /Status1 - - /Image1 - - /Image2 - - /Image3 - Splitter Ratio: 0.5 - Tree Height: 363 - - Class: rviz/Selection - Name: Selection - - Class: rviz/Tool Properties - Expanded: - - /2D Pose Estimate1 - - /2D Nav Goal1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.5886790156364441 - - Class: rviz/Time - Experimental: false - Name: Time - SyncMode: 0 - SyncSource: Image -Preferences: - PromptSaveOnExit: true -Toolbars: - toolButtonStyle: 2 -Visualization Manager: - Class: "" - Displays: - - Class: rviz/Image - Enabled: true - Image Topic: /camera/right/image_raw_rgb - Max Value: 1 - Median window: 5 - Min Value: 0 - Name: Image - Normalize Range: true - Queue Size: 2 - Transport Hint: raw - Unreliable: false - Value: true - - Class: rviz/Image - Enabled: true - Image Topic: vision_cnn/out_image - Max Value: 1 - Median window: 5 - Min Value: 0 - Name: Image - Normalize Range: true - Queue Size: 2 - Transport Hint: raw - Unreliable: false - Value: true - - Class: rviz/Image - Enabled: true - Image Topic: /camera/disparity/ccDisparity - Max Value: 1 - Median window: 5 - Min Value: 0 - Name: Image - Normalize Range: true - Queue Size: 2 - Transport Hint: raw - Unreliable: false - Value: true - Enabled: true - Global Options: - Background Color: 48; 48; 48 - Default Light: true - Fixed Frame: map - Frame Rate: 30 - Name: root - Tools: - - Class: rviz/Interact - Hide Inactive Objects: true - - Class: rviz/MoveCamera - - Class: rviz/Select - - Class: rviz/FocusCamera - - Class: rviz/Measure - - Class: rviz/SetInitialPose - Theta std deviation: 0.2617993950843811 - Topic: /initialpose - X std deviation: 0.5 - Y std deviation: 0.5 - - Class: rviz/SetGoal - Topic: /move_base_simple/goal - - Class: rviz/PublishPoint - Single click: true - Topic: /clicked_point - Value: true - Views: - Current: - Class: rviz/Orbit - Distance: 14.049280166625977 - Enable Stereo Rendering: - Stereo Eye Separation: 0.05999999865889549 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Focal Point: - X: 0 - Y: 0 - Z: 0 - Focal Shape Fixed Size: true - Focal Shape Size: 0.05000000074505806 - Invert Z Axis: false - Name: Current View - Near Clip Distance: 0.009999999776482582 - Pitch: 1.1503978967666626 - Target Frame: - Value: Orbit (rviz) - Yaw: 0.8753975629806519 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 1123 - Hide Left Dock: false - Hide Right Dock: false - Image: - collapsed: false - QMainWindow State: 000000ff00000000fd0000000400000000000006190000025afc0200000008fb0000001200530065006c0065006300740069006f006e00000001ec0000025a0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000000cf000000ad0000019f00000216fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007302000000a900000094000001c70000041cfb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c0000026100000001000006190000025afc0200000004fb0000000a0049006d00610067006501000001ec0000025a0000001600fffffffb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002b00000000000000000fb0000001200530065006c0065006300740069006f006e010000025a000000b20000000000000000000000020000063f000001d0fc0100000003fb0000000a0049006d00610067006501000000000000030d0000005e00fffffffb0000000a0049006d00610067006501000003130000032c0000005e00fffffffb0000000a00560069006500770073030000004e00000080000002e10000019700000003000008720000003efc0100000002fb0000000800540069006d0065000000000000000872000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000000200000025a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000 - Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false - Width: 1599 - X: 213 - Y: 139 diff --git a/ros1/nodes/ti_viz_nodes/rviz/semseg_cnn.rviz b/ros1/nodes/ti_viz_nodes/rviz/semseg_cnn.rviz deleted file mode 100644 index 9a2cbde..0000000 --- a/ros1/nodes/ti_viz_nodes/rviz/semseg_cnn.rviz +++ /dev/null @@ -1,123 +0,0 @@ -Panels: - - Class: rviz/Displays - Help Height: 78 - Name: Displays - Property Tree Widget: - Expanded: - - /Global Options1 - - /Status1 - - /Image1 - - /Image2 - Splitter Ratio: 0.5 - Tree Height: 363 - - Class: rviz/Selection - Name: Selection - - Class: rviz/Tool Properties - Expanded: - - /2D Pose Estimate1 - - /2D Nav Goal1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.5886790156364441 - - Class: rviz/Time - Experimental: false - Name: Time - SyncMode: 0 - SyncSource: Image -Preferences: - PromptSaveOnExit: true -Toolbars: - toolButtonStyle: 2 -Visualization Manager: - Class: "" - Displays: - - Class: rviz/Image - Enabled: true - Image Topic: /camera/image_rect_color - Max Value: 1 - Median window: 5 - Min Value: 0 - Name: Image - Normalize Range: true - Queue Size: 2 - Transport Hint: raw - Unreliable: false - Value: true - - Class: rviz/Image - Enabled: true - Image Topic: vision_cnn/out_image - Max Value: 1 - Median window: 5 - Min Value: 0 - Name: Image - Normalize Range: true - Queue Size: 2 - Transport Hint: raw - Unreliable: false - Value: true - Enabled: true - Global Options: - Background Color: 48; 48; 48 - Default Light: true - Fixed Frame: map - Frame Rate: 30 - Name: root - Tools: - - Class: rviz/Interact - Hide Inactive Objects: true - - Class: rviz/MoveCamera - - Class: rviz/Select - - Class: rviz/FocusCamera - - Class: rviz/Measure - - Class: rviz/SetInitialPose - Theta std deviation: 0.2617993950843811 - Topic: /initialpose - X std deviation: 0.5 - Y std deviation: 0.5 - - Class: rviz/SetGoal - Topic: /move_base_simple/goal - - Class: rviz/PublishPoint - Single click: true - Topic: /clicked_point - Value: true - Views: - Current: - Class: rviz/Orbit - Distance: 14.049280166625977 - Enable Stereo Rendering: - Stereo Eye Separation: 0.05999999865889549 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Focal Point: - X: 0 - Y: 0 - Z: 0 - Focal Shape Fixed Size: true - Focal Shape Size: 0.05000000074505806 - Invert Z Axis: false - Name: Current View - Near Clip Distance: 0.009999999776482582 - Pitch: 1.1503978967666626 - Target Frame: - Value: Orbit (rviz) - Yaw: 0.8753975629806519 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 794 - Hide Left Dock: false - Hide Right Dock: false - Image: - collapsed: false - QMainWindow State: 000000ff00000000fd0000000400000000000006190000025afc0200000008fb0000001200530065006c0065006300740069006f006e00000001ec0000025a0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000000cf000000ad0000019f00000216fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007302000000a900000094000001c70000041cfb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c0000026100000001000006190000021ffc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002b00000000000000000fb0000001200530065006c0065006300740069006f006e010000025a000000b2000000000000000000000002000006c8000002cafc0100000004fb0000000a0049006d0061006700650100000000000003600000005e00fffffffb0000000a0049006d0061006700650100000366000003620000005e00fffffffb0000000a0049006d00610067006501000003130000032c0000000000000000fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000008720000003efc0100000002fb0000000800540069006d0065000000000000000872000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000006c80000001700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000 - Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false - Width: 1736 - X: 499 - Y: 97 diff --git a/ros1/nodes/ti_viz_nodes/rviz/ti_mmwave_multi.rviz b/ros1/nodes/ti_viz_nodes/rviz/ti_mmwave_multi.rviz deleted file mode 100644 index bdea2ac..0000000 --- a/ros1/nodes/ti_viz_nodes/rviz/ti_mmwave_multi.rviz +++ /dev/null @@ -1,178 +0,0 @@ -Panels: - - Class: rviz/Displays - Help Height: 78 - Name: Displays - Property Tree Widget: - Expanded: - - /Global Options1 - - /Status1 - - /Grid1/Offset1 - - /PointCloud21/Autocompute Value Bounds1 - Splitter Ratio: 0.5 - Tree Height: 583 - - Class: rviz/Selection - Name: Selection - - Class: rviz/Tool Properties - Expanded: - - /2D Pose Estimate1 - - /2D Nav Goal1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.588679016 - - Class: rviz/Views - Expanded: - - /Current View1 - - /Current View1/Focal Point1 - Name: Views - Splitter Ratio: 0.5 - - Class: rviz/Time - Experimental: false - Name: Time - SyncMode: 0 - SyncSource: PointCloud2 -Toolbars: - toolButtonStyle: 2 -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.5 - Cell Size: 1 - Class: rviz/Grid - Color: 160; 160; 164 - Enabled: true - Line Style: - Line Width: 0.0299999993 - Value: Lines - Name: Grid - Normal Cell Count: 0 - Offset: - X: 5 - Y: 0 - Z: 0 - Plane: XY - Plane Cell Count: 10 - Reference Frame: - Value: true - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 0.5 - Min Value: -0.5 - Value: false - Axis: Z - Channel Name: intensity - Class: rviz/PointCloud2 - Color: 255; 0; 0 - Color Transformer: Intensity - Decay Time: 0.400000006 - Enabled: true - Invert Rainbow: false - Max Color: 102; 0; 0 - Max Intensity: 21.2000008 - Min Color: 255; 102; 102 - Min Intensity: 11.3999996 - Name: PointCloud2 - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.100000001 - Style: Spheres - Topic: /ti_mmwave/radar_scan_pcl_0 - Unreliable: false - Use Fixed Frame: true - Use rainbow: false - Value: true - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 0.5 - Min Value: -0.5 - Value: false - Axis: Z - Channel Name: intensity - Class: rviz/PointCloud2 - Color: 204; 204; 0 - Color Transformer: Intensity - Decay Time: 0.400000006 - Enabled: true - Invert Rainbow: false - Max Color: 102; 102; 0 - Max Intensity: 27.7999992 - Min Color: 255; 255; 51 - Min Intensity: 12.8999996 - Name: PointCloud2 - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.100000001 - Style: Spheres - Topic: /ti_mmwave/radar_scan_pcl_1 - Unreliable: false - Use Fixed Frame: true - Use rainbow: false - Value: true - Enabled: true - Global Options: - Background Color: 48; 48; 48 - Default Light: true - Fixed Frame: ti_mmwave_pcl - Frame Rate: 30 - Name: root - Tools: - - Class: rviz/Interact - Hide Inactive Objects: true - - Class: rviz/MoveCamera - - Class: rviz/Select - - Class: rviz/FocusCamera - - Class: rviz/Measure - - Class: rviz/SetInitialPose - Topic: /initialpose - - Class: rviz/SetGoal - Topic: /move_base_simple/goal - - Class: rviz/PublishPoint - Single click: true - Topic: /clicked_point - Value: true - Views: - Current: - Class: rviz/Orbit - Distance: 13.5551214 - Enable Stereo Rendering: - Stereo Eye Separation: 0.0599999987 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Focal Point: - X: 5 - Y: 0 - Z: 0 - Focal Shape Fixed Size: true - Focal Shape Size: 0.0500000007 - Invert Z Axis: false - Name: Current View - Near Clip Distance: 0.00999999978 - Pitch: 0.234797031 - Target Frame: - Value: Orbit (rviz) - Yaw: 3.07158875 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 876 - Hide Left Dock: false - Hide Right Dock: true - QMainWindow State: 000000ff00000000fd0000000400000000000001ad000002d6fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000002d6000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002abfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000041000002ab000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005ff0000004afc0100000002fb0000000800540069006d00650100000000000005ff0000030000fffffffb0000000800540069006d006501000000000000045000000000000000000000044c000002d600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: true - Width: 1535 - X: 65 - Y: 24 diff --git a/ros1/nodes/ti_viz_nodes/rviz/ti_mmwave_quad.rviz b/ros1/nodes/ti_viz_nodes/rviz/ti_mmwave_quad.rviz deleted file mode 100644 index 2206c0b..0000000 --- a/ros1/nodes/ti_viz_nodes/rviz/ti_mmwave_quad.rviz +++ /dev/null @@ -1,244 +0,0 @@ -Panels: - - Class: rviz/Displays - Help Height: 78 - Name: Displays - Property Tree Widget: - Expanded: - - /Global Options1 - - /Status1 - - /Grid1/Offset1 - - /PointCloud21/Autocompute Value Bounds1 - Splitter Ratio: 0.5 - Tree Height: 573 - - Class: rviz/Selection - Name: Selection - - Class: rviz/Tool Properties - Expanded: - - /2D Pose Estimate1 - - /2D Nav Goal1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.5886790156364441 - - Class: rviz/Views - Expanded: - - /Current View1 - - /Current View1/Focal Point1 - Name: Views - Splitter Ratio: 0.5 - - Class: rviz/Time - Experimental: false - Name: Time - SyncMode: 0 - SyncSource: PointCloud2 -Preferences: - PromptSaveOnExit: true -Toolbars: - toolButtonStyle: 2 -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.5 - Cell Size: 1 - Class: rviz/Grid - Color: 160; 160; 164 - Enabled: true - Line Style: - Line Width: 0.029999999329447746 - Value: Lines - Name: Grid - Normal Cell Count: 0 - Offset: - X: 5 - Y: 0 - Z: 0 - Plane: XY - Plane Cell Count: 10 - Reference Frame: - Value: true - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 0.5 - Min Value: -0.5 - Value: false - Axis: Z - Channel Name: intensity - Class: rviz/PointCloud2 - Color: 255; 0; 0 - Color Transformer: Intensity - Decay Time: 0.4000000059604645 - Enabled: true - Invert Rainbow: false - Max Color: 102; 0; 0 - Min Color: 255; 102; 102 - Name: PointCloud2 - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.10000000149011612 - Style: Spheres - Topic: /ti_mmwave/radar_scan_pcl_0 - Unreliable: false - Use Fixed Frame: true - Use rainbow: false - Value: true - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 0.5 - Min Value: -0.5 - Value: false - Axis: Z - Channel Name: intensity - Class: rviz/PointCloud2 - Color: 204; 204; 0 - Color Transformer: Intensity - Decay Time: 0.4000000059604645 - Enabled: true - Invert Rainbow: false - Max Color: 102; 102; 0 - Min Color: 255; 255; 51 - Name: PointCloud2 - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.10000000149011612 - Style: Spheres - Topic: /ti_mmwave/radar_scan_pcl_1 - Unreliable: false - Use Fixed Frame: true - Use rainbow: false - Value: true - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/PointCloud2 - Color: 255; 255; 255 - Color Transformer: Intensity - Decay Time: 0.4000000059604645 - Enabled: true - Invert Rainbow: false - Max Color: 74; 112; 0 - Min Color: 170; 255; 0 - Name: PointCloud2 - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.10000000149011612 - Style: Spheres - Topic: /ti_mmwave/radar_scan_pcl_2 - Unreliable: false - Use Fixed Frame: true - Use rainbow: false - Value: true - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/PointCloud2 - Color: 255; 255; 255 - Color Transformer: Intensity - Decay Time: 0.4000000059604645 - Enabled: true - Invert Rainbow: false - Max Color: 0; 118; 118 - Min Color: 0; 255; 255 - Name: PointCloud2 - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.10000000149011612 - Style: Spheres - Topic: /ti_mmwave/radar_scan_pcl_3 - Unreliable: false - Use Fixed Frame: true - Use rainbow: false - Value: true - - Alpha: 1 - Class: rviz/Axes - Enabled: true - Length: 1 - Name: Axes - Radius: 0.10000000149011612 - Reference Frame: - Show Trail: false - Value: true - Enabled: true - Global Options: - Background Color: 48; 48; 48 - Default Light: true - Fixed Frame: ti_mmwave_pcl - Frame Rate: 30 - Name: root - Tools: - - Class: rviz/Interact - Hide Inactive Objects: true - - Class: rviz/MoveCamera - - Class: rviz/Select - - Class: rviz/FocusCamera - - Class: rviz/Measure - - Class: rviz/SetInitialPose - Theta std deviation: 0.2617993950843811 - Topic: /initialpose - X std deviation: 0.5 - Y std deviation: 0.5 - - Class: rviz/SetGoal - Topic: /move_base_simple/goal - - Class: rviz/PublishPoint - Single click: true - Topic: /clicked_point - Value: true - Views: - Current: - Class: rviz/Orbit - Distance: 14.119680404663086 - Enable Stereo Rendering: - Stereo Eye Separation: 0.05999999865889549 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Field of View: 0.7853981852531433 - Focal Point: - X: 5 - Y: 0 - Z: 0 - Focal Shape Fixed Size: true - Focal Shape Size: 0.05000000074505806 - Invert Z Axis: false - Name: Current View - Near Clip Distance: 0.009999999776482582 - Pitch: 1.5597963333129883 - Target Frame: - Yaw: 3.144761800765991 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 876 - Hide Left Dock: false - Hide Right Dock: true - QMainWindow State: 000000ff00000000fd0000000400000000000001ad000002c6fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b000002c6000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002abfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000041000002ab000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005ff0000004afc0100000002fb0000000800540069006d00650100000000000005ff0000024400fffffffb0000000800540069006d006501000000000000045000000000000000000000044c000002c600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: true - Width: 1535 - X: 331 - Y: 27 diff --git a/ros1/nodes/ti_viz_nodes/rviz/vl.rviz b/ros1/nodes/ti_viz_nodes/rviz/vl.rviz deleted file mode 100644 index 5c1404a..0000000 --- a/ros1/nodes/ti_viz_nodes/rviz/vl.rviz +++ /dev/null @@ -1,162 +0,0 @@ -Panels: - - Class: rviz/Displays - Help Height: 78 - Name: Displays - Property Tree Widget: - Expanded: - - /Global Options1 - - /PointCloud21 - - /Pose1 - Splitter Ratio: 0.5 - Tree Height: 348 - - Class: rviz/Selection - Name: Selection - - Class: rviz/Tool Properties - Expanded: - - /2D Pose Estimate1 - - /2D Nav Goal1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.5886790156364441 - - Class: rviz/Views - Expanded: - - /Current View1 - Name: Views - Splitter Ratio: 0.5 - - Class: rviz/Time - Experimental: false - Name: Time - SyncMode: 0 - SyncSource: PointCloud2 -Preferences: - PromptSaveOnExit: true -Toolbars: - toolButtonStyle: 2 -Visualization Manager: - Class: "" - Displays: - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 4.998900890350342 - Min Value: -1.6976009607315063 - Value: true - Axis: Z - Channel Name: z - Class: rviz/PointCloud2 - Color: 255; 255; 255 - Color Transformer: Intensity - Decay Time: 0 - Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 4.998900890350342 - Min Color: 0; 0; 0 - Min Intensity: -1.6976009607315063 - Name: PointCloud2 - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.20000000298023224 - Style: Flat Squares - Topic: /vis_localize/map - Unreliable: false - Use Fixed Frame: true - Use rainbow: true - Value: true - - Alpha: 1 - Axes Length: 1 - Axes Radius: 0.10000000149011612 - Class: rviz/Pose - Color: 249; 250; 244 - Enabled: true - Head Length: 0 - Head Radius: 0 - Name: Pose - Shaft Length: 0.75 - Shaft Radius: 0.75 - Shape: Arrow - Topic: /vis_localize/pose - Unreliable: false - Value: true - - Class: rviz/Image - Enabled: true - Image Topic: /vis_localize/out_image - Max Value: 1 - Median window: 5 - Min Value: 0 - Name: Image - Normalize Range: true - Queue Size: 2 - Transport Hint: raw - Unreliable: false - Value: true - Enabled: true - Global Options: - Background Color: 48; 48; 48 - Default Light: true - Fixed Frame: map - Frame Rate: 30 - Name: root - Tools: - - Class: rviz/Interact - Hide Inactive Objects: true - - Class: rviz/MoveCamera - - Class: rviz/Select - - Class: rviz/FocusCamera - - Class: rviz/Measure - - Class: rviz/SetInitialPose - Theta std deviation: 0.2617993950843811 - Topic: /initialpose - X std deviation: 0.5 - Y std deviation: 0.5 - - Class: rviz/SetGoal - Topic: /move_base_simple/goal - - Class: rviz/PublishPoint - Single click: true - Topic: /clicked_point - Value: true - Views: - Current: - Class: rviz/Orbit - Distance: 137.45343017578125 - Enable Stereo Rendering: - Stereo Eye Separation: 0.05999999865889549 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Focal Point: - X: -182.4615020751953 - Y: -56.258853912353516 - Z: 10.398658752441406 - Focal Shape Fixed Size: true - Focal Shape Size: 0.05000000074505806 - Invert Z Axis: false - Name: Current View - Near Clip Distance: 0.009999999776482582 - Pitch: 0.6097962856292725 - Target Frame: - Value: Orbit (rviz) - Yaw: 1.5703985691070557 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 1052 - Hide Left Dock: false - Hide Right Dock: false - Image: - collapsed: false - QMainWindow State: 000000ff00000000fd0000000400000000000002cd0000037efc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000003d000001e7000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d006100670065010000003d0000037e0000001600ffffff000000010000010f0000037efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d0000037e000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d0065010000000000000780000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000004ad0000037e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: false - Width: 1920 - X: 2048 - Y: 0 diff --git a/ros1/nodes/ti_viz_nodes/src/viz_color_conversion_node.cpp b/ros1/nodes/ti_viz_nodes/src/viz_color_conversion_node.cpp deleted file mode 100644 index 63355bf..0000000 --- a/ros1/nodes/ti_viz_nodes/src/viz_color_conversion_node.cpp +++ /dev/null @@ -1,360 +0,0 @@ -/* - * - * Copyright (c) 2022 Texas Instruments Incorporated - * - * All rights reserved not granted herein. - * - * Limited License. - * - * Texas Instruments Incorporated grants a world-wide, royalty-free, non-exclusive - * license under copyrights and patents it now or hereafter owns or controls to make, - * have made, use, import, offer to sell and sell ("Utilize") this software subject to the - * terms herein. With respect to the foregoing patent license, such license is granted - * solely to the extent that any such patent is necessary to Utilize the software alone. - * The patent license shall not apply to any combinations which include this software, - * other than combinations with devices manufactured by or for TI ("TI Devices"). - * No hardware patent is licensed hereunder. - * - * Redistributions must preserve existing copyright notices and reproduce this license - * (including the above copyright notice and the disclaimer and (if applicable) source - * code license limitations below) in the documentation and/or other materials provided - * with the distribution - * - * Redistribution and use in binary form, without modification, are permitted provided - * that the following conditions are met: - * - * * No reverse engineering, decompilation, or disassembly of this software is - * permitted with respect to any software provided in binary form. - * - * * any redistribution and use are licensed by TI for use only with TI Devices. - * - * * Nothing shall obligate TI to provide you with source code for the software - * licensed and provided to you in object code. - * - * If software source code is provided to you, modification and redistribution of the - * source code are permitted provided that the following conditions are met: - * - * * any redistribution and use of the source code, including any resulting derivative - * works, are licensed by TI for use only with TI Devices. - * - * * any redistribution and use of any object code compiled from the source code - * and any resulting derivative works, are licensed by TI for use only with TI Devices. - * - * Neither the name of Texas Instruments Incorporated nor the names of its suppliers - * - * may be used to endorse or promote products derived from this software without - * specific prior written permission. - * - * DISCLAIMER. - * - * THIS SOFTWARE IS PROVIDED BY TI AND TI'S LICENSORS "AS IS" AND ANY EXPRESS - * OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES - * OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. - * IN NO EVENT SHALL TI AND TI'S LICENSORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, - * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY - * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE - * OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED - * OF THE POSSIBILITY OF SUCH DAMAGE. - * - */ -#include -#include -#include -#include -#include -#include - -using namespace sensor_msgs; -using namespace message_filters; - -#define clip3(x, min, max) ( x > max? max : (x < min ? min : x)) - -namespace ros_app_yuv2rgb -{ - /** - * @brief Yuv2Rgb class - */ - - class Yuv2Rgb - { - public: - /** - * @brief { function_description } - * - * @param[in] resolution The resolution - * @param[in] frame_rate The frame rate - */ - - Yuv2Rgb(ros::NodeHandle *nh, ros::NodeHandle *private_nh) - { - // get ROS params - private_nh->param("width", width, 1280); - private_nh->param("height", height, 720); - private_nh->param("input_yuv_topic", input_yuv_topic_, std::string("camera/right/image_raw")); - private_nh->param("output_rgb_topic", output_rgb_topic_, std::string("camera/right/image_raw_rgb")); - private_nh->param("yuv_format", yuv_format_, std::string("YUV420")); - private_nh->param("yuv420_luma_only", yuv420_luma_only_, false); - - if (yuv_format_.compare("YUV420") != 0 && yuv_format_.compare("YUV422") != 0) - { - ROS_INFO("yuv_format should be either YUV420 or YUV422 (UYVY)."); - exit(-1); - } - - // allocation for output RGB images - outRgbIm = (uint8_t *) malloc(width * height * 3); - - out_pub = nh->advertise(output_rgb_topic_, 10); - in_sub = nh->subscribe(input_yuv_topic_, 1, &Yuv2Rgb::callback_yuv2rgb, this); - - ros::spin(); - } - - ~Yuv2Rgb() - { - // free outRgbIm - if (outRgbIm != NULL) - { - free(outRgbIm); - } - } - - void callback_yuv2rgb(const ImageConstPtr& yuv_image_ptr) - { - sensor_msgs::Image yuv_image = *yuv_image_ptr; - - // Sometimes, output image can be smaller than input raw image, e.g. - // input yuv image is 1920x1080, but output rgb image is 1920x1024, which is disparity map size. - // But output image cannot be larger than input raw image. - if (yuv_image.width < width || yuv_image.height < height) - { - ROS_INFO("Output image size is less than source image size."); - exit(-1); - } - - // Color conversion from YUV to RGB - if (yuv_format_.compare("YUV420") == 0) - { - if (yuv_image.encoding != "yuv420") - { - ROS_ERROR("Image encoding does not match: %s", yuv_image.encoding.c_str()); - exit(-1); - } - convertYUV420RGB(outRgbIm, - (uint8_t *) yuv_image.data.data(), - width, - height, - yuv_image.width, - yuv_image.height, - yuv420_luma_only_); - } - else // YUV422 - { - if (yuv_image.encoding != "yuv422") - { - ROS_ERROR("Image encoding does not match: %s", yuv_image.encoding.c_str()); - exit(-1); - } - convertYUV422RGB(outRgbIm, - (uint8_t *) yuv_image.data.data(), - width, - height, - yuv_image.width, - yuv_image.height); - } - - // Publish RGB image - std::vector vec_rgb(outRgbIm, outRgbIm + width*height*3); - out_msg.width = width; - out_msg.height = height; - out_msg.encoding = "rgb8"; - out_msg.step = width*3; - out_msg.data = vec_rgb; - out_msg.header = yuv_image.header; - out_pub.publish(out_msg); - } - - /* - * Convert YUV420 (NV12) to planar RGB - * If yuv420_luma_only = true, uses Luma channel only and outputs gray RGB image (R=G=B) - */ - void convertYUV420RGB(uint8_t * dstImage, - uint8_t * srcImage, - int32_t dstWidth, - int32_t dstHeight, - int32_t srcWidth, - int32_t srcHeight, - bool yuv420_luma_only) - { - int32_t i, j; - int32_t y, cb, cr; - int32_t r, g, b; - int32_t hOfst, vOfst; - uint8_t * src_ptr_y, *src_ptr_uv; - uint8_t * dst_ptr_r, *dst_ptr_g, *dst_ptr_b; - - hOfst = (srcWidth - dstWidth) >> 1; - vOfst = (srcHeight - dstHeight) >> 1; - - src_ptr_y = srcImage; - src_ptr_uv = srcImage + width*height; - - dst_ptr_r = dstImage; - dst_ptr_g = dstImage + 1; - dst_ptr_b = dstImage + 2; - - if (yuv420_luma_only==false) - { - for (j = vOfst; j < vOfst + height; j++) - { - for (i = hOfst; i < hOfst + width; i++) - { - y = src_ptr_y[j * srcWidth + i]; - cb = src_ptr_uv[(j >> 1)*srcWidth + (i>>1)*2]; - cr = src_ptr_uv[(j >> 1)*srcWidth + (i>>1)*2 + 1]; - - y = y - 16; - cb = cb - 128; - cr = cr - 128; - - r = clip3((298*y + 409*cr + 128) >> 8, 0, 255); - g = clip3((298*y - 100*cb - 208*cr + 128) >> 8, 0, 255); - b = clip3((298*y + 516*cb + 128) >> 8, 0, 255); - - *dst_ptr_r = (uint8_t)r; dst_ptr_r += 3; - *dst_ptr_g = (uint8_t)g; dst_ptr_g += 3; - *dst_ptr_b = (uint8_t)b; dst_ptr_b += 3; - - } // for (i = hOfst; i < hOfst + width; i++) - - } // for (j = vOfst; j < vOfst + height; j++) - - } // f (yuv420_luma_only==false) - else // yuv420_luma_only==true - { - for (j = vOfst; j < vOfst + height; j++) - { - for (i = hOfst; i < hOfst + width; i++) - { - y = src_ptr_y[j * srcWidth + i]; - y = y - 16; - - r = clip3((298*y + 128) >> 8, 0, 255); - g = r; - b = r; - - *dst_ptr_r = (uint8_t)r; dst_ptr_r += 3; - *dst_ptr_g = (uint8_t)g; dst_ptr_g += 3; - *dst_ptr_b = (uint8_t)b; dst_ptr_b += 3; - - } // for (i = hOfst; i < hOfst + width; i++) - - } // for (j = vOfst; j < vOfst + height; j++) - - } // if (yuv420_luma_only==false) else - - } // convertYUV420RGB() - - /* - * Convert YUV422 (UYVY) to planar RGB - */ - void convertYUV422RGB(uint8_t * dstImage, - uint8_t * srcImage, - int32_t dstWidth, - int32_t dstHeight, - int32_t srcWidth, - int32_t srcHeight) - { - int32_t i, j, n; - int32_t y, cb, cr; - int32_t r, g, b; - int32_t hOfst, vOfst; - int32_t srcStride; - uint8_t * src_ptr; - uint8_t * dst_ptr_r, *dst_ptr_g, *dst_ptr_b; - - hOfst = (srcWidth - dstWidth) >> 1; - vOfst = (srcHeight - dstHeight) >> 1; - - src_ptr = srcImage; - - dst_ptr_r = dstImage; - dst_ptr_g = dstImage + 1; - dst_ptr_b = dstImage + 2; - - srcStride = srcWidth * 2; - - for (j = vOfst; j < vOfst + height; j++) - { - for (i = hOfst; i < hOfst + width; i+=2) - { - for (n = 0; n < 2; n++) - { - // U (Cb) - cb = src_ptr[j*srcStride + (i<<1)]; - // V (Cr) - cr = src_ptr[j*srcStride + (i<<1)+2]; - - // Y - y = src_ptr[j*srcStride + (i<<1)+ (n << 1) + 1]; - - // create RGB - y = y - 16; - cb = cb - 128; - cr = cr - 128; - - r = clip3((298*y + 409*cr + 128) >> 8, 0, 255); - g = clip3((298*y - 100*cb - 208*cr + 128) >> 8, 0, 255); - b = clip3((298*y + 516*cb + 128) >> 8, 0, 255); - - *dst_ptr_r = (uint8_t)r; dst_ptr_r += 3; - *dst_ptr_g = (uint8_t)g; dst_ptr_g += 3; - *dst_ptr_b = (uint8_t)b; dst_ptr_b += 3; - } // for (n = 0; n < 2; n++) - - } // for (i = hOfst; i < hOfst + width; i+=2) - - } // for (j = vOfst; j < vOfst + height; j++) - - } // convertYUV422RGB() - - - private: - ros::Subscriber in_sub; - ros::Publisher out_pub; - sensor_msgs::Image out_msg; - uint8_t * outRgbIm; - std::string input_yuv_topic_; - std::string output_rgb_topic_; - std::string yuv_format_; - bool yuv420_luma_only_; - int32_t width; - int32_t height; - }; -} - -/** - * This tutorial demonstrates simple sending of messages over the ROS system. - */ -int main(int argc, char **argv) -{ - try - { - ros::init(argc, argv, "ros_app_yuv2rgb"); - ros::NodeHandle nh; - ros::NodeHandle private_nh("~"); - ros_app_yuv2rgb::Yuv2Rgb colorConv(&nh, &private_nh); - - return EXIT_SUCCESS; - } - catch (std::runtime_error& e) - { - ros::shutdown(); - return EXIT_FAILURE; - } - -} - - diff --git a/ros1/nodes/ti_viz_nodes/src/viz_disparity_node.cpp b/ros1/nodes/ti_viz_nodes/src/viz_disparity_node.cpp deleted file mode 100644 index 9eb5488..0000000 --- a/ros1/nodes/ti_viz_nodes/src/viz_disparity_node.cpp +++ /dev/null @@ -1,275 +0,0 @@ -/* - * - * Copyright (c) 2022 Texas Instruments Incorporated - * - * All rights reserved not granted herein. - * - * Limited License. - * - * Texas Instruments Incorporated grants a world-wide, royalty-free, non-exclusive - * license under copyrights and patents it now or hereafter owns or controls to make, - * have made, use, import, offer to sell and sell ("Utilize") this software subject to the - * terms herein. With respect to the foregoing patent license, such license is granted - * solely to the extent that any such patent is necessary to Utilize the software alone. - * The patent license shall not apply to any combinations which include this software, - * other than combinations with devices manufactured by or for TI ("TI Devices"). - * No hardware patent is licensed hereunder. - * - * Redistributions must preserve existing copyright notices and reproduce this license - * (including the above copyright notice and the disclaimer and (if applicable) source - * code license limitations below) in the documentation and/or other materials provided - * with the distribution - * - * Redistribution and use in binary form, without modification, are permitted provided - * that the following conditions are met: - * - * * No reverse engineering, decompilation, or disassembly of this software is - * permitted with respect to any software provided in binary form. - * - * * any redistribution and use are licensed by TI for use only with TI Devices. - * - * * Nothing shall obligate TI to provide you with source code for the software - * licensed and provided to you in object code. - * - * If software source code is provided to you, modification and redistribution of the - * source code are permitted provided that the following conditions are met: - * - * * any redistribution and use of the source code, including any resulting derivative - * works, are licensed by TI for use only with TI Devices. - * - * * any redistribution and use of any object code compiled from the source code - * and any resulting derivative works, are licensed by TI for use only with TI Devices. - * - * Neither the name of Texas Instruments Incorporated nor the names of its suppliers - * - * may be used to endorse or promote products derived from this software without - * specific prior written permission. - * - * DISCLAIMER. - * - * THIS SOFTWARE IS PROVIDED BY TI AND TI'S LICENSORS "AS IS" AND ANY EXPRESS - * OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES - * OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. - * IN NO EVENT SHALL TI AND TI'S LICENSORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, - * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY - * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE - * OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED - * OF THE POSSIBILITY OF SUCH DAMAGE. - * - */ -#include -#include -#include -#include -#include -#include - -#include - -using namespace sensor_msgs; -using namespace message_filters; -using namespace common_msgs; - -#define NUM_FRAC_BITS 4 -#define SDE_DISPARITY_OFFSET 3 - -const unsigned char SDE_falseColorLUT_RGB[3][260] = { - {128,64,0,24,33,28,24,21,18,14,10,6,3,1,2,2,2,3,2,3,2,2,2,2,3,3,3,2,2,2,3,3,2,3,1,3,3,2,2,3,2,3,3,2,2,3,2,2,3,3,3,3,2,2,4,2,3,3,2,3,3,2,2,3,3,3,2,2,3,2,2,3,1,3,2,3,2,3,3,3,2,2,2,2,3,2,3,2,3,3,3,3,2,2,2,3,2,3,2,4,2,1,3,2,2,2,3,3,3,2,2,2,1,8,13,20,26,31,38,44,50,56,63,67,74,81,86,93,99,104,110,117,123,129,136,140,147,155,159,166,172,177,183,191,196,202,209,214,219,225,231,238,244,249,255,254,255,255,255,255,255,255,255,255,254,255,255,254,255,255,255,255,255,255,255,255,254,255,255,255,255,255,255,255,255,255,255,255,255,255,254,255,255,255,255,255,255,255,255,255,255,255,254,255,255,254,255,255,255,255,255,255,255,254,254,255,254,255,255,255,254,255,255,255,255,255,255,255,255,255,255,255,255,255,255,254,255,255,255,254,255,255,255,254,255,254,255,255,255,255,255,254,255,255,255,255,255,255,254,255}, - {128,64,0,4,1,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0,6,12,19,25,32,37,43,51,57,63,70,76,82,89,95,101,109,115,120,127,133,140,146,152,158,165,172,178,184,190,196,204,209,216,222,229,236,241,247,254,254,254,255,254,254,255,254,254,255,254,255,254,254,254,254,253,254,253,254,254,253,255,253,253,254,254,254,254,254,254,254,253,254,253,254,254,253,254,254,254,254,253,254,253,254,254,253,254,254,254,253,254,254,254,254,253,254,253,254,255,254,254,254,254,254,254,255,254,255,254,254,255,254,254,254,255,254,255,255,255,255,255,252,249,247,244,241,239,237,234,231,230,227,225,222,219,217,215,211,209,207,205,201,200,198,195,192,189,187,184,181,179,177,174,171,169,168,164,162,160,157,154,152,150,147,144,142,139,138,135,132,130,126,124,122,120,116,114,112,109,107,105,100,97,94,90,87,83,81,76,73,70,67,63,59,57,52,49,45,43,39,35,31,29,25,21,18,15,11,7,4,1,0,0,1,0,1,0,1,1,0,1,1,1,1,1,255}, - {128,64,0,74,96,101,104,108,113,116,120,125,129,135,142,148,153,160,166,174,179,185,192,198,205,211,217,224,230,235,242,248,255,255,255,255,255,254,255,255,255,255,255,254,253,255,255,255,254,255,255,255,255,255,255,255,254,254,255,255,255,255,254,254,255,255,255,255,255,255,255,255,255,249,242,236,231,224,217,210,205,199,192,186,179,173,169,162,155,149,144,138,130,123,117,112,105,99,91,87,80,73,67,60,54,48,41,35,28,23,17,9,2,5,4,4,3,3,4,3,3,2,3,4,4,4,4,4,3,3,2,3,3,2,5,4,4,4,3,4,3,3,2,3,3,4,4,4,4,3,3,4,3,3,2,2,3,4,5,2,3,4,5,2,3,4,3,3,4,4,3,3,4,3,3,3,4,3,4,3,4,3,3,4,2,3,3,4,3,4,3,2,3,4,3,2,3,4,4,3,3,4,2,3,4,3,2,3,4,2,2,3,4,2,3,2,2,3,3,2,2,3,2,2,3,3,2,2,3,3,2,2,3,3,2,2,3,2,2,2,3,2,2,2,3,9,16,23,27,34,40,48,53,59,66,73,77,85,89,255} -}; - - -namespace ros_app_viz -{ - /** - * @brief SDE ROS warpper class - */ - - class VizDisparity - { - public: - /** - * @brief { function_description } - * - * @param[in] resolution The resolution - * @param[in] frame_rate The frame rate - */ - - VizDisparity(ros::NodeHandle *nh, ros::NodeHandle *private_nh) - { - std::string rawDisparityTopic; - std::string ccDisparityTopic; - std::string ccConfidenceTopic; - - // input size - private_nh->param("width", width, 1280); - private_nh->param("height", height, 720); - - // input topic - private_nh->param("disparity_topic", rawDisparityTopic, std::string("")); - - // output topics - private_nh->param("cc_disparity_topic", ccDisparityTopic, std::string("")); - private_nh->param("cc_confidence_topic", ccConfidenceTopic, std::string("")); - - // allocation for CC disparity - ccDisparity = (uint8_t *)malloc(width * height * 3); - ccConfidence = (uint8_t *)malloc(width * height * 3); - - disp_sub = nh->subscribe(rawDisparityTopic, 1, &VizDisparity::callback_vizDiarpity, this); - ccDisp_pub = nh->advertise(ccDisparityTopic, 1); - ccConf_pub = nh->advertise(ccConfidenceTopic, 1); - - ros::spin(); - } - - ~VizDisparity() - { - // free ccDisparity and ccConfidence - if (ccDisparity != NULL) - { - free(ccDisparity); - } - - if (ccConfidence != NULL) - { - free(ccConfidence); - } - } - - void callback_vizDiarpity(const Disparity::ConstPtr& msg) - { - Disparity dispMsg = *msg; - - // create color-coded disparity and confidence - visualizeSdeDisparity((uint16_t *) dispMsg.data.data(), ccDisparity, ccConfidence, dispMsg.width, dispMsg.height, dispMsg.min_disp, dispMsg.max_disp); - - // Publish ccDisparity image - std::vector vec_d(ccDisparity, ccDisparity + width*height*3); - ccDisp_msg.width = dispMsg.width; - ccDisp_msg.height = dispMsg.height; - ccDisp_msg.encoding = "rgb8"; - ccDisp_msg.step = dispMsg.width*3; - ccDisp_msg.data = vec_d; - ccDisp_msg.header.stamp = dispMsg.header.stamp; - - ccDisp_pub.publish(ccDisp_msg); - - // Publish ccConfidence image - std::vector vec_c(ccConfidence, ccConfidence + width*height*3); - ccConf_msg.width = dispMsg.width; - ccConf_msg.height = dispMsg.height; - ccConf_msg.encoding = "rgb8"; - ccConf_msg.step = dispMsg.width*3; - ccConf_msg.data = vec_c; - ccConf_msg.header.stamp = dispMsg.header.stamp; - - ccConf_pub.publish(ccConf_msg); - } - - void visualizeSdeDisparity(uint16_t * rawDisparity, - uint8_t * ccDisparity, - uint8_t * ccConfidence, - int32_t dispWidth, - int32_t dispHeight, - int32_t minDisp, - int32_t maxDisp) - { - int32_t i, j, value; - int32_t outDisparity; - - float scaleFactor = (float)((1 << NUM_FRAC_BITS) * (maxDisp - minDisp)) / 255; - - uint8_t valid; - uint8_t * R, *G, *B; - - int16_t pixDisparity; - - // color coded confidence RGB = [0, confG, 0] - uint8_t * confG; - - // init ccDisparity pointer - R = (uint8_t *)ccDisparity; - G = (uint8_t *)ccDisparity + 1; - B = (uint8_t *)ccDisparity + 2; - - // init ccConfidence - memset(ccConfidence, 0, dispWidth*dispHeight*3); - confG = (uint8_t *)ccConfidence + 1; - - // create the falseColor map - scaleFactor = ((float)1.0) / scaleFactor; - - for (j= 0; j < dispHeight; j++) - { - for (i= 0; i < dispWidth; i++) - { - // In operation mode, minimum disparity should be non-negative, - // so sign bit can be ignored - pixDisparity = rawDisparity[i]; - //sign = (pixDisparity >> 15) == 0 ? 1: -1; - outDisparity = (pixDisparity >> 3) & 0xFFF; - //outDisparity *= sign; - - // check if disparity confidence is larger than 0 - valid = ((pixDisparity & 0x3) > 0); - - // Shift disparity so that minimum disparity and unknown disparity are both zero - value = (int)(outDisparity * scaleFactor * valid) + SDE_DISPARITY_OFFSET; - - *R = (unsigned char)(SDE_falseColorLUT_RGB[0][value]); - *G = (unsigned char)(SDE_falseColorLUT_RGB[1][value]); - *B = (unsigned char)(SDE_falseColorLUT_RGB[2][value]); - - R += 3; - G += 3; - B += 3; - - // confidence - *confG = 36 * (pixDisparity & 0x07); - confG +=3; - } - - rawDisparity += dispWidth; - } - } - - private: - ros::Subscriber disp_sub; - ros::Publisher ccDisp_pub; - sensor_msgs::Image ccDisp_msg; - ros::Publisher ccConf_pub; - sensor_msgs::Image ccConf_msg; - int32_t width; - int32_t height; - uint8_t * ccDisparity; - uint8_t * ccConfidence; - }; -} - -/** - * This tutorial demonstrates simple sending of messages over the ROS system. - */ -int main(int argc, char **argv) -{ - try - { - ros::init(argc, argv, "app_viz_disparity"); - ros::NodeHandle nh; - ros::NodeHandle private_nh("~"); - ros_app_viz::VizDisparity dispViz(&nh, &private_nh); - - return EXIT_SUCCESS; - } - catch (std::runtime_error& e) - { - ros::shutdown(); - return EXIT_FAILURE; - } - -} - - diff --git a/ros1/nodes/ti_viz_nodes/src/viz_estop_node.cpp b/ros1/nodes/ti_viz_nodes/src/viz_estop_node.cpp deleted file mode 100644 index 2882572..0000000 --- a/ros1/nodes/ti_viz_nodes/src/viz_estop_node.cpp +++ /dev/null @@ -1,340 +0,0 @@ -/* - * - * Copyright (c) 2022 Texas Instruments Incorporated - * - * All rights reserved not granted herein. - * - * Limited License. - * - * Texas Instruments Incorporated grants a world-wide, royalty-free, non-exclusive - * license under copyrights and patents it now or hereafter owns or controls to make, - * have made, use, import, offer to sell and sell ("Utilize") this software subject to the - * terms herein. With respect to the foregoing patent license, such license is granted - * solely to the extent that any such patent is necessary to Utilize the software alone. - * The patent license shall not apply to any combinations which include this software, - * other than combinations with devices manufactured by or for TI ("TI Devices"). - * No hardware patent is licensed hereunder. - * - * Redistributions must preserve existing copyright notices and reproduce this license - * (including the above copyright notice and the disclaimer and (if applicable) source - * code license limitations below) in the documentation and/or other materials provided - * with the distribution - * - * Redistribution and use in binary form, without modification, are permitted provided - * that the following conditions are met: - * - * * No reverse engineering, decompilation, or disassembly of this software is - * permitted with respect to any software provided in binary form. - * - * * any redistribution and use are licensed by TI for use only with TI Devices. - * - * * Nothing shall obligate TI to provide you with source code for the software - * licensed and provided to you in object code. - * - * If software source code is provided to you, modification and redistribution of the - * source code are permitted provided that the following conditions are met: - * - * * any redistribution and use of the source code, including any resulting derivative - * works, are licensed by TI for use only with TI Devices. - * - * * any redistribution and use of any object code compiled from the source code - * and any resulting derivative works, are licensed by TI for use only with TI Devices. - * - * Neither the name of Texas Instruments Incorporated nor the names of its suppliers - * - * may be used to endorse or promote products derived from this software without - * specific prior written permission. - * - * DISCLAIMER. - * - * THIS SOFTWARE IS PROVIDED BY TI AND TI'S LICENSORS "AS IS" AND ANY EXPRESS - * OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES - * OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. - * IN NO EVENT SHALL TI AND TI'S LICENSORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, - * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY - * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE - * OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED - * OF THE POSSIBILITY OF SUCH DAMAGE. - * - */ -#include -#include -#include -#include -#include -#include - -#include -#include - -#include "geometry_msgs/PolygonStamped.h" -#include "geometry_msgs/Point32.h" - -using namespace sensor_msgs; -using namespace message_filters; -using namespace common_msgs; - -// OpenCV uses BGR format -static const uint8_t color_map[3] = {128, 64, 128}; - -namespace ros_app_viz -{ - /** - * @brief SDE ROS warpper class - */ - - class VizEStop - { - public: - /** - * @brief { function_description } - * - * @param[in] resolution The resolution - * @param[in] frame_rate The frame rate - */ - - VizEStop(ros::NodeHandle *nh, ros::NodeHandle *private_nh) - { - std::string rectImgTopic; - std::string bbTopic; - std::string ssTensorTopic; - std::string bbImgTopic; - - // input and tensor sizes - private_nh->param("width", m_width, 1280); - private_nh->param("height", m_height, 720); - private_nh->param("tensor_width", m_tensorWidth, 768); - private_nh->param("tensor_height", m_tensorHeight, 432); - private_nh->param("show_ground", m_showGround, 0); - - // input topics - private_nh->param("rectified_image_topic", rectImgTopic, std::string("")); - private_nh->param("bounding_box_topic", bbTopic, std::string("")); - private_nh->param("semseg_cnn_tensor_topic", ssTensorTopic, std::string("")); - - // output topics - private_nh->param("bounding_box_image_topic", bbImgTopic, std::string("")); - - m_bbImgPub = nh->advertise(bbImgTopic, 1); - m_safetyPub = nh->advertise("/estop/safety_bubble", 1); - - message_filters::Subscriber bbSub(*nh, bbTopic, 1); - message_filters::Subscriber rectImgSub(*nh, rectImgTopic, 1); - message_filters::Subscriber ssTensorSub(*nh, ssTensorTopic, 1); - - TimeSynchronizer sync(bbSub, rectImgSub, ssTensorSub, 10); - sync.registerCallback(boost::bind(&VizEStop::callback_vizEStop, this, _1, _2, _3)); - - ros::spin(); - } - - ~VizEStop() - { - - } - - void callback_vizEStop(const Detection3D::ConstPtr& objMsg, - const ImageConstPtr& imagePtr, - const ImageConstPtr& tensorPtr) - { - // create and publish bounding box images - publishBBImage(objMsg, imagePtr, tensorPtr); - - // create polygons for zones - int numPoints = 12; // number of points for polygon - float sbDistance = 5.0; - geometry_msgs::PolygonStamped safetyBubble; - - safetyBubble.header.frame_id = "map"; - - for (int i = 0; i < numPoints; ++i) - { - double angle = i * ( 360.0 / (double) numPoints) * M_PI / 180.0; - - geometry_msgs::Point32 stop_point; - stop_point.z = 0.0; - stop_point.x = cos(angle) * sbDistance; - stop_point.y = sin(angle) * sbDistance; - safetyBubble.polygon.points.push_back(stop_point); - } - m_safetyPub.publish(safetyBubble); - } - - void publishBBImage(const Detection3D::ConstPtr& objMsg, - const ImageConstPtr& imagePtr, - const ImageConstPtr& tensorPtr) - { - int32_t i, j, y, x; - int32_t numObjs; - char strDistance[50]; - - uint8_t classId; - - // blending factor - float bf = 0.5; - int32_t stride = m_width * 3; - - float horScale = m_tensorWidth *1.0/m_width; - float verScale = m_tensorHeight*1.0/m_height; - - int fontface = cv::FONT_HERSHEY_SIMPLEX; - int thickness = 1; - int baseline = 0; - double scale = 0.6; - - cv::Scalar lineColor; - cv::Point pos; - cv::Size text; - - Detection3D detectionMsg = *objMsg; - ObjectPos3D objPos; - ObjectPos3D * objPosArr; - - cv_bridge::CvImagePtr cv_bbPtr; - cv_bbPtr = cv_bridge::toCvCopy(imagePtr, sensor_msgs::image_encodings::RGB8); - - numObjs = detectionMsg.num_objects; - objPosArr = (ObjectPos3D *) detectionMsg.obj_pos3d.data(); - - /* draw bounding boxes on detected objects */ - for (i = 0; i < numObjs; i++) - { - objPos = objPosArr[i]; - -#if 1 - // Color based on distance - if (objPos.front_depth <= 5000) - { - lineColor = CV_RGB(0, 0, 255); - } else - { - lineColor = CV_RGB(255, 0, 0); - } -#else - // Color based on class - if (objPos.classId == 11) - { - lineColor = CV_RGB(255, 0, 0); - } - else if (objPos.classId == 12) - { - lineColor = CV_RGB(0, 255, 0); - } - else if (objPos.classId == 13) - { - lineColor = CV_RGB(0, 0, 255); - } - else if (objPos.classId == 14) - { - lineColor = CV_RGB(0, 255, 255); - } - else if (objPos.classId == 15) - { - lineColor = CV_RGB(255, 255, 0); - } -#endif - - // Front box - // P3 P4 - // P1 P2 - cv::line(cv_bbPtr->image, cv::Point(objPos.pf1x, objPos.pf1y), cv::Point(objPos.pf2x, objPos.pf2y), lineColor, 2); - cv::line(cv_bbPtr->image, cv::Point(objPos.pf2x, objPos.pf2y), cv::Point(objPos.pf3x, objPos.pf3y), lineColor, 2); - cv::line(cv_bbPtr->image, cv::Point(objPos.pf3x, objPos.pf3y), cv::Point(objPos.pf4x, objPos.pf4y), lineColor, 2); - cv::line(cv_bbPtr->image, cv::Point(objPos.pf4x, objPos.pf4y), cv::Point(objPos.pf1x, objPos.pf1y), lineColor, 2); - - // Front box - // P3 P4 - // P1 P2 - cv::line(cv_bbPtr->image, cv::Point(objPos.pr1x, objPos.pr1y), cv::Point(objPos.pr2x, objPos.pr2y), lineColor, 2); - cv::line(cv_bbPtr->image, cv::Point(objPos.pr2x, objPos.pr2y), cv::Point(objPos.pr3x, objPos.pr3y), lineColor, 2); - cv::line(cv_bbPtr->image, cv::Point(objPos.pr3x, objPos.pr3y), cv::Point(objPos.pr4x, objPos.pr4y), lineColor, 2); - cv::line(cv_bbPtr->image, cv::Point(objPos.pr4x, objPos.pr4y), cv::Point(objPos.pr1x, objPos.pr1y), lineColor, 2); - - // pf1 - pr1, pf2 - pr2, pf3 - pr3, pf4 - pr4 - cv::line(cv_bbPtr->image, cv::Point(objPos.pf1x, objPos.pf1y), cv::Point(objPos.pr1x, objPos.pr1y), lineColor, 2); - cv::line(cv_bbPtr->image, cv::Point(objPos.pf2x, objPos.pf2y), cv::Point(objPos.pr2x, objPos.pr2y), lineColor, 2); - cv::line(cv_bbPtr->image, cv::Point(objPos.pf3x, objPos.pf3y), cv::Point(objPos.pr3x, objPos.pr3y), lineColor, 2); - cv::line(cv_bbPtr->image, cv::Point(objPos.pf4x, objPos.pf4y), cv::Point(objPos.pr4x, objPos.pr4y), lineColor, 2); - - sprintf(strDistance, "%.1fm", float(objPos.front_depth / 1000)); - - text = cv::getTextSize(strDistance, fontface, scale, thickness, &baseline); - pos = cv::Point((objPos.pf1x+objPos.pf2x)/2 - 25, (objPos.pf1y+objPos.pf4y)/2); -#if CV_MAJOR_VERSION <= 3 - cv::rectangle(cv_bbPtr->image, pos + cv::Point(0, baseline), pos + cv::Point(text.width, -text.height), CV_RGB(0,0,0), CV_FILLED); -#else - cv::rectangle(cv_bbPtr->image, pos + cv::Point(0, baseline), pos + cv::Point(text.width, -text.height), CV_RGB(0,0,0), cv::FILLED); -#endif - cv::putText(cv_bbPtr->image, strDistance, pos, fontface, scale, CV_RGB(255,255,255), thickness); - /* - cv::putText(cv_bbPtr->image, strDistance, cv::Point((objPos.pf1x+objPos.pf2x)/2 - 25, (objPos.pf1y+objPos.pf4y)/2), - fontface, scale, CV_RGB(255,255,255), thickness); - */ - } - - if (m_showGround) - { - for (j = 0; j < m_height; j++) - { - // y pos in tensor - y = (j * verScale + 0.5); - for (i = 0; i < m_width; i++) - { - // x pos in tensor - x = (i * horScale + 0.5); - classId = tensorPtr->data[y*m_tensorWidth + x]; - - // road and sidewalk - if (classId == 0 || classId == 1) - { - cv_bbPtr->image.data[j*stride + i*3] = - (1-bf)*cv_bbPtr->image.data[j*stride + i*3] + bf*color_map[0]; - cv_bbPtr->image.data[j*stride + i*3 + 1] = - (1-bf)*cv_bbPtr->image.data[j*stride + i*3 + 1] + bf*color_map[1]; - cv_bbPtr->image.data[j*stride + i*3 + 2] = - (1-bf)*cv_bbPtr->image.data[j*stride + i*3 + 2] + bf*color_map[2]; - } - } - } - } - - m_bbImgPub.publish(cv_bbPtr->toImageMsg()); - } - - - private: - int32_t m_width; - int32_t m_height; - int32_t m_tensorWidth; - int32_t m_tensorHeight; - int32_t m_showGround; - ros::Publisher m_bbImgPub; - ros::Publisher m_safetyPub; - }; -} - -/** - * This tutorial demonstrates simple sending of messages over the ROS system. - */ -int main(int argc, char **argv) -{ - try - { - ros::init(argc, argv, "app_viz_estop"); - ros::NodeHandle nh; - ros::NodeHandle private_nh("~"); - ros_app_viz::VizEStop estopViz(&nh, &private_nh); - - return EXIT_SUCCESS; - } - catch (std::runtime_error& e) - { - ros::shutdown(); - return EXIT_FAILURE; - } - -} - - diff --git a/ros1/nodes/ti_viz_nodes/src/viz_objdet.h b/ros1/nodes/ti_viz_nodes/src/viz_objdet.h deleted file mode 100644 index 47dbd71..0000000 --- a/ros1/nodes/ti_viz_nodes/src/viz_objdet.h +++ /dev/null @@ -1,105 +0,0 @@ -// OpenCV uses BGR format -static const uint8_t color_map[20][3] = -{ - {128, 64, 128},{244, 35, 232},{ 70, 70, 70},{102, 102, 156},{190, 153, 153}, - {153, 153, 153},{250, 170, 30},{220, 220, 0},{107, 142, 35},{152, 251, 152}, - { 70, 130, 180},{220, 20, 60},{255, 0, 0},{ 0, 0, 142},{ 0, 0, 70}, - { 0, 60, 100},{ 0, 80, 100},{ 0, 0, 230},{119, 11, 32},{128, 128, 128} -}; - -static const std::string classnames_coco[] = -{ - [0] = "None", - [1] = "person", - [2] = "bicycle", - [3] = "car", - [4] = "motorcycle", - [5] = "airplane", - [6] = "bus", - [7] = "train", - [8] = "truck", - [9] = "boat", - [10] = "traffic light", - [11] = "fire hydrant", - [12] = "street sign", - [13] = "stop sign", - [14] = "parking meter", - [15] = "bench", - [16] = "bird", - [17] = "cat", - [18] = "dog", - [19] = "horse", - [20] = "sheep", - [21] = "cow", - [22] = "elephant", - [23] = "bear", - [24] = "zebra", - [25] = "giraffe", - [26] = "hat", - [27] = "backpack", - [28] = "umbrella", - [29] = "shoe", - [30] = "eye glasses", - [31] = "handbag", - [32] = "tie", - [33] = "suitcase", - [34] = "frisbee", - [35] = "skis", - [36] = "snowboard", - [37] = "sports ball", - [38] = "kite", - [39] = "baseball bat", - [40] = "baseball glove", - [41] = "skateboard", - [42] = "surfboard", - [43] = "tennis racket", - [44] = "bottle", - [45] = "plate", - [46] = "wine glass", - [47] = "cup", - [48] = "fork", - [49] = "knife", - [50] = "spoon", - [51] = "bowl", - [52] = "banana", - [53] = "apple", - [54] = "sandwich", - [55] = "orange", - [56] = "broccoli", - [57] = "carrot", - [58] = "hot dog", - [59] = "pizza", - [60] = "donut", - [61] = "cake", - [62] = "chair", - [63] = "couch", - [64] = "potted plant", - [65] = "bed", - [66] = "mirror", - [67] = "dining table", - [68] = "window", - [69] = "desk", - [70] = "toilet", - [71] = "door", - [72] = "tv", - [73] = "laptop", - [74] = "mouse", - [75] = "remote", - [76] = "keyboard", - [77] = "cell phone", - [78] = "microwave", - [79] = "oven", - [80] = "toaster", - [81] = "sink", - [82] = "refrigerator", - [83] = "blender", - [84] = "book", - [85] = "clock", - [86] = "vase", - [87] = "scissors", - [88] = "teddy bear", - [89] = "hair drier", - [90] = "toothbrush", - [91] = "hair brush", - [92] = "closest" // Added for experiment -}; diff --git a/ros1/nodes/ti_viz_nodes/src/viz_objdet_node.cpp b/ros1/nodes/ti_viz_nodes/src/viz_objdet_node.cpp deleted file mode 100644 index 1a7da50..0000000 --- a/ros1/nodes/ti_viz_nodes/src/viz_objdet_node.cpp +++ /dev/null @@ -1,197 +0,0 @@ -/* - * - * Copyright (c) 2022 Texas Instruments Incorporated - * - * All rights reserved not granted herein. - * - * Limited License. - * - * Texas Instruments Incorporated grants a world-wide, royalty-free, non-exclusive - * license under copyrights and patents it now or hereafter owns or controls to make, - * have made, use, import, offer to sell and sell ("Utilize") this software subject to the - * terms herein. With respect to the foregoing patent license, such license is granted - * solely to the extent that any such patent is necessary to Utilize the software alone. - * The patent license shall not apply to any combinations which include this software, - * other than combinations with devices manufactured by or for TI ("TI Devices"). - * No hardware patent is licensed hereunder. - * - * Redistributions must preserve existing copyright notices and reproduce this license - * (including the above copyright notice and the disclaimer and (if applicable) source - * code license limitations below) in the documentation and/or other materials provided - * with the distribution - * - * Redistribution and use in binary form, without modification, are permitted provided - * that the following conditions are met: - * - * * No reverse engineering, decompilation, or disassembly of this software is - * permitted with respect to any software provided in binary form. - * - * * any redistribution and use are licensed by TI for use only with TI Devices. - * - * * Nothing shall obligate TI to provide you with source code for the software - * licensed and provided to you in object code. - * - * If software source code is provided to you, modification and redistribution of the - * source code are permitted provided that the following conditions are met: - * - * * any redistribution and use of the source code, including any resulting derivative - * works, are licensed by TI for use only with TI Devices. - * - * * any redistribution and use of any object code compiled from the source code - * and any resulting derivative works, are licensed by TI for use only with TI Devices. - * - * Neither the name of Texas Instruments Incorporated nor the names of its suppliers - * - * may be used to endorse or promote products derived from this software without - * specific prior written permission. - * - * DISCLAIMER. - * - * THIS SOFTWARE IS PROVIDED BY TI AND TI'S LICENSORS "AS IS" AND ANY EXPRESS - * OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES - * OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. - * IN NO EVENT SHALL TI AND TI'S LICENSORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, - * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY - * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE - * OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED - * OF THE POSSIBILITY OF SUCH DAMAGE. - * - */ -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include "viz_objdet.h" - -using namespace sensor_msgs; -using namespace common_msgs; -using namespace message_filters; -using namespace cv; - -static cv::Mat overlayBoundingBox(cv::Mat &img, - const int32_t *box, - const int32_t label_id) -{ - int32_t label_id_mod = label_id % 20; - Scalar box_color = Scalar(color_map[label_id_mod][0], - color_map[label_id_mod][1], - color_map[label_id_mod][2]); - Scalar text_color = Scalar(244, 35, 232); - Scalar text_bg_color = Scalar(120, 120, 120); - std::string label = classnames_coco[label_id]; - - // Draw bounding box for the detected object - Point topleft = Point(box[0], box[1]); - Point bottomright = Point(box[2], box[3]); - rectangle(img, topleft, bottomright, box_color, 3); - - // Draw text with detected class with a background box - Point center = Point((box[0] + box[2])/2, (box[1] + box[3])/2); - Point t_topleft = center + Point(-5, -10); - Point t_bottomright = center + Point( 80, 10); - rectangle(img, t_topleft, t_bottomright, text_bg_color, -1); - putText(img, label, t_topleft + Point(10, 15), FONT_HERSHEY_SIMPLEX, 0.6, text_color); - - return img; -} - -namespace ros_app_viz -{ - /** - * @brief VizObjDet ROS wrapper class - */ - - class VizObjDet - { - public: - /** - * @brief { Overlays the bounding boxes on the image } - * - */ - - VizObjDet(ros::NodeHandle *nh, ros::NodeHandle *private_nh) - { - std::string rectImgTopic; - std::string tensorTopic; - std::string odMapImgTopic; - - // input topics - private_nh->param("rectified_image_topic", rectImgTopic, std::string("")); - private_nh->param("vision_cnn_tensor_topic", tensorTopic, std::string("")); - - // output topics - private_nh->param("vision_cnn_image_topic", odMapImgTopic, std::string("")); - - m_odMapImgPub = nh->advertise(odMapImgTopic, 1); - - message_filters::Subscriber tensorSub(*nh, tensorTopic, 1); - message_filters::Subscriber rectImgSub(*nh, rectImgTopic, 1); - - TimeSynchronizer sync(tensorSub, rectImgSub, 10); - sync.registerCallback(boost::bind(&VizObjDet::callback_vizObjDet, this, _1, _2)); - - ros::spin(); - } - - ~VizObjDet() - { - - } - - void callback_vizObjDet(const Detection2D::ConstPtr& detMsg, - const ImageConstPtr& imagePtr) - { - - cv_bridge::CvImagePtr cv_outImgPtr; - cv_outImgPtr = cv_bridge::toCvCopy(imagePtr, sensor_msgs::image_encodings::RGB8); - - int32_t box[4]; - int32_t class_id; - int32_t num_objects = detMsg->num_objects; - - for (int32_t i = 0; i < num_objects; i++) - { - box[0] = detMsg->bounding_boxes[i].xmin; - box[1] = detMsg->bounding_boxes[i].ymin; - box[2] = detMsg->bounding_boxes[i].xmax; - box[3] = detMsg->bounding_boxes[i].ymax; - class_id = detMsg->bounding_boxes[i].label_id; - - overlayBoundingBox(cv_outImgPtr->image, box, class_id); - } - - m_odMapImgPub.publish(cv_outImgPtr->toImageMsg()); - } - - private: - ros::Publisher m_odMapImgPub; - }; -} - -/** - * Main - */ -int main(int argc, char **argv) -{ - try - { - ros::init(argc, argv, "app_viz_objdet"); - ros::NodeHandle nh; - ros::NodeHandle private_nh("~"); - ros_app_viz::VizObjDet objDetViz(&nh, &private_nh); - - return EXIT_SUCCESS; - } - catch (std::runtime_error& e) - { - ros::shutdown(); - return EXIT_FAILURE; - } -} diff --git a/ros1/nodes/ti_viz_nodes/src/viz_objdet_range_node.cpp b/ros1/nodes/ti_viz_nodes/src/viz_objdet_range_node.cpp deleted file mode 100644 index 81d67a0..0000000 --- a/ros1/nodes/ti_viz_nodes/src/viz_objdet_range_node.cpp +++ /dev/null @@ -1,236 +0,0 @@ -/* - * - * Copyright (c) 2022 Texas Instruments Incorporated - * - * All rights reserved not granted herein. - * - * Limited License. - * - * Texas Instruments Incorporated grants a world-wide, royalty-free, non-exclusive - * license under copyrights and patents it now or hereafter owns or controls to make, - * have made, use, import, offer to sell and sell ("Utilize") this software subject to the - * terms herein. With respect to the foregoing patent license, such license is granted - * solely to the extent that any such patent is necessary to Utilize the software alone. - * The patent license shall not apply to any combinations which include this software, - * other than combinations with devices manufactured by or for TI ("TI Devices"). - * No hardware patent is licensed hereunder. - * - * Redistributions must preserve existing copyright notices and reproduce this license - * (including the above copyright notice and the disclaimer and (if applicable) source - * code license limitations below) in the documentation and/or other materials provided - * with the distribution - * - * Redistribution and use in binary form, without modification, are permitted provided - * that the following conditions are met: - * - * * No reverse engineering, decompilation, or disassembly of this software is - * permitted with respect to any software provided in binary form. - * - * * any redistribution and use are licensed by TI for use only with TI Devices. - * - * * Nothing shall obligate TI to provide you with source code for the software - * licensed and provided to you in object code. - * - * If software source code is provided to you, modification and redistribution of the - * source code are permitted provided that the following conditions are met: - * - * * any redistribution and use of the source code, including any resulting derivative - * works, are licensed by TI for use only with TI Devices. - * - * * any redistribution and use of any object code compiled from the source code - * and any resulting derivative works, are licensed by TI for use only with TI Devices. - * - * Neither the name of Texas Instruments Incorporated nor the names of its suppliers - * - * may be used to endorse or promote products derived from this software without - * specific prior written permission. - * - * DISCLAIMER. - * - * THIS SOFTWARE IS PROVIDED BY TI AND TI'S LICENSORS "AS IS" AND ANY EXPRESS - * OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES - * OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. - * IN NO EVENT SHALL TI AND TI'S LICENSORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, - * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY - * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE - * OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED - * OF THE POSSIBILITY OF SUCH DAMAGE. - * - */ -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include "viz_objdet.h" -#include - -using namespace sensor_msgs; -using namespace common_msgs; -using namespace message_filters; -using namespace std; -using namespace cv; - -#define NUM_FRAC_BITS 4 - -// calculate range in X-Z plane in camera frame -static float point2Range(const geometry_msgs::Point32& point) -{ - float range = sqrt(point.x*point.x + point.z*point.z); - return range; -} - -static cv::Mat overlayBoundingBox(cv::Mat &img, - const BoundingBox2Dp &bbox, - const cv::Scalar box_color, - const cv::Scalar text_color, - const cv::Scalar text_bg_color) -{ - int32_t label_id = bbox.label_id; - int32_t label_id_mod = label_id % 10; - int32_t box_width = bbox.xmax - bbox.xmin; - float range = point2Range(bbox.position); - - std::string label_str = classnames_coco[label_id]; - std::string position_str = std::to_string(round(range*100)/100).substr(0,4) + std::string(" m"); - - // Draw bounding box for the detected object - Point topleft = Point(bbox.xmin, bbox.ymin); - Point bottomright = Point(bbox.xmax, bbox.ymax); - float boxTickness = 1.5; - float fontSize = 0.5; - float fontTickness = 1.0; - if (box_width>60) { - boxTickness = 2.0; - fontSize = 0.7; - fontTickness = 2.0; - } - rectangle(img, topleft, bottomright, box_color, boxTickness); - - // Draw a background box - // Point center = Point((bbox.xmin + bbox.xmax)/2, (bbox.ymin + bbox.ymax)/2); - // Point t_topleft = center + Point(-60, -25); - // Point t_bottomright = center + Point( 60, 25); - // rectangle(img, t_topleft, t_bottomright, text_bg_color, -1); - - // Draw text with detected class - putText(img, label_str, topleft + Point(5, 20), FONT_HERSHEY_SIMPLEX, fontSize, text_color, fontTickness); - // if (range < 10) - // { - putText(img, position_str, topleft + Point(5, 45), FONT_HERSHEY_SIMPLEX, fontSize-0.1, text_color, fontTickness); - // } - - return img; -} - -/** - * @brief VizObjdetRange ROS node class - */ - -class VizObjdetRange -{ -public: - /** - * @brief { Overlays the bounding boxes on the image } - * - */ - - VizObjdetRange(ros::NodeHandle *nh, ros::NodeHandle *private_nh) - { - // std::string rawDisparityTopic; - std::string rectImgTopic; - std::string fusedObjRangeTopic; - std::string outImgTopic; - std::vector vec; - - // input topics - // private_nh->param("disparity_topic", rawDisparityTopic, std::string("")); - private_nh->param("fused_obj_range_topic", fusedObjRangeTopic, std::string("")); - private_nh->param("rectified_image_topic", rectImgTopic, std::string("")); - private_nh->param("output_image_topic", outImgTopic, std::string("")); - private_nh->param("box_color_rgb", vec, {0,0,0}); - m_box_color = Scalar(vec[0], vec[1], vec[2]) ; - private_nh->param("patch_color_rgb", vec, {0,0,0}); - m_patch_color = Scalar(vec[0], vec[1], vec[2]) ; - private_nh->param("text_color_rgb", vec, {0,0,0}); - m_text_color = Scalar(vec[0], vec[1], vec[2]) ; - private_nh->param("text_bg_color_rgb", vec, {0,0,0}); - m_text_bg_color = Scalar(vec[0], vec[1], vec[2]); - - m_pub = nh->advertise(outImgTopic, 1); - - message_filters::Subscriber rectImgSub(*nh, rectImgTopic, 1); - message_filters::Subscriber detectSub(*nh, fusedObjRangeTopic, 1); - - typedef sync_policies::ApproximateTime SyncPolicy; - Synchronizer sync(SyncPolicy(10), detectSub, rectImgSub); - sync.registerCallback(boost::bind(&VizObjdetRange::callback_VizObjdetRange, this, _1, _2)); - - ros::spin(); - } - - ~VizObjdetRange() { } - - void callback_VizObjdetRange(const Detection2Dp::ConstPtr& detPtr, - const ImageConstPtr& imagePtr) - { - cv_bridge::CvImagePtr cv_outImgPtr; - cv_outImgPtr = cv_bridge::toCvCopy(imagePtr, sensor_msgs::image_encodings::RGB8); - int32_t class_id; - int32_t num_objects = detPtr->num_objects; - BoundingBox2Dp bbox; - cv::Scalar box_color; - - for (int32_t i = 0; i < num_objects; i++) - { - bbox = detPtr->bounding_boxes[i]; - box_color = (bbox.label_id==92) ? m_patch_color : m_box_color; - - overlayBoundingBox(cv_outImgPtr->image, - bbox, - box_color, - m_text_color, - m_text_bg_color); - } - - m_pub.publish(cv_outImgPtr->toImageMsg()); - } - -private: - ros::Publisher m_pub; - cv::Scalar m_box_color; - cv::Scalar m_patch_color; - cv::Scalar m_text_color; - cv::Scalar m_text_bg_color; -}; - -/** - * Main - */ -int main(int argc, char **argv) -{ - try - { - ros::init(argc, argv, "app_viz_objdet_range"); - ros::NodeHandle nh; - ros::NodeHandle private_nh("~"); - VizObjdetRange vizObjdetRange(&nh, &private_nh); - - return EXIT_SUCCESS; - } - catch (std::runtime_error& e) - { - ros::shutdown(); - return EXIT_FAILURE; - } -} - diff --git a/ros1/nodes/ti_viz_nodes/src/viz_semseg_node.cpp b/ros1/nodes/ti_viz_nodes/src/viz_semseg_node.cpp deleted file mode 100644 index 94d493e..0000000 --- a/ros1/nodes/ti_viz_nodes/src/viz_semseg_node.cpp +++ /dev/null @@ -1,199 +0,0 @@ -/* - * - * Copyright (c) 2022 Texas Instruments Incorporated - * - * All rights reserved not granted herein. - * - * Limited License. - * - * Texas Instruments Incorporated grants a world-wide, royalty-free, non-exclusive - * license under copyrights and patents it now or hereafter owns or controls to make, - * have made, use, import, offer to sell and sell ("Utilize") this software subject to the - * terms herein. With respect to the foregoing patent license, such license is granted - * solely to the extent that any such patent is necessary to Utilize the software alone. - * The patent license shall not apply to any combinations which include this software, - * other than combinations with devices manufactured by or for TI ("TI Devices"). - * No hardware patent is licensed hereunder. - * - * Redistributions must preserve existing copyright notices and reproduce this license - * (including the above copyright notice and the disclaimer and (if applicable) source - * code license limitations below) in the documentation and/or other materials provided - * with the distribution - * - * Redistribution and use in binary form, without modification, are permitted provided - * that the following conditions are met: - * - * * No reverse engineering, decompilation, or disassembly of this software is - * permitted with respect to any software provided in binary form. - * - * * any redistribution and use are licensed by TI for use only with TI Devices. - * - * * Nothing shall obligate TI to provide you with source code for the software - * licensed and provided to you in object code. - * - * If software source code is provided to you, modification and redistribution of the - * source code are permitted provided that the following conditions are met: - * - * * any redistribution and use of the source code, including any resulting derivative - * works, are licensed by TI for use only with TI Devices. - * - * * any redistribution and use of any object code compiled from the source code - * and any resulting derivative works, are licensed by TI for use only with TI Devices. - * - * Neither the name of Texas Instruments Incorporated nor the names of its suppliers - * - * may be used to endorse or promote products derived from this software without - * specific prior written permission. - * - * DISCLAIMER. - * - * THIS SOFTWARE IS PROVIDED BY TI AND TI'S LICENSORS "AS IS" AND ANY EXPRESS - * OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES - * OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. - * IN NO EVENT SHALL TI AND TI'S LICENSORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, - * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY - * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE - * OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED - * OF THE POSSIBILITY OF SUCH DAMAGE. - * - */ -#include -#include -#include -#include -#include -#include - -using namespace sensor_msgs; -using namespace message_filters; - -// OpenCV uses BGR format -static const uint8_t color_map[20][3] = -{{128, 64, 128},{244, 35, 232},{ 70, 70, 70},{102, 102, 156},{190, 153, 153}, - {153, 153, 153},{250, 170, 30},{220, 220, 0},{107, 142, 35},{152, 251, 152}, - { 70, 130, 180},{220, 20, 60},{255, 0, 0},{ 0, 0, 142},{ 0, 0, 70}, - { 0, 60, 100},{ 0, 80, 100},{ 0, 0, 230},{119, 11, 32},{128, 128, 128}}; - - -namespace ros_app_viz -{ - /** - * @brief VizSemSeg ROS warpper class - */ - - class VizSemSeg - { - public: - /** - * @brief { Overlays the semantic segmentation tensor on the image } - * - */ - - VizSemSeg(ros::NodeHandle *nh, ros::NodeHandle *private_nh) - { - std::string rectImgTopic; - std::string ssTensorTopic; - std::string ssMapImgTopic; - - // input topics - private_nh->param("rectified_image_topic", rectImgTopic, std::string("")); - private_nh->param("vision_cnn_tensor_topic", ssTensorTopic, std::string("")); - - // output topics - private_nh->param("vision_cnn_image_topic", ssMapImgTopic, std::string("")); - - m_ssMapImgPub = nh->advertise(ssMapImgTopic, 1); - - message_filters::Subscriber ssTensorSub(*nh, ssTensorTopic, 1); - message_filters::Subscriber rectImgSub(*nh, rectImgTopic, 1); - - TimeSynchronizer sync(ssTensorSub, rectImgSub, 10); - sync.registerCallback(boost::bind(&VizSemSeg::callback_vizSemSeg, this, _1, _2)); - - ros::spin(); - } - - ~VizSemSeg() - { - - } - - void callback_vizSemSeg(const ImageConstPtr& tensorPtr, - const ImageConstPtr& imagePtr) - { - // position in original image - int32_t i, j; - // position in tensor - int32_t y, x; - // Semantic class - uint8_t classId; - - // input image size - int32_t width = imagePtr->width; - int32_t height = imagePtr->height; - - // tensor size - int32_t tensorWidth = tensorPtr->width; - int32_t tensorHeight = tensorPtr->height; - - // blending factor - float bf = 0.5; - - int32_t stride = width * 3; - - float horScale = tensorWidth *1.0/width; - float verScale = tensorHeight*1.0/height; - - cv_bridge::CvImagePtr cv_ssPtr; - cv_ssPtr = cv_bridge::toCvCopy(imagePtr, sensor_msgs::image_encodings::RGB8); - - for (j = 0; j < height; j++) - { - // y pos in tensor - y = (j * verScale + 0.5); - for (i = 0; i < width; i++) - { - // x pos in tensor - x = (i * horScale + 0.5); - classId = tensorPtr->data[y*tensorWidth + x]; - - cv_ssPtr->image.data[j*stride + i*3] = - (1-bf)*cv_ssPtr->image.data[j*stride + i*3] + bf*color_map[classId][0]; - cv_ssPtr->image.data[j*stride + i*3 + 1] = - (1-bf)*cv_ssPtr->image.data[j*stride + i*3 + 1] + bf*color_map[classId][1]; - cv_ssPtr->image.data[j*stride + i*3 + 2] = - (1-bf)*cv_ssPtr->image.data[j*stride + i*3 + 2] + bf*color_map[classId][2]; - } - } - - m_ssMapImgPub.publish(cv_ssPtr->toImageMsg()); - } - - private: - ros::Publisher m_ssMapImgPub; - }; -} - -/** - * Main - */ -int main(int argc, char **argv) -{ - try - { - ros::init(argc, argv, "app_viz_semseg"); - ros::NodeHandle nh; - ros::NodeHandle private_nh("~"); - ros_app_viz::VizSemSeg semSegViz(&nh, &private_nh); - - return EXIT_SUCCESS; - } - catch (std::runtime_error& e) - { - ros::shutdown(); - return EXIT_FAILURE; - } - -} diff --git a/ros1/nodes/ti_vl/CMakeLists.txt b/ros1/nodes/ti_vl/CMakeLists.txt deleted file mode 100644 index a34ab1f..0000000 --- a/ros1/nodes/ti_vl/CMakeLists.txt +++ /dev/null @@ -1,18 +0,0 @@ -cmake_minimum_required(VERSION 3.5) -project(ti_vl) - -include(${CMAKE_CURRENT_SOURCE_DIR}/../../../cmake/ros1_common.cmake) - -if(${BUILD_CORE_NODES} AND ${TIADALG_AVAILABLE}) - find_package(Eigen3 3.1.0 REQUIRED) - - include_directories(${EIGEN3_INCLUDE_DIR}) - - # Visual localization example - set(APP_VISLOC_SRCS - src/visloc_main.cpp - src/visloc_node.cpp) - - # Build nodes - build_node(vl APP_VISLOC_SRCS) -endif() diff --git a/ros1/nodes/ti_vl/config/params.yaml b/ros1/nodes/ti_vl/config/params.yaml deleted file mode 100644 index 6903fc0..0000000 --- a/ros1/nodes/ti_vl/config/params.yaml +++ /dev/null @@ -1,90 +0,0 @@ -# input format -# 0 - VX_DF_IMAGE_U8 -# 1 - VX_DF_IMAGE_NV12 -# 2 - VX_DF_IMAGE_UYVY -# Should be 1 or 2 -input_format: 2 - -# LDC LUT definition -lut_file_path: $(find ti_vl)/ldc_lut/zero_768x384_LUT.bin - -# path to the model -dl_model_path: /opt/model_zoo/visloc-7500_onnxrt_carla_edgeai-tv_tiad_dkaze_carla_768x384_model_onnx - -# location of top-view image -top_view_img_path: $(env TI_DATA_PATH)/visual_localization_data/map/topview_gt_0532.yuv - -# location of voxel info -input_voxel_info_path: $(env TI_DATA_PATH)/visual_localization_data/map/map_voxel.bin - -# location of map feature points -input_map_feat_pt_path: $(env TI_DATA_PATH)/visual_localization_data/map/map_feat.bin - -# location of map feature descriptors -input_map_feat_desc_path: $(env TI_DATA_PATH)/visual_localization_data/map/map_desc.bin - -# location of input upsampling weight -input_upsample_wt_path: $(env TI_DATA_PATH)/visual_localization_data/map/weights.bin - -# location of input upsampling bias -input_upsample_bias_path: $(env TI_DATA_PATH)/visual_localization_data/map/bias.bin - -# input data width in pixels -width: 768 - -# input data height in lines -height: 384 - -# output width -out_width: 2048 - -# output height -out_height: 1024 - -# Score threshold for picking good points -score_th: 128 - -# map related parameters -# max number of frame features -max_frame_feat: 1000 - -# number of voxels -num_voxels: 111556 - -# number of features in a map -num_map_feat: 13718 - -# initial pose estimate used in campling the map data -init_pose_est: [-156.546, 0.0, -132.51] - -# should be consistent with scale of filter coefficients passed through file input_upsampling_weight -filter_scale_pw2: 8 - -# should be consistent with scale of descriptors present in input_map_feat_desc_file -hi_res_desc_scale_pw2: 0 - -# interactive mode -is_interactive: 0 - -# To enable showing output on display when display_option = 1 -display_option: 1 - -# pipeline depth -pipeline_depth: 4 - -# Flag to indicate if the graph should be exported -# 0 - disable -# 1 - enable -exportGraph: 0 - -# Real-time logging enable. -# 0 - disable -# 1 - enable -rtLogEnable: 0 - -# log level for the app -# 0 - DEBUG: Used to show general debug messages -# 1 - INFO: Used to show run-time processing debug -# 2 - WARN: Used to warning developers of possible issues -# 3 - ERROR: Used for most errors -log_level: 1 diff --git a/ros1/nodes/ti_vl/launch/bag_visloc.launch b/ros1/nodes/ti_vl/launch/bag_visloc.launch deleted file mode 100644 index 344952e..0000000 --- a/ros1/nodes/ti_vl/launch/bag_visloc.launch +++ /dev/null @@ -1,16 +0,0 @@ - - - - - - - - - - - - - - diff --git a/ros1/nodes/ti_vl/launch/visloc.launch b/ros1/nodes/ti_vl/launch/visloc.launch deleted file mode 100644 index aa3f46b..0000000 --- a/ros1/nodes/ti_vl/launch/visloc.launch +++ /dev/null @@ -1,23 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ros1/nodes/ti_vl/ldc_lut/zero_768x384_LUT.bin b/ros1/nodes/ti_vl/ldc_lut/zero_768x384_LUT.bin deleted file mode 100644 index 55e1a571a7b63f525628ab5732da9d38b89e42ea..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 80704 zcmeIu0Sy2E0K%a6Pi+qe5hx58Fkrxd0RsjM7%*VKfB^#r3>YwAz<>b*1`HT5V8DO@ z0|pEjFkrxd0RsjM7%*VKfB^#r3>YwAz<>b*1`HT5V8DO@0|pEjFkrxd0RsjM7%*VK zfB^#r3>YwAz<>b*1`HT5V8DO@0|pEjFkrxd0RsjM7%*VKfB^#r3>YwAz<>b*1`HT5 zV8DO@0|pEjFkrxd0RsjM7%*VKfB^#r3>YwAz<>b*1`HT5V8DO@0|pEjFkrxd0RsjM z7%*VKfB^#r3>YwAz<>b*1`HT5V8DO@0|pEjFkrxd0RsjM7%*VKfB^#r3>YwAz<>b* z1`HT5V8DO@0|pEjFkrxd0RsjM7%*VKfB^#r3>YwAz<>b*1`HT5V8DO@0|pEjFkrxd z0RsjM7%*VKfB^#r3>YwAz<>b*1`HT5V8DO@0|pEjFkrxd0RsjM7%*VKfB^#r3>YwA Kz<>b*UjqX>PXGY` diff --git a/ros1/nodes/ti_vl/package.xml b/ros1/nodes/ti_vl/package.xml deleted file mode 100644 index 6aedeef..0000000 --- a/ros1/nodes/ti_vl/package.xml +++ /dev/null @@ -1,48 +0,0 @@ - - - ti_vl - 0.1.0 - The ti_vl package - - - - - d.kwon - - - - - TODO - - catkin - geometry_msgs - roscpp - nodelet - cv_bridge - image_transport - sensor_msgs - ti_external - message_generation - eigen - geometry_msgs - roscpp - nodelet - cv_bridge - image_transport - sensor_msgs - message_runtime - eigen - geometry_msgs - roscpp - nodelet - cv_bridge - image_transport - sensor_msgs - message_runtime - eigen - - - - - - diff --git a/ros1/nodes/ti_vl/src/visloc_main.cpp b/ros1/nodes/ti_vl/src/visloc_main.cpp deleted file mode 100644 index 5bb7b4e..0000000 --- a/ros1/nodes/ti_vl/src/visloc_main.cpp +++ /dev/null @@ -1,107 +0,0 @@ -/* - * - * Copyright (c) 2021 Texas Instruments Incorporated - * - * All rights reserved not granted herein. - * - * Limited License. - * - * Texas Instruments Incorporated grants a world-wide, royalty-free, non-exclusive - * license under copyrights and patents it now or hereafter owns or controls to make, - * have made, use, import, offer to sell and sell ("Utilize") this software subject to the - * terms herein. With respect to the foregoing patent license, such license is granted - * solely to the extent that any such patent is necessary to Utilize the software alone. - * The patent license shall not apply to any combinations which include this software, - * other than combinations with devices manufactured by or for TI ("TI Devices"). - * No hardware patent is licensed hereunder. - * - * Redistributions must preserve existing copyright notices and reproduce this license - * (including the above copyright notice and the disclaimer and (if applicable) source - * code license limitations below) in the documentation and/or other materials provided - * with the distribution - * - * Redistribution and use in binary form, without modification, are permitted provided - * that the following conditions are met: - * - * * No reverse engineering, decompilation, or disassembly of this software is - * permitted with respect to any software provided in binary form. - * - * * any redistribution and use are licensed by TI for use only with TI Devices. - * - * * Nothing shall obligate TI to provide you with source code for the software - * licensed and provided to you in appCntxtect code. - * - * If software source code is provided to you, modification and redistribution of the - * source code are permitted provided that the following conditions are met: - * - * * any redistribution and use of the source code, including any resulting derivative - * works, are licensed by TI for use only with TI Devices. - * - * * any redistribution and use of any appCntxtect code compiled from the source code - * and any resulting derivative works, are licensed by TI for use only with TI Devices. - * - * Neither the name of Texas Instruments Incorporated nor the names of its suppliers - * - * may be used to endorse or promote products derived from this software without - * specific prior written permission. - * - * DISCLAIMER. - * - * THIS SOFTWARE IS PROVIDED BY TI AND TI'S LICENSORS "AS IS" AND ANY EXPRESS - * OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES - * OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. - * IN NO EVENT SHALL TI AND TI'S LICENSORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, - * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY - * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE - * OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED - * OF THE POSSIBILITY OF SUCH DAMAGE. - * - */ - -#include -#include -#include -#include - -#include - -static VisLocNode *visLocNode{}; - -static void sigHandler(int32_t sig) -{ - if (visLocNode) - { - visLocNode->sigHandler(sig); - } - - ros::shutdown(); -} - -int main(int argc, char **argv) -{ - try - { - ros::init(argc, argv, "ros_app_visloc", ros::init_options::NoSigintHandler); - ros::NodeHandle nh(""); - ros::NodeHandle privNh("~"); - - signal(SIGINT, sigHandler); - - visLocNode = new VisLocNode(nh, privNh); - - ros::spin(); - - return EXIT_SUCCESS; - } - - catch (std::runtime_error& e) - { - ros::shutdown(); - return EXIT_FAILURE; - } - - return 0; -} - diff --git a/ros1/nodes/ti_vl/src/visloc_node.cpp b/ros1/nodes/ti_vl/src/visloc_node.cpp deleted file mode 100644 index ed5cfc3..0000000 --- a/ros1/nodes/ti_vl/src/visloc_node.cpp +++ /dev/null @@ -1,615 +0,0 @@ -/* - * - * Copyright (c) 2021 Texas Instruments Incorporated - * - * All rights reserved not granted herein. - * - * Limited License. - * - * Texas Instruments Incorporated grants a world-wide, royalty-free, non-exclusive - * license under copyrights and patents it now or hereafter owns or controls to make, - * have made, use, import, offer to sell and sell ("Utilize") this software subject to the - * terms herein. With respect to the foregoing patent license, such license is granted - * solely to the extent that any such patent is necessary to Utilize the software alone. - * The patent license shall not apply to any combinations which include this software, - * other than combinations with devices manufactured by or for TI ("TI Devices"). - * No hardware patent is licensed hereunder. - * - * Redistributions must preserve existing copyright notices and reproduce this license - * (including the above copyright notice and the disclaimer and (if applicable) source - * code license limitations below) in the documentation and/or other materials provided - * with the distribution - * - * Redistribution and use in binary form, without modification, are permitted provided - * that the following conditions are met: - * - * * No reverse engineering, decompilation, or disassembly of this software is - * permitted with respect to any software provided in binary form. - * - * * any redistribution and use are licensed by TI for use only with TI Devices. - * - * * Nothing shall obligate TI to provide you with source code for the software - * licensed and provided to you in appCntxtect code. - * - * If software source code is provided to you, modification and redistribution of the - * source code are permitted provided that the following conditions are met: - * - * * any redistribution and use of the source code, including any resulting derivative - * works, are licensed by TI for use only with TI Devices. - * - * * any redistribution and use of any appCntxtect code compiled from the source code - * and any resulting derivative works, are licensed by TI for use only with TI Devices. - * - * Neither the name of Texas Instruments Incorporated nor the names of its suppliers - * - * may be used to endorse or promote products derived from this software without - * specific prior written permission. - * - * DISCLAIMER. - * - * THIS SOFTWARE IS PROVIDED BY TI AND TI'S LICENSORS "AS IS" AND ANY EXPRESS - * OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES - * OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. - * IN NO EVENT SHALL TI AND TI'S LICENSORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, - * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY - * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE - * OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED - * OF THE POSSIBILITY OF SUCH DAMAGE. - * - */ - -#include -#include -#include -#include - -#include - -#include -#include - - -VisLocNode::VisLocNode(ros::NodeHandle &nodeHdl, - ros::NodeHandle &privNodeHdl): - m_nodeHdl(nodeHdl), - m_privNodeHdl(privNodeHdl), - m_imgTrans(new ImgTrans(nodeHdl)) -{ - bool status; - vx_status vxStatus; - - // Initialize the CNN context - vxStatus = this->init(); - - if (vxStatus != (vx_status)VX_SUCCESS) - { - ROS_INFO("Application Initialization failed."); - exit(-1); - } - - // Cache the input and output image sizes - m_inputImgWidth = m_cntxt->inputImageWidth; - m_inputImgHeight = m_cntxt->inputImageHeight; - m_outImgWidth = m_cntxt->outImageWidth; - m_outImgHeight = m_cntxt->outImageHeight; - - // launch the publisher threads - auto pubThread = std::thread([this]{publisherThread();}); - pubThread.detach(); -} - -void VisLocNode::setupInputImgSubscribers() -{ - std::string topicName; - bool status; - - // Query the topicname to subscribe to - status = m_privNodeHdl.getParam("input_topic", topicName); - - if (status == false) - { - ROS_INFO("Config parameter 'input_topic' not found."); - exit(-1); - } - - m_sub = new ImgSub(m_nodeHdl, topicName, 1); - - if (m_sub == nullptr) - { - ROS_ERROR("new ImgSub() failed."); - exit(-1); - } - - m_conObj = m_sub->registerCallback(&VisLocNode::imgCb, this); - - ROS_INFO_STREAM("Subscribed to the topic: " << topicName); -} - -void VisLocNode::publisherThread() -{ - std::string outImgTopic; - std::string outPoseTopic; - std::string mapTopic; - - bool status; - bool latch = true; - - uint32_t i; - uint32_t offset; - - /**************************/ - /* Output image publisher */ - /**************************/ - // Query the topic name to publish the output image. - status = m_privNodeHdl.getParam("out_image_topic", outImgTopic); - if (status == false) - { - ROS_ERROR("Config parameter 'out_image_topic' not found."); - exit(-1); - } - - // Pre-allocate vectors used for publishing out image data - m_outImageSize = 3 * m_outImgWidth * m_outImgHeight; - m_outPubData.data.assign(m_outImageSize, 0); - - // Set out image topic header - m_outPubData.width = m_outImgWidth; - m_outPubData.height = m_outImgHeight; - m_outPubData.step = m_outImgWidth * 3; - m_outPubData.encoding = "rgb8"; - m_outPubData.header.frame_id = "map"; - - // Create the publisher for the output image - m_outImgPub = m_imgTrans->advertise(outImgTopic, latch); - ROS_INFO_STREAM("Created Publisher for topic: " << outImgTopic); - - - /*************************/ - /* Output pose publisher */ - /*************************/ - status = m_privNodeHdl.getParam("out_pose_topic", outPoseTopic); - if (status == false) - { - ROS_ERROR("Config parameter 'out_pose_topic' not found."); - exit(-1); - } - - m_outPose = new double[3]; - m_outQuaternion = new double[4]; - - // Create the publisher for the output pose - m_posePub = m_nodeHdl.advertise(outPoseTopic, 1); - ROS_INFO_STREAM("Created Publisher for topic: " << outPoseTopic); - - /*************************/ - /* Offline map topic */ - /*************************/ - status = m_privNodeHdl.getParam("map_topic", mapTopic); - if (status == false) - { - ROS_ERROR("Config parameter 'map_topic' not found."); - exit(-1); - } - - m_mapSize = m_cntxt->poseCalcCreateParams.numMapFeat * 12; // float32 * (x, y, z) - m_mapPubData.data.assign(m_mapSize, 0); - - // Set map topic's header - m_mapPubData.header.frame_id = "map"; - m_mapPubData.height = 1; - m_mapPubData.width = m_cntxt->poseCalcCreateParams.numMapFeat; - m_mapPubData.fields.resize(3); - - // In the map data, z and y are switched - m_mapPubData.fields[0].name = "x"; - m_mapPubData.fields[1].name = "z"; - m_mapPubData.fields[2].name = "y"; - - offset = 0; - for(i = 0; i < 3; i++) - { - m_mapPubData.fields[i].offset = offset; - m_mapPubData.fields[i].datatype = 7; // float32 - m_mapPubData.fields[i].count = 1; - offset += 4; - } - - m_mapPubData.is_bigendian = false; - m_mapPubData.point_step = offset; - m_mapPubData.row_step = m_mapPubData.width*m_mapPubData.point_step; - m_mapPubData.is_dense = 1; - - // Create the publisher for the offline map - m_mapPub = m_nodeHdl.advertise(mapTopic, 1); - ROS_INFO_STREAM("Created Publisher for topic: " << mapTopic); - - // setup input subscribers - setupInputImgSubscribers(); - - processCompleteEvtHdlr(); - - m_outImgPub.shutdown(); - m_posePub.shutdown(); - m_mapPub.shutdown(); -} - -void VisLocNode::imgCb(const ImageConstPtr& imgPtr) -{ - if (m_cntxt->state == VISLOC_STATE_INIT) - { - VISLOC_run(m_cntxt, imgPtr->data.data(), imgPtr->header.stamp.toNSec()); - } - else - { - m_conObj.disconnect(); - } -} - -void VisLocNode::processCompleteEvtHdlr() -{ - PoseStamped outPose; - - vx_status vxStatus = VX_SUCCESS; - int32_t i; - FILE *fp; - - ROS_INFO("%s Launched.", __FUNCTION__); - - // Set out pose topic's header - // frame_id is same as m_mapPubData frame id - outPose.header.frame_id = "map"; - - // Read map file - fp = fopen(m_cntxt->poseCalcCreateParams.inputMapFeatPtPath,"rb"); - if(fp == NULL) - { - ROS_ERROR("input Map file cannot be opened \n"); - } else - { - int32_t data_read = fread((void *)m_mapPubData.data.data(), 1, m_mapPubData.width*m_mapPubData.point_step, fp); - float32_t * temp = (float32_t *)m_mapPubData.data.data(); - - // In map data, the sign of Z is flipped - for (i = 0; i < m_mapPubData.width; i++) - { - temp[i*3 + 1] = -temp[i*3 + 1]; - } - } - fclose(fp); - - while (m_cntxt->exitOutputThread == false) - { - vx_status vxStatus; - - /* Wait for the data ready semaphore. */ - if (m_cntxt->outputCtrlSem) - { - m_cntxt->outputCtrlSem->wait(); - } - - if (m_cntxt->exitOutputThread == true) - { - break; - } - - VISLOC_getOutBuff(m_cntxt, - &m_cntxt->vxInputDisplayImage, - &m_cntxt->vxOutputImage, - &m_cntxt->vxOutputPose, - &m_cntxt->outTimestamp); - - // Extract output image data - vxStatus = CM_extractImageData(m_outPubData.data.data(), - m_cntxt->vxOutputImage, - m_outPubData.width, - m_outPubData.height, - 2, - true); - - if (vxStatus != (vx_status)VX_SUCCESS) - { - ROS_ERROR("CM_extractImageData() failed."); - } - - // Extract pose data - vxStatus = VISLOC_extractPoseData(m_outPose, - m_outQuaternion, - m_cntxt->vxOutputPose); - - if (vxStatus != (vx_status)VX_SUCCESS) - { - ROS_ERROR("VISLOC_extractPoseData() failed."); - } - - // Release the output buffers - VISLOC_releaseOutBuff(m_cntxt); - - if (vxStatus == (vx_status)VX_SUCCESS) - { - ros::Time time; - time.fromNSec(m_cntxt->outTimestamp); - - // Publish output image - m_outPubData.header.stamp = time; - m_outImgPub.publish(m_outPubData); - - // Publish pose data - outPose.header.stamp = time; - - outPose.pose.position.x = m_outPose[0]; - outPose.pose.position.y = m_outPose[1]; - outPose.pose.position.z = m_outPose[2]; - outPose.pose.orientation.x = m_outQuaternion[0]; - outPose.pose.orientation.y = m_outQuaternion[1]; - outPose.pose.orientation.z = m_outQuaternion[2]; - outPose.pose.orientation.w = m_outQuaternion[3]; - - m_posePub.publish(outPose); - - // Publish map data - m_mapPubData.header.stamp = time; - m_mapPub.publish(m_mapPubData); - } - } - - ROS_INFO("%s Exiting.", __FUNCTION__); -} - -VisLocNode::~VisLocNode() -{ - if (m_outPose) - { - delete [] m_outPose; - } - - if (m_outQuaternion) - { - delete [] m_outQuaternion; - } - - if (m_imgTrans) - { - delete m_imgTrans; - } - - if (m_sub) - { - delete m_sub; - } - - if (m_cntxt) - { - delete m_cntxt; - } -} - -void VisLocNode::readParams() -{ - std::string str; - bool status; - int32_t tmp; - - // set default parameters - m_cntxt->ldcSsFactor = VISLOC_LDC_DS_FACTOR; - m_cntxt->ldcBlockWidth = VISLOC_LDC_BLOCK_WIDTH; - m_cntxt->ldcBlockHeight = VISLOC_LDC_BLOCK_HEIGHT; - m_cntxt->ldcPixelPad = VISLOC_LDC_PIXEL_PAD; - m_cntxt->vxEvtAppValBase = 0; - - /* Get input format, which enable flag of LDC depends on */ - m_privNodeHdl.param("input_format", tmp, (int32_t)CM_IMG_FORMAT_UYVY); - m_cntxt->inputFormat = (uint8_t)tmp; - if (m_cntxt->inputFormat != CM_IMG_FORMAT_NV12 && m_cntxt->inputFormat != CM_IMG_FORMAT_UYVY) - { - ROS_INFO("Input image format is not supported."); - exit(-1); - } - m_cntxt->enableLdcNode = (m_cntxt->inputFormat == CM_IMG_FORMAT_UYVY); - - /* Get LUT file path information. */ - status = m_privNodeHdl.getParam("lut_file_path", str); - if (status == false) - { - ROS_INFO("Config parameter 'lut_file_path' not found."); - exit(-1); - } - - snprintf(m_cntxt->ldcLutFilePath, CM_MAX_FILE_LEN-1, "%s", str.c_str()); - - /* Get TIDL network path information. */ - status = m_privNodeHdl.getParam("dl_model_path", str); - if (status == false) - { - ROS_INFO("Config parameter 'dl_model_path' not found."); - exit(-1); - } - - snprintf(m_cntxt->dlModelPath, CM_MAX_FILE_LEN-1, "%s", str.c_str()); - - /* Get top-down view image path. */ - status = m_privNodeHdl.getParam("top_view_img_path", str); - if (status == false) - { - ROS_INFO("Config parameter 'top_view_img_path' not found."); - exit(-1); - } - - snprintf(m_cntxt->poseVizCreateParams.topViewImgPath, CM_MAX_FILE_LEN-1, "%s", str.c_str()); - - /* Get input voxel info path. */ - status = m_privNodeHdl.getParam("input_voxel_info_path", str); - if (status == false) - { - ROS_INFO("Config parameter 'input_voxel_info_path' not found."); - exit(-1); - } - - snprintf(m_cntxt->poseCalcCreateParams.inputVoxelInfoPath, CM_MAX_FILE_LEN-1, "%s", str.c_str()); - - /* Get input map feature points path. */ - status = m_privNodeHdl.getParam("input_map_feat_pt_path", str); - if (status == false) - { - ROS_INFO("Config parameter 'input_map_feat_pt_path' not found."); - exit(-1); - } - - snprintf(m_cntxt->poseCalcCreateParams.inputMapFeatPtPath, CM_MAX_FILE_LEN-1, "%s", str.c_str()); - - /* Get input map feature descriptor path. */ - status = m_privNodeHdl.getParam("input_map_feat_desc_path", str); - if (status == false) - { - ROS_INFO("Config parameter 'input_map_feat_desc_path' not found."); - exit(-1); - } - - snprintf(m_cntxt->poseCalcCreateParams.inputMapFeatDescPath, CM_MAX_FILE_LEN-1, "%s", str.c_str()); - - /* Get input map upsampling weigth path. */ - status = m_privNodeHdl.getParam("input_upsample_wt_path", str); - if (status == false) - { - ROS_INFO("Config parameter 'input_upsample_wt_path' not found."); - exit(-1); - } - - snprintf(m_cntxt->poseCalcCreateParams.inputUpsampleWtPath, CM_MAX_FILE_LEN-1, "%s", str.c_str()); - - /* Get input map upsampling bias path. */ - status = m_privNodeHdl.getParam("input_upsample_bias_path", str); - if (status == false) - { - ROS_INFO("Config parameter 'input_upsample_bias_path' not found."); - exit(-1); - } - - snprintf(m_cntxt->poseCalcCreateParams.inputUpsampleBiasPath, CM_MAX_LINE_LEN-1, "%s", str.c_str()); - - - /* Get input image width information. */ - m_privNodeHdl.param("width", m_cntxt->inputImageWidth, VISLOC_DEFAULT_IMAGE_WIDTH); - - /* Get input image height information. */ - m_privNodeHdl.param("height", m_cntxt->inputImageHeight, VISLOC_DEFAULT_IMAGE_HEIGHT); - - /* Get input TIDL output image width information. */ - m_privNodeHdl.param("out_width", m_cntxt->outImageWidth, VISLOC_DEFAULT_IMAGE_WIDTH); - - /* Get input TIDL output image height information. */ - m_privNodeHdl.param("out_height", m_cntxt->outImageHeight, VISLOC_DEFAULT_IMAGE_HEIGHT); - - /* Get number of voxels */ - m_privNodeHdl.param("num_voxels", m_cntxt->poseCalcCreateParams.numVoxels, 111556); - - /* Get number of features in a map */ - m_privNodeHdl.param("num_map_feat", m_cntxt->poseCalcCreateParams.numMapFeat, 13718); - - /* Get max number of frame features */ - m_privNodeHdl.param("max_map_feat", m_cntxt->poseCalcCreateParams.maxMapFeat, 5000); - - /* Get max number of map features */ - m_privNodeHdl.param("max_frame_feat", m_cntxt->poseCalcCreateParams.maxFrameFeat, 1000); - - /* Get score threshold for picking good points */ - m_privNodeHdl.param("score_th", m_cntxt->poseCalcCreateParams.scoreTh, 128); - - - /* Get initial pose estimate used in campling the map data */ - std::vector pose = {0.0, 0.0, 0.0}; - pose = m_privNodeHdl.param("init_pose_est", pose); - - m_cntxt->poseCalcCreateParams.initPoseEst[0] = pose[0]; - m_cntxt->poseCalcCreateParams.initPoseEst[1] = pose[1]; - m_cntxt->poseCalcCreateParams.initPoseEst[2] = pose[2]; - - /* Calculate pose for every frame */ - m_cntxt->poseCalcCreateParams.skipFlag = 0; - - /* Get upsampling filter scale in power of 2 */ - m_privNodeHdl.param("filter_scale_pw2", m_cntxt->poseCalcCreateParams.filterScalePw2, 0); - - /* Get output descriptor (at original resolution) scale in power of 2 */ - m_privNodeHdl.param("hi_res_desc_scale_pw2", m_cntxt->poseCalcCreateParams.hiResDescScalePw2, 0); - - /* Get interactive mode flag information. */ - m_privNodeHdl.param("is_interactive", tmp, 0); - m_cntxt->is_interactive = (uint8_t)tmp; - - /* Get pipeline depth information. */ - m_privNodeHdl.param("pipeline_depth", tmp, 1); - m_cntxt->pipelineDepth = (uint8_t)tmp; - - /* Get graph export flag information. */ - m_privNodeHdl.param("exportGraph", tmp, 0); - m_cntxt->exportGraph = (uint8_t)tmp; - - /* Get perf export flag information. */ - m_privNodeHdl.param("exportPerfStats", tmp, 0); - m_cntxt->exportPerfStats = (uint8_t)tmp; - - /* Get real-time logging enable information. */ - m_privNodeHdl.param("rtLogEnable", tmp, 0); - m_cntxt->rtLogEnable = (uint8_t)tmp; - - /* set the ti_logger level */ - m_privNodeHdl.param("log_level", tmp, static_cast(ERROR)); - logSetLevel((LogLevel) tmp); - - return; -} - -vx_status VisLocNode::init() -{ - PTK_CRT ptkConfig; - vx_status vxStatus = VX_SUCCESS; - - /* Initialize PTK library. */ - ptkConfig.exit = exit; - ptkConfig.printf = printf; - ptkConfig.time = NULL; - - PTK_init(&ptkConfig); - - m_cntxt = new VISLOC_Context(); - - if (m_cntxt == nullptr) - { - ROS_ERROR("VISLOC_Context() failed."); - vxStatus = VX_FAILURE; - } - - if (vxStatus == (vx_status)VX_SUCCESS) - { - /* Read the node parameters. */ - readParams(); - - /* Initialize the Application context */ - vxStatus = VISLOC_init(m_cntxt); - - if (vxStatus != (vx_status)VX_SUCCESS) - { - ROS_ERROR("VISLOC_init() failed."); - } - } - - if (vxStatus == (vx_status)VX_SUCCESS) - { - /* Launch processing threads. */ - VISLOC_launchProcThreads(m_cntxt); - } - - return vxStatus; -} - -void VisLocNode::sigHandler(int32_t sig) -{ - (void)sig; - - if (m_cntxt) - { - VISLOC_intSigHandler(m_cntxt); - } -} diff --git a/ros1/nodes/ti_vl/src/visloc_node.h b/ros1/nodes/ti_vl/src/visloc_node.h deleted file mode 100644 index f520ed4..0000000 --- a/ros1/nodes/ti_vl/src/visloc_node.h +++ /dev/null @@ -1,154 +0,0 @@ -/* - * - * Copyright (c) 2021 Texas Instruments Incorporated - * - * All rights reserved not granted herein. - * - * Limited License. - * - * Texas Instruments Incorporated grants a world-wide, royalty-free, non-exclusive - * license under copyrights and patents it now or hereafter owns or controls to make, - * have made, use, import, offer to sell and sell ("Utilize") this software subject to the - * terms herein. With respect to the foregoing patent license, such license is granted - * solely to the extent that any such patent is necessary to Utilize the software alone. - * The patent license shall not apply to any combinations which include this software, - * other than combinations with devices manufactured by or for TI ("TI Devices"). - * No hardware patent is licensed hereunder. - * - * Redistributions must preserve existing copyright notices and reproduce this license - * (including the above copyright notice and the disclaimer and (if applicable) source - * code license limitations below) in the documentation and/or other materials provided - * with the distribution - * - * Redistribution and use in binary form, without modification, are permitted provided - * that the following conditions are met: - * - * * No reverse engineering, decompilation, or disassembly of this software is - * permitted with respect to any software provided in binary form. - * - * * any redistribution and use are licensed by TI for use only with TI Devices. - * - * * Nothing shall obligate TI to provide you with source code for the software - * licensed and provided to you in object code. - * - * If software source code is provided to you, modification and redistribution of the - * source code are permitted provided that the following conditions are met: - * - * * any redistribution and use of the source code, including any resulting derivative - * works, are licensed by TI for use only with TI Devices. - * - * * any redistribution and use of any object code compiled from the source code - * and any resulting derivative works, are licensed by TI for use only with TI Devices. - * - * Neither the name of Texas Instruments Incorporated nor the names of its suppliers - * - * may be used to endorse or promote products derived from this software without - * specific prior written permission. - * - * DISCLAIMER. - * - * THIS SOFTWARE IS PROVIDED BY TI AND TI'S LICENSORS "AS IS" AND ANY EXPRESS - * OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES - * OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. - * IN NO EVENT SHALL TI AND TI'S LICENSORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, - * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY - * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE - * OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED - * OF THE POSSIBILITY OF SUCH DAMAGE. - * - */ -#ifndef _APP_VISLOC_NODE_H_ -#define _APP_VISLOC_NODE_H_ - -#include -#include - -#include -#include -#include -#include -#include -#include - -#include - -using namespace sensor_msgs; -using namespace geometry_msgs; -using namespace message_filters; - -class VisLocNode -{ - using ImgSub = message_filters::Subscriber; - using ImgPub = image_transport::Publisher; - using ImgTrans = image_transport::ImageTransport; - using SubCon = message_filters::Connection; - - public: - VisLocNode(ros::NodeHandle &nodeHdl, - ros::NodeHandle &privNodeHdl); - ~VisLocNode(); - void sigHandler(int32_t sig); - - private: - vx_status init(); - void readParams(); - void imgCb(const ImageConstPtr& imgPtr); - void setupInputImgSubscribers(); - void publisherThread(); - void processCompleteEvtHdlr(); - - private: - /** Visual localization app context */ - VISLOC_Context *m_cntxt{}; - /** Input image topic subscriber */ - ImgSub *m_sub{}; - /** Image transport to publish output image */ - ImgTrans *m_imgTrans{}; - - /** Output position from a graph */ - double *m_outPose{}; - /** Output quaternion from a graph */ - double *m_outQuaternion{}; - - /** Frame feature data from a graph */ - uint8_t *m_frmFeatData; - - ros::NodeHandle &m_nodeHdl; - ros::NodeHandle &m_privNodeHdl; - SubCon m_conObj; - - std::thread m_subThread; - std::thread m_pubThread; - - /** Publisher for output image */ - ImgPub m_outImgPub; - /** Publisher for output pose */ - ros::Publisher m_posePub; - /** Publisher for offline map data */ - ros::Publisher m_mapPub; - - /** Input topic image width */ - uint32_t m_inputImgWidth; - /** Input topic image height */ - uint32_t m_inputImgHeight; - /** Output image width */ - uint32_t m_outImgWidth; - /** Output image width */ - uint32_t m_outImgHeight; - - /** Output image data to be published */ - Image m_outPubData; - - /** Offline map data to be published */ - PointCloud2 m_mapPubData; - - /** Output image data size */ - uint32_t m_outImageSize; - /** offline map size */ - uint32_t m_mapSize; -}; - -#endif /* _APP_VISLOC_NODE_H_ */ - diff --git a/ros1/slam/README.md b/ros1/slam/README.md deleted file mode 100644 index c0f10f6..0000000 --- a/ros1/slam/README.md +++ /dev/null @@ -1,69 +0,0 @@ -Hector SLAM Application -======================== - -![](docs/hector_2d_map_rviz.png) -
Figure 1. 2D Lidar map using Hector SLAM
-
- -SLAM (Simultaneous Localization and Mapping) is a critical technology in Robotics applications. It helps map unknown environment and localize a robot using a pre-built map. There are many open-source SLAM algorithms with camera and 2D/3D Lidar and they can run on J7 in Docker container. For example, in this demo, it is demonstrated how to build and run Hector SLAM on J7 in Docker container. 2D Lidar data, which was collected from TurtleBot3 is provided for this demo. - -Figure 1 shows the output map by Hector SLAM on the 2D Lidar data from TurtleBot3. For more details on Hector SLAM, please refer to [http://wiki.ros.org/hector_slam](http://wiki.ros.org/hector_slam). - -## How to Run the Hector SLAM Application - -### Run the Hector SLAM on J7 - -1. Download 2D Lidar data. - ``` - root@am6x-sk:~/j7ros_home$ make lidar2d_download - ``` - 2D Lidar data is saved in $HOME/j7ros_home/data/lidar2d. - -2. Clone the Hector SLAM git repository. Run the followings on the J7 host Linux: - ``` - root@am6x-sk:~/j7ros_home$ export SLAM_ROOT=/opt/robotics_sdk/ros1/slam - root@am6x-sk:~/j7ros_home$ $SLAM_ROOT/j7_setup_hector_slam.sh - ``` - It clones the Hector SLAM git repository and applies the patch to run it on the 2D Lidar data provided. - -3. Launch the Docker image. For setting up the ROS 1 environment on J7 host, please follow [Docker Setup for ROS 1](../../docker/setting_docker_ros1.md). - ``` - root@am6x-sk:~/j7ros_home$ ./docker_run_ros1.sh - ``` - -4. Compile the Hector SLAM inside the Docker container: - ``` - root@am6x-sk:~/j7ros_home/ros_ws$ catkin_make --source /opt/robotics_sdk/ros1 --force-cmake - ``` - -5. Run the hector SLAM - ``` - root@am6x-sk:~/j7ros_home/ros_ws$ roslaunch hector_slam_launch tutorial_j7.launch - ``` - -### Visualize map and pose on Ubuntu PC - -For setting up the ROS 1 environment on the remote PC, please follow [Docker Setup for ROS 1](../../docker/setting_docker_ros1.md). - -1. As done on the J7 host Linux, clone the Hector SLAM git repository: - ``` - user@pc:~/j7ros_home$ export SLAM_ROOT=$HOME/j7ros_home/ros_ws/src/robotics_sdk/ros1/slam - user@pc:~/j7ros_home$ $SLAM_ROOT/j7_setup_hector_slam.sh - ``` - -2. Launch the Docker image. - ``` - user@pc:~/j7ros_home$ ./docker_run_ros1.sh - ``` - -3. Compile the Hector SLAM: - ``` - root@pc-docker:~/j7ros_home/ros_ws$ catkin_make --source ./src/robotics_sdk/ros1/slam/hector_slam - ``` - -4. To display map and pose, run: - ``` - root@pc-docker:~/j7ros_home/ros_ws$ roslaunch hector_slam_launch map_rviz.launch - ``` - - diff --git a/ros1/slam/docs/hector_2d_map_rviz.png b/ros1/slam/docs/hector_2d_map_rviz.png deleted file mode 100644 index 0668beab57edc20386f75cc285a61e0a1c4a0800..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 234270 zcmZU41yoeq_dg*ZQYunXDy4LHsDvP;Al)&H2+YtOBHbNBs+35BbTf2~bPPSf&<(@D z0Ds=|y|upY_djdhIp^Lv_uhT>-siLT*=OIdcWQ4)?mfPTg@r|;q$sC>g+=fg3+s;P zUHscC8)NOVx78h|*GeDm-WKn>mZ7)jG|uw6&YEB=XE!rP02UAgwgYfESvUd!Ag7OD z=Y8B(X)LTKSW0rQKDcM>%)7Zint*p7?(cv+_k(`hY&3J+Wv2{(_KZCoPvUHW=*M&g z>Pyfw`F9mJck_m13uO0MS*9Nqt1Srzpyll$q<{#pKiFRk9- z4OE7+mKS#*iJ={B!DazJCo`{U5n>;1IQ|fF!=9Y}1xExl5L}QVYe5wj`d8^ys^YXy z2YGvAJ}wl$;Nu%PKfl0Cn*^aW;6Y{ z0o%IR2u(Iq05#ff&9f~U*sPKIn?6VVDo&zW>(K@mTK($qo=TNDkVw8Yj%n3QIed58 zR(P@u-g`l^T>-bHsHrJ|xPwYRPJDjAwY3DOFQ4On9v(6jY~~gVt`hJVGiC)(hs|4+ 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file mode 100644 -index 0000000..dc21e43 ---- /dev/null -+++ b/hector_slam_launch/launch/map_rviz.launch -@@ -0,0 +1,6 @@ -+ -+ -+ -+ -+ -diff --git a/hector_slam_launch/launch/scuttle_slam.launch b/hector_slam_launch/launch/scuttle_slam.launch -new file mode 100644 -index 0000000..8a0e650 ---- /dev/null -+++ b/hector_slam_launch/launch/scuttle_slam.launch -@@ -0,0 +1,19 @@ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -diff --git a/hector_slam_launch/launch/tutorial_j7.launch b/hector_slam_launch/launch/tutorial_j7.launch -new file mode 100644 -index 0000000..9773612 ---- /dev/null -+++ b/hector_slam_launch/launch/tutorial_j7.launch -@@ -0,0 +1,17 @@ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ -+ diff --git a/ros2/drivers/mono_capture/launch/mono_capture_launch.py b/ros2/drivers/mono_capture/launch/mono_capture_launch.py index 5e0d022..64b0b05 100644 --- a/ros2/drivers/mono_capture/launch/mono_capture_launch.py +++ b/ros2/drivers/mono_capture/launch/mono_capture_launch.py @@ -16,7 +16,7 @@ def finalize_node(context, *args, **kwargs): model_str = LaunchConfiguration("model_str").perform(context) camera_mode = LaunchConfiguration("camera_mode").perform(context) - camera_info_base = "/opt/robotics_sdk/ros1/drivers/mono_capture/config" + camera_info_base = os.path.join(os.getenv('SDK_DIR', '/opt/robotics_sdk'), 'tools', 'camera_info') camera_info_yaml = "file://" + os.path.join(camera_info_base, model_str+"_"+camera_mode+"_camera_info.yaml") topic_ns = LaunchConfiguration("topic_ns").perform(context) diff --git a/ros2/drivers/zed_capture/launch/zed_capture_launch.py b/ros2/drivers/zed_capture/launch/zed_capture_launch.py index 4929988..f97c4fe 100644 --- a/ros2/drivers/zed_capture/launch/zed_capture_launch.py +++ b/ros2/drivers/zed_capture/launch/zed_capture_launch.py @@ -16,7 +16,7 @@ def finalize_node(context, *args, **kwargs): device_name = "/dev/video-usb-cam" + LaunchConfiguration('cam_id').perform(context) zed_sn_str = LaunchConfiguration("zed_sn_str").perform(context) camera_mode = LaunchConfiguration("camera_mode").perform(context) - camera_info_base = "/opt/robotics_sdk/ros1/drivers/zed_capture/config" + camera_info_base = os.path.join(os.getenv('SDK_DIR', '/opt/robotics_sdk'), 'tools', 'camera_info') camera_info_left_yaml = "file://" + os.path.join(camera_info_base, zed_sn_str+"_"+camera_mode+"_camera_info_left.yaml") camera_info_right_yaml = "file://" + os.path.join(camera_info_base, zed_sn_str+"_"+camera_mode+"_camera_info_right.yaml") diff --git a/ros2/drivers/zed_capture/launch/zed_capture_remap_launch.py b/ros2/drivers/zed_capture/launch/zed_capture_remap_launch.py index f85b898..d417a35 100644 --- a/ros2/drivers/zed_capture/launch/zed_capture_remap_launch.py +++ b/ros2/drivers/zed_capture/launch/zed_capture_remap_launch.py @@ -16,7 +16,7 @@ def finalize_node(context, *args, **kwargs): device_name = "/dev/video-usb-cam" + LaunchConfiguration('cam_id').perform(context) zed_sn_str = LaunchConfiguration("zed_sn_str").perform(context) camera_mode = LaunchConfiguration("camera_mode").perform(context) - camera_info_base = "/opt/robotics_sdk/ros1/drivers/zed_capture/config" + camera_info_base = os.path.join(os.getenv('SDK_DIR', '/opt/robotics_sdk'), 'tools', 'camera_info') camera_info_left_yaml = "file://" + os.path.join(camera_info_base, zed_sn_str+"_"+camera_mode+"_camera_info_left.yaml") camera_info_right_yaml = "file://" + os.path.join(camera_info_base, zed_sn_str+"_"+camera_mode+"_camera_info_right.yaml") diff --git a/ros2/nodes/ti_estop/launch/estop_launch.py b/ros2/nodes/ti_estop/launch/estop_launch.py index ebd8829..ca05594 100644 --- a/ros2/nodes/ti_estop/launch/estop_launch.py +++ b/ros2/nodes/ti_estop/launch/estop_launch.py @@ -11,7 +11,7 @@ def finalize_node(context, *args, **kwargs): zed_sn = LaunchConfiguration("zed_sn").perform(context) dl_model_path = "/opt/model_zoo/ONR-SS-7618-deeplabv3lite-mobv2-qat-robokit-768x432" - lut_folder = "/opt/robotics_sdk/ros1/drivers/zed_capture/config" + lut_folder = os.path.join(os.getenv('SDK_DIR', '/opt/robotics_sdk'), 'tools', 'camera_info') left_lut_file_path = os.path.join(lut_folder, zed_sn+"_HD_LUT_left.bin") right_lut_file_path = os.path.join(lut_folder, zed_sn+"_HD_LUT_right.bin") diff --git a/ros2/nodes/ti_estop/test/estop_golden_ref_check.py b/ros2/nodes/ti_estop/test/estop_golden_ref_check.py index ce94d72..43cb8a4 100644 --- a/ros2/nodes/ti_estop/test/estop_golden_ref_check.py +++ b/ros2/nodes/ti_estop/test/estop_golden_ref_check.py @@ -30,7 +30,7 @@ # (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE # OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - +import os from rosbags.rosbag2 import Reader from rosbags.serde import deserialize_cdr from rosbags.typesys import get_types_from_msg, register_types diff --git a/ros2/nodes/ti_objdet_radar/launch/objdet_radar_launch.py b/ros2/nodes/ti_objdet_radar/launch/objdet_radar_launch.py index 4da46c5..a06353f 100644 --- a/ros2/nodes/ti_objdet_radar/launch/objdet_radar_launch.py +++ b/ros2/nodes/ti_objdet_radar/launch/objdet_radar_launch.py @@ -10,7 +10,8 @@ # Input image format: 0 - VX_DF_IMAGE_U8, 1 - VX_DF_IMAGE_NV12, 2 - VX_DF_IMAGE_UYVY image_format = 1 enable_ldc_node = 1 -lut_file_path = "/opt/robotics_sdk/tools/camera_info/IMX219_HD_LUT.bin" +sdk_dir = os.getenv('SDK_DIR', '/opt/robotics_sdk') +lut_file_path = os.path.join(sdk_dir, 'tools', 'camera_info', 'IMX219_HD_LUT.bin') # path to the DL model soc = os.getenv('SOC') @@ -91,7 +92,7 @@ def generate_launch_description(): 'outout_topic': 'camera/fused_objdet_radar', 'radar_frame_id': 'ti_mmwave_0', 'camera_frame_id': 'camera', - 'camera_info_file': 'file:///opt/robotics_sdk/tools/camera_info/IMX219_HD_camera_info.yaml', + 'camera_info_file': f'file://{sdk_dir}/tools/camera_info/IMX219_HD_camera_info.yaml', 'radar_track_xy_only': True, 'max_sync_offset': LaunchConfiguration('max_sync_offset'), 'use_sim_time': LaunchConfiguration('use_sim_time'), diff --git a/ros2/nodes/ti_objdet_range/launch/objdet_range_launch.py b/ros2/nodes/ti_objdet_range/launch/objdet_range_launch.py index 017a468..98f34c3 100644 --- a/ros2/nodes/ti_objdet_range/launch/objdet_range_launch.py +++ b/ros2/nodes/ti_objdet_range/launch/objdet_range_launch.py @@ -26,7 +26,7 @@ def generate_launch_description(): exportPerfStats_str_arg = DeclareLaunchArgument("exportPerfStats_str", default_value=[LaunchConfiguration('exportPerfStats')]) detVizThreshold_str_arg = DeclareLaunchArgument("detVizThreshold_str", default_value=[LaunchConfiguration('detVizThreshold')]) - lut_folder = "/opt/robotics_sdk/ros1/drivers/zed_capture/config" + lut_folder = os.path.join(os.getenv('SDK_DIR', '/opt/robotics_sdk'), 'tools', 'camera_info') left_lut_file_arg = DeclareLaunchArgument('left_lut_file', default_value=[LaunchConfiguration('zed_sn'), '_HD_LUT_left.bin']) right_lut_file_arg = DeclareLaunchArgument('right_lut_file', default_value=[LaunchConfiguration('zed_sn'), '_HD_LUT_right.bin']) left_lut_file_path = PathJoinSubstitution([lut_folder, LaunchConfiguration('left_lut_file')]) diff --git a/ros2/nodes/ti_sde/launch/sde_launch.py b/ros2/nodes/ti_sde/launch/sde_launch.py index 85505b4..0b76dfb 100644 --- a/ros2/nodes/ti_sde/launch/sde_launch.py +++ b/ros2/nodes/ti_sde/launch/sde_launch.py @@ -14,7 +14,7 @@ def finalize_node(context, *args, **kwargs): print(f"sde_algo_type = {sde_algo_type}") print(f"enable_pc = {enable_pc}") - lut_folder = "/opt/robotics_sdk/ros1/drivers/zed_capture/config" + lut_folder = os.path.join(os.getenv('SDK_DIR', '/opt/robotics_sdk'), 'tools', 'camera_info') left_lut_file_path = os.path.join(lut_folder, zed_sn+"_HD_LUT_left.bin") right_lut_file_path = os.path.join(lut_folder, zed_sn+"_HD_LUT_right.bin") diff --git a/ros2/nodes/ti_sde/launch/sde_pcl_launch.py b/ros2/nodes/ti_sde/launch/sde_pcl_launch.py index 2b43fb8..55a8c0f 100644 --- a/ros2/nodes/ti_sde/launch/sde_pcl_launch.py +++ b/ros2/nodes/ti_sde/launch/sde_pcl_launch.py @@ -14,7 +14,7 @@ def finalize_node(context, *args, **kwargs): print(f"sde_algo_type = {sde_algo_type}") print(f"enable_pc = {enable_pc}") - lut_folder = "/opt/robotics_sdk/ros1/drivers/zed_capture/config" + lut_folder = os.path.join(os.getenv('SDK_DIR', '/opt/robotics_sdk'), 'tools', 'camera_info') left_lut_file_path = os.path.join(lut_folder, zed_sn+"_HD_LUT_left.bin") right_lut_file_path = os.path.join(lut_folder, zed_sn+"_HD_LUT_right.bin") diff --git a/ros2/nodes/ti_vision_cnn/launch/gscam_6dpose_cnn_launch.py b/ros2/nodes/ti_vision_cnn/launch/gscam_6dpose_cnn_launch.py index 8f6db64..7a881a6 100644 --- a/ros2/nodes/ti_vision_cnn/launch/gscam_6dpose_cnn_launch.py +++ b/ros2/nodes/ti_vision_cnn/launch/gscam_6dpose_cnn_launch.py @@ -11,7 +11,7 @@ # Input image format: 0 - VX_DF_IMAGE_U8, 1 - VX_DF_IMAGE_NV12, 2 - VX_DF_IMAGE_UYVY image_format = 1 enable_ldc_node = 0 -lut_file_path = "/opt/robotics_sdk/ros1/drivers/mono_capture/config/C920_HD_LUT.bin" +lut_file_path = os.path.join(os.getenv('SDK_DIR', '/opt/robotics_sdk'), 'tools', 'camera_info', 'C920_HD_LUT.bin') dl_model_path = "/opt/model_zoo/ONR-6DP-7200-yolox-s-6d-object_pose-640x480" def get_launch_file(pkg, file_name): diff --git a/ros2/nodes/ti_vision_cnn/launch/gscam_humanpose_cnn_launch.py b/ros2/nodes/ti_vision_cnn/launch/gscam_humanpose_cnn_launch.py index 14de539..d16b788 100644 --- a/ros2/nodes/ti_vision_cnn/launch/gscam_humanpose_cnn_launch.py +++ b/ros2/nodes/ti_vision_cnn/launch/gscam_humanpose_cnn_launch.py @@ -11,7 +11,7 @@ # Input image format: 0 - VX_DF_IMAGE_U8, 1 - VX_DF_IMAGE_NV12, 2 - VX_DF_IMAGE_UYVY image_format = 1 enable_ldc_node = 0 -lut_file_path = "/opt/robotics_sdk/ros1/drivers/mono_capture/config/C920_HD_LUT.bin" +lut_file_path = os.path.join(os.getenv('SDK_DIR', '/opt/robotics_sdk'), 'tools', 'camera_info', 'C920_HD_LUT.bin') dl_model_path = "/opt/model_zoo/ONR-KD-7060-human-pose-yolox-s-640x640" def get_launch_file(pkg, file_name): diff --git a/ros2/nodes/ti_vision_cnn/launch/gscam_objdet_cnn_imx219_launch.py b/ros2/nodes/ti_vision_cnn/launch/gscam_objdet_cnn_imx219_launch.py index b3b8188..b283faf 100644 --- a/ros2/nodes/ti_vision_cnn/launch/gscam_objdet_cnn_imx219_launch.py +++ b/ros2/nodes/ti_vision_cnn/launch/gscam_objdet_cnn_imx219_launch.py @@ -11,7 +11,7 @@ # Input image format: 0 - VX_DF_IMAGE_U8, 1 - VX_DF_IMAGE_NV12, 2 - VX_DF_IMAGE_UYVY image_format = 1 enable_ldc_node = 1 -lut_file_path = "/opt/robotics_sdk/tools/camera_info/IMX219_HD_LUT.bin" +lut_file_path = os.path.join(os.getenv('SDK_DIR', '/opt/robotics_sdk'), 'tools', 'camera_info', 'IMX219_HD_LUT.bin') # path to the DL model soc = os.getenv('SOC') diff --git a/ros2/nodes/ti_vision_cnn/launch/gscam_objdet_cnn_imx390_launch.py b/ros2/nodes/ti_vision_cnn/launch/gscam_objdet_cnn_imx390_launch.py index f97ff24..6dfa007 100644 --- a/ros2/nodes/ti_vision_cnn/launch/gscam_objdet_cnn_imx390_launch.py +++ b/ros2/nodes/ti_vision_cnn/launch/gscam_objdet_cnn_imx390_launch.py @@ -11,7 +11,7 @@ # Input image format: 0 - VX_DF_IMAGE_U8, 1 - VX_DF_IMAGE_NV12, 2 - VX_DF_IMAGE_UYVY image_format = 1 enable_ldc_node = 1 -lut_file_path = "/opt/robotics_sdk/ros1/drivers/mono_capture/config/C920_HD_LUT.bin" +lut_file_path = os.path.join(os.getenv('SDK_DIR', '/opt/robotics_sdk'), 'tools', 'camera_info', 'C920_HD_LUT.bin') # path to the DL model soc = os.getenv('SOC') diff --git a/ros2/nodes/ti_vision_cnn/launch/gscam_objdet_cnn_launch.py b/ros2/nodes/ti_vision_cnn/launch/gscam_objdet_cnn_launch.py index 500aa6f..7e8522d 100644 --- a/ros2/nodes/ti_vision_cnn/launch/gscam_objdet_cnn_launch.py +++ b/ros2/nodes/ti_vision_cnn/launch/gscam_objdet_cnn_launch.py @@ -11,7 +11,7 @@ # Input image format: 0 - VX_DF_IMAGE_U8, 1 - VX_DF_IMAGE_NV12, 2 - VX_DF_IMAGE_UYVY image_format = 1 enable_ldc_node = 1 -lut_file_path = "/opt/robotics_sdk/ros1/drivers/mono_capture/config/C920_HD_LUT.bin" +lut_file_path = os.path.join(os.getenv('SDK_DIR', '/opt/robotics_sdk'), 'tools', 'camera_info', 'C920_HD_LUT.bin') # path to the DL model soc = os.getenv('SOC') diff --git a/ros2/nodes/ti_vision_cnn/launch/gscam_semseg_cnn_imx219_launch.py b/ros2/nodes/ti_vision_cnn/launch/gscam_semseg_cnn_imx219_launch.py index 0fa3f56..43ff261 100644 --- a/ros2/nodes/ti_vision_cnn/launch/gscam_semseg_cnn_imx219_launch.py +++ b/ros2/nodes/ti_vision_cnn/launch/gscam_semseg_cnn_imx219_launch.py @@ -11,7 +11,7 @@ # Input image format: 0 - VX_DF_IMAGE_U8, 1 - VX_DF_IMAGE_NV12, 2 - VX_DF_IMAGE_UYVY image_format = 1 enable_ldc_node = 1 -lut_file_path = "/opt/robotics_sdk/ros1/drivers/mono_capture/config/C920_HD_LUT.bin" +lut_file_path = os.path.join(os.getenv('SDK_DIR', '/opt/robotics_sdk'), 'tools', 'camera_info', 'C920_HD_LUT.bin') # path to the DL model dl_model_path = "/opt/model_zoo/ONR-SS-7618-deeplabv3lite-mobv2-qat-robokit-768x432" diff --git a/ros2/nodes/ti_vision_cnn/launch/gscam_semseg_cnn_imx390_launch.py b/ros2/nodes/ti_vision_cnn/launch/gscam_semseg_cnn_imx390_launch.py index c282e62..e409d2b 100644 --- a/ros2/nodes/ti_vision_cnn/launch/gscam_semseg_cnn_imx390_launch.py +++ b/ros2/nodes/ti_vision_cnn/launch/gscam_semseg_cnn_imx390_launch.py @@ -11,7 +11,7 @@ # Input image format: 0 - VX_DF_IMAGE_U8, 1 - VX_DF_IMAGE_NV12, 2 - VX_DF_IMAGE_UYVY image_format = 1 enable_ldc_node = 1 -lut_file_path = "/opt/robotics_sdk/ros1/drivers/mono_capture/config/C920_HD_LUT.bin" +lut_file_path = os.path.join(os.getenv('SDK_DIR', '/opt/robotics_sdk'), 'tools', 'camera_info', 'C920_HD_LUT.bin') # path to the DL model dl_model_path = "/opt/model_zoo/ONR-SS-7618-deeplabv3lite-mobv2-qat-robokit-768x432" diff --git a/ros2/nodes/ti_vision_cnn/launch/gscam_semseg_cnn_launch.py b/ros2/nodes/ti_vision_cnn/launch/gscam_semseg_cnn_launch.py index 03daab3..bbdc76e 100644 --- a/ros2/nodes/ti_vision_cnn/launch/gscam_semseg_cnn_launch.py +++ b/ros2/nodes/ti_vision_cnn/launch/gscam_semseg_cnn_launch.py @@ -11,7 +11,7 @@ # Input image format: 0 - VX_DF_IMAGE_U8, 1 - VX_DF_IMAGE_NV12, 2 - VX_DF_IMAGE_UYVY image_format = 1 enable_ldc_node = 1 -lut_file_path = "/opt/robotics_sdk/ros1/drivers/mono_capture/config/C920_HD_LUT.bin" +lut_file_path = os.path.join(os.getenv('SDK_DIR', '/opt/robotics_sdk'), 'tools', 'camera_info', 'C920_HD_LUT.bin') # path to the DL model dl_model_path = "/opt/model_zoo/ONR-SS-7618-deeplabv3lite-mobv2-qat-robokit-768x432" diff --git a/ros2/nodes/ti_vision_cnn/launch/humanpose_cnn_launch.py b/ros2/nodes/ti_vision_cnn/launch/humanpose_cnn_launch.py index 5e52a6b..26debbc 100644 --- a/ros2/nodes/ti_vision_cnn/launch/humanpose_cnn_launch.py +++ b/ros2/nodes/ti_vision_cnn/launch/humanpose_cnn_launch.py @@ -10,7 +10,7 @@ def finalize_node(context, *args, **kwargs): image_format = int(LaunchConfiguration("image_format").perform(context)) zed_sn = LaunchConfiguration("zed_sn").perform(context) - lut_folder = "/opt/robotics_sdk/ros1/drivers/zed_capture/config" + lut_folder = os.path.join(os.getenv('SDK_DIR', '/opt/robotics_sdk'), 'tools', 'camera_info') lut_file_path = os.path.join(lut_folder, zed_sn+"_HD_LUT_right.bin") enable_ldc_node = int(LaunchConfiguration("enable_ldc_node").perform(context)) dl_model_path = LaunchConfiguration("dl_model_path").perform(context) diff --git a/ros2/nodes/ti_vision_cnn/launch/mono_6dpose_cnn_launch.py b/ros2/nodes/ti_vision_cnn/launch/mono_6dpose_cnn_launch.py index ee6e718..0791a18 100644 --- a/ros2/nodes/ti_vision_cnn/launch/mono_6dpose_cnn_launch.py +++ b/ros2/nodes/ti_vision_cnn/launch/mono_6dpose_cnn_launch.py @@ -11,7 +11,7 @@ # Input image format: 0 - VX_DF_IMAGE_U8, 1 - VX_DF_IMAGE_NV12, 2 - VX_DF_IMAGE_UYVY image_format = 2 enable_ldc_node = 1 -lut_file_path = "/opt/robotics_sdk/ros1/drivers/mono_capture/config/C920_HD_LUT.bin" +lut_file_path = os.path.join(os.getenv('SDK_DIR', '/opt/robotics_sdk'), 'tools', 'camera_info', 'C920_HD_LUT.bin') # path to the DL model dl_model_path = "/opt/model_zoo/ONR-6DP-7200-yolox-s-6d-object_pose-640x480" diff --git a/ros2/nodes/ti_vision_cnn/launch/mono_objdet_cnn_launch.py b/ros2/nodes/ti_vision_cnn/launch/mono_objdet_cnn_launch.py index 0f573dd..2e78a5c 100644 --- a/ros2/nodes/ti_vision_cnn/launch/mono_objdet_cnn_launch.py +++ b/ros2/nodes/ti_vision_cnn/launch/mono_objdet_cnn_launch.py @@ -11,7 +11,7 @@ # Input image format: 0 - VX_DF_IMAGE_U8, 1 - VX_DF_IMAGE_NV12, 2 - VX_DF_IMAGE_UYVY image_format = 2 enable_ldc_node = 1 -lut_file_path = "/opt/robotics_sdk/ros1/drivers/mono_capture/config/C920_HD_LUT.bin" +lut_file_path = os.path.join(os.getenv('SDK_DIR', '/opt/robotics_sdk'), 'tools', 'camera_info', 'C920_HD_LUT.bin') # path to the DL model soc = os.getenv('SOC') diff --git a/ros2/nodes/ti_vision_cnn/launch/mono_semseg_cnn_launch.py b/ros2/nodes/ti_vision_cnn/launch/mono_semseg_cnn_launch.py index cea2bf2..2443236 100644 --- a/ros2/nodes/ti_vision_cnn/launch/mono_semseg_cnn_launch.py +++ b/ros2/nodes/ti_vision_cnn/launch/mono_semseg_cnn_launch.py @@ -11,7 +11,7 @@ # Input image format: 0 - VX_DF_IMAGE_U8, 1 - VX_DF_IMAGE_NV12, 2 - VX_DF_IMAGE_UYVY image_format = 2 enable_ldc_node = 1 -lut_file_path = "/opt/robotics_sdk/ros1/drivers/mono_capture/config/C920_HD_LUT.bin" +lut_file_path = os.path.join(os.getenv('SDK_DIR', '/opt/robotics_sdk'), 'tools', 'camera_info', 'C920_HD_LUT.bin') dl_model_path = "/opt/model_zoo/ONR-SS-7618-deeplabv3lite-mobv2-qat-robokit-768x432" def get_launch_file(pkg, file_name): diff --git a/ros2/nodes/ti_vision_cnn/launch/objdet_cnn_launch.py b/ros2/nodes/ti_vision_cnn/launch/objdet_cnn_launch.py index a68e16e..37a3df2 100644 --- a/ros2/nodes/ti_vision_cnn/launch/objdet_cnn_launch.py +++ b/ros2/nodes/ti_vision_cnn/launch/objdet_cnn_launch.py @@ -19,7 +19,7 @@ def finalize_node(context, *args, **kwargs): image_format = int(LaunchConfiguration("image_format").perform(context)) zed_sn = LaunchConfiguration("zed_sn").perform(context) - lut_folder = "/opt/robotics_sdk/ros1/drivers/zed_capture/config" + lut_folder = os.path.join(os.getenv('SDK_DIR', '/opt/robotics_sdk'), 'tools', 'camera_info') lut_file_path = os.path.join(lut_folder, zed_sn+"_HD_LUT_right.bin") enable_ldc_node = int(LaunchConfiguration("enable_ldc_node").perform(context)) dl_model_path = LaunchConfiguration("dl_model_path").perform(context) diff --git a/ros2/nodes/ti_vision_cnn/launch/pose6d_cnn_launch.py b/ros2/nodes/ti_vision_cnn/launch/pose6d_cnn_launch.py index 937eec9..522f232 100644 --- a/ros2/nodes/ti_vision_cnn/launch/pose6d_cnn_launch.py +++ b/ros2/nodes/ti_vision_cnn/launch/pose6d_cnn_launch.py @@ -10,7 +10,7 @@ def finalize_node(context, *args, **kwargs): image_format = int(LaunchConfiguration("image_format").perform(context)) zed_sn = LaunchConfiguration("zed_sn").perform(context) - lut_folder = "/opt/robotics_sdk/ros1/drivers/zed_capture/config" + lut_folder = os.path.join(os.getenv('SDK_DIR', '/opt/robotics_sdk'), 'tools', 'camera_info') lut_file_path = os.path.join(lut_folder, zed_sn+"_HD_LUT_right.bin") enable_ldc_node = int(LaunchConfiguration("enable_ldc_node").perform(context)) dl_model_path = LaunchConfiguration("dl_model_path").perform(context) diff --git a/ros2/nodes/ti_vision_cnn/launch/semseg_cnn_launch.py b/ros2/nodes/ti_vision_cnn/launch/semseg_cnn_launch.py index 4a3a212..78982a3 100644 --- a/ros2/nodes/ti_vision_cnn/launch/semseg_cnn_launch.py +++ b/ros2/nodes/ti_vision_cnn/launch/semseg_cnn_launch.py @@ -10,7 +10,7 @@ def finalize_node(context, *args, **kwargs): image_format = int(LaunchConfiguration("image_format").perform(context)) zed_sn = LaunchConfiguration("zed_sn").perform(context) - lut_folder = "/opt/robotics_sdk/ros1/drivers/zed_capture/config" + lut_folder = os.path.join(os.getenv('SDK_DIR', '/opt/robotics_sdk'), 'tools', 'camera_info') lut_file_path = os.path.join(lut_folder, zed_sn+"_HD_LUT_right.bin") enable_ldc_node = int(LaunchConfiguration("enable_ldc_node").perform(context)) dl_model_path = LaunchConfiguration("dl_model_path").perform(context) diff --git a/ros2/nodes/ti_vision_cnn/launch/zed_objdet_cnn_launch.py b/ros2/nodes/ti_vision_cnn/launch/zed_objdet_cnn_launch.py index 7a1b9bd..41b2d1e 100644 --- a/ros2/nodes/ti_vision_cnn/launch/zed_objdet_cnn_launch.py +++ b/ros2/nodes/ti_vision_cnn/launch/zed_objdet_cnn_launch.py @@ -9,7 +9,7 @@ from launch.substitutions import LaunchConfiguration # Folder that contains camera params -config_dir = "/opt/robotics_sdk/ros1/drivers/zed_capture/config/" +config_dir = os.path.join(os.getenv('SDK_DIR', '/opt/robotics_sdk'), 'tools', 'camera_info') # path to the DL model soc = os.getenv('SOC') @@ -50,7 +50,7 @@ def generate_launch_description(): # ref: https://answers.ros.org/question/384712/ros2-launch-how-to-concatenate-launchconfiguration-with-string/?answer=384740 lut_file_path_arg = DeclareLaunchArgument( - "lut_file_path", default_value=[config_dir, LaunchConfiguration('zed_sn'), "_HD_LUT_right.bin"] + "lut_file_path", default_value=os.path.join(config_dir, LaunchConfiguration('zed_sn') + '_HD_LUT_right.bin') ) # Include OBJDET launch file diff --git a/ros2/nodes/ti_vision_cnn/launch/zed_semseg_cnn_launch.py b/ros2/nodes/ti_vision_cnn/launch/zed_semseg_cnn_launch.py index 488e716..9418f33 100644 --- a/ros2/nodes/ti_vision_cnn/launch/zed_semseg_cnn_launch.py +++ b/ros2/nodes/ti_vision_cnn/launch/zed_semseg_cnn_launch.py @@ -9,7 +9,7 @@ from launch.substitutions import LaunchConfiguration # Folder that contains camera params -config_dir = "/opt/robotics_sdk/ros1/drivers/zed_capture/config/" +config_dir = os.path.join(os.getenv('SDK_DIR', '/opt/robotics_sdk'), 'tools', 'camera_info') def get_launch_file(pkg, file_name): pkg_dir = get_package_share_directory(pkg) @@ -32,7 +32,7 @@ def generate_launch_description(): ) lut_file_path_arg = DeclareLaunchArgument( - "lut_file_path", default_value=[config_dir, LaunchConfiguration('zed_sn'), "_HD_LUT_right.bin"] + "lut_file_path", default_value=os.path.join(config_dir, LaunchConfiguration('zed_sn') + '_HD_LUT_right.bin') ) # Include SEMSEG launch file

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