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authorJuneChul Roh2021-04-27 22:52:14 -0500
committerJuneChul Roh2021-04-27 22:52:14 -0500
commit39c798243bb77f50c18bdcff1b57048bff5b93d9 (patch)
tree87c5302586e26a3b2e9e42e7538e4f37758cf577
parent1be99e98112f0e9f6efddd4d689e267c5e43aa9b (diff)
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REL.00.03.00.05. Updated documentation and cleaned up zed_capture/scriptHEADmaster
-rw-r--r--README.md6
-rw-r--r--drivers/zed_capture/README.md75
-rw-r--r--drivers/zed_capture/config/SN29788442_HD_remap_LUT_left.txt921600
-rw-r--r--drivers/zed_capture/config/SN29788442_HD_remap_LUT_right.txt921600
-rw-r--r--drivers/zed_capture/launch/zed_capture.launch8
-rwxr-xr-xdrivers/zed_capture/script/generate_rect_map.py (renamed from drivers/zed_capture/script/generate_undist_rect_map.py)16
-rw-r--r--nodes/ldc_lut/SN29788442_HD_LUT_left.binbin243264 -> 0 bytes
-rw-r--r--nodes/ldc_lut/SN29788442_HD_LUT_right.binbin243264 -> 0 bytes
-rw-r--r--nodes/ldc_lut/SN5867575_HD_LUT_left.binbin243264 -> 0 bytes
-rw-r--r--nodes/ldc_lut/SN5867575_HD_LUT_right.binbin243264 -> 0 bytes
-rw-r--r--nodes/ti_estop/config/params.yaml4
-rw-r--r--nodes/ti_sde/config/params.yaml4
-rw-r--r--nodes/ti_semseg_cnn/README.md2
-rw-r--r--nodes/ti_semseg_cnn/config/params.yaml2
14 files changed, 60 insertions, 1843257 deletions
diff --git a/README.md b/README.md
index 732ee8a..234acc6 100644
--- a/README.md
+++ b/README.md
@@ -1,8 +1,10 @@
1Robotics Software Development Kit 1Robotics Software Development Kit
2================================= 2=================================
3## Git Repository 3## Git Repository
4[Robotics SDK Git Repository](https://git.ti.com/cgit/processor-sdk-vision/jacinto_ros_perception/about/).
5 4
5[Robotics SDK Git Repository](https://git.ti.com/cgit/processor-sdk-vision/jacinto_ros_perception/about/)
6
7[User Guide Documentation](https://software-dl.ti.com/jacinto7/esd/robotics-sdk/00_03_00_05/docs/index.html)
6## TI OpenVX + ROS Development Framework 8## TI OpenVX + ROS Development Framework
7 9
8![](docker/docs/tiovx_ros_sw_stack.png) 10![](docker/docs/tiovx_ros_sw_stack.png)
@@ -37,7 +39,7 @@ The J721E Processor SDK RTOS 7.3.0 also supports the following open-source deep-
37* TFLite Runtime 39* TFLite Runtime
38* ONNX Runtime 40* ONNX Runtime
39 41
40We provides two demo applications that include a deep-learning model that is implemented on TVM/Neo-AI-DLR runtime library. 42For more details on open-source deep-learning runtime on J7/TDA4x, please check [TI Edge AI Cloud](https://dev.ti.com/edgeai/). We provides two demo applications that include a deep-learning model that is implemented in the TVM/Neo-AI-DLR workflow.
41 43
42## Setting Up Robotics SDK Docker Container Environment on J7 Target 44## Setting Up Robotics SDK Docker Container Environment on J7 Target
43<a href="https://software-dl.ti.com/jacinto7/esd/processor-sdk-rtos-jacinto7/ros_perception/j7ros_docker_readme_00_03_00.pdf" download>Click to Download "j7ros_docker_readme.pdf"</a> 45<a href="https://software-dl.ti.com/jacinto7/esd/processor-sdk-rtos-jacinto7/ros_perception/j7ros_docker_readme_00_03_00.pdf" download>Click to Download "j7ros_docker_readme.pdf"</a>
diff --git a/drivers/zed_capture/README.md b/drivers/zed_capture/README.md
index 5223150..c90389c 100644
--- a/drivers/zed_capture/README.md
+++ b/drivers/zed_capture/README.md
@@ -4,45 +4,38 @@ ZED stereo camera ROS node based on OpenCV VideoCapture API for publishing left
4 4
5## Usage 5## Usage
6 6
71. Obtain the stereo camera calibration data file for your ZED camera (for a particular serial number) with one of two ways described below (already done for `SN29788442` and `SN5867575`): 71. Obtain the stereo camera calibration data file for your ZED camera (with a particular serial number) with one of two ways described below. (TI-Internal: calibration data files are available under `<zed_capture>/config` for `SN5867575` and `SN29788442`).
8 8
9 Find the calibration file in 9 Find the calibration file in `cd /usr/local/zed/settings`, or download it from `http://calib.stereolabs.com/?SN=xxxx`, where `xxxx` is the serial number (SN) of your ZED camera.
10 ```
11 cd /usr/local/zed/settings
12 ```
13 or, download from:
14 http://calib.stereolabs.com/?SN=xxxx
15
16 where xxxx is the serial number (SN) of your ZED camera.
17
18 Place the `SNxxxx.conf` file into `<zed_capture>/config` folder
19 10
20 Update the ZED camera SN string, `zed_sn_str`, in `<zed_capture>/launch/zed_capture.launch` 11 Place the calibration data file (`SNxxxx.conf`) under `<zed_capture>/config`.
21 12
222. Generate `camera_info` YAML files and undistortion & rectification LUT files (already done for `SN29788442` and `SN5867575`) 132. Generate `camera_info` YAML files, and undistortion & rectification look-up-table (LUT) files which are required in offloading the undistortion/rectification computation on J7 VPAC/LDC hardware accelerator.
23 14
24 Run the following script: 15 Run the following script:
25 ``` 16 ```
26 python2 <zed_capture>/script/generate_undist_rect_map.py -i SNxxxx.conf -m <camera_mode> 17 python2 <zed_capture>/script/generate_rect_map.py -i SNxxxx.conf -m <camera_mode>
27 ``` 18 ```
28 where 19 where
29 - `<zed_capture>` is the folder where the ZED camera node is installed (try `roscd zed_capture` to change directory after `catkin_make`), 20 - `<zed_capture>` is the folder where the ZED camera node is installed (try `rospack find zed_capture` after `catkin_make`),
30 - `SNxxxx.conf` is the factory calibration data file obtained from Step 1, and 21 - `SNxxxx.conf` is the factory calibration data file obtained from Step 1, and
31 - `<camera_mode>` is camera mode. Valid `<camera_mode>`: `2K`, `FHD`, `HD`, `HD2`, `VGA` (see ``Launch File Parameters`` section for description). If the `-m` argument is not provided, by default the tool will iterate for the following three camera modes: `HD`, `HD2`, and `FHD`. 22 - `<camera_mode>` is camera mode. Valid `<camera_mode>`: `2K`, `FHD`, `HD`, `HD2`, `VGA` (see ``Launch File Parameters`` section for description). If the `-m` argument is not provided, by default the tool will iterate for the following three camera modes: `HD`, `HD2`, and `FHD`.
32 23
33 This script parses the calibration data and generates the following files: 24 This script parses the calibration data and generates the following files:
34 25
35 * `<zed_capture>/config/<SN_string>_<camera_mode>_camera_info_{left,right}.yaml`: `camera_info` for left and right raw image 26 * `<zed_capture>/config/<SN_string>_<camera_mode>_camera_info_{left,right}.yaml`: `camera_info` for left and right raw image
36 * `<zed_capture>/config/<SN_string>_<camera_mode>_remap_LUT_{left,right}.{txt,bin}`: undist/rect remap LUT for left and right raw images, which are required by J7 VPAC/LDC hardware accelerator. 27 * `<zed_capture>/config/<SN_string>_<camera_mode>_remap_LUT_{left,right}.bin`: undistortion and rectification remap LUT for left and right raw images.
37 28
383. Build the ZED camera ROS node 293. Update `<zed_capture>/launch/zed_capture.launch` to modify `zed_sn_str` parameter. Also update relevant parameters in `nodes/*/params.yaml` files for each of demo applications.
39 30
314. Build the ZED camera ROS node
40 ``` 32 ```
41 cd $CATKIN_WS 33 cd $CATKIN_WS
42 catkin_make 34 catkin_make
35 source devel/setup.bash
43 ``` 36 ```
44 37
454. Launch the ZED camera node 385. Launch the ZED camera node
46 ``` 39 ```
47 roslaunch zed_capture zed_capture.launch 40 roslaunch zed_capture zed_capture.launch
48 ``` 41 ```
@@ -52,39 +45,45 @@ ZED stereo camera ROS node based on OpenCV VideoCapture API for publishing left
52 Parameter | Description | Value 45 Parameter | Description | Value
53------------------------------|-------------------------------------------------------------------------|------------------------- 46------------------------------|-------------------------------------------------------------------------|-------------------------
54 zed_sn_str | ZED camera SN string | string 47 zed_sn_str | ZED camera SN string | string
55 device_name | camera device_name. Typically `/dev/video0` on the target | string 48 device_name | camera device name. Typically `/dev/video0` on the target | string
56 camera_mode | ZED camera mode | '2K' (2208x1242) 49 camera_mode | ZED camera mode | '2K' (2208x1242)
57 _ | _ | 'FHD' (1920x1080) 50 _ | _ | 'FHD' (1920x1080)
58 _ | _ | 'HD' (1280x720) 51 _ | _ | 'HD' (1280x720)
59 _ | _ | 'HD2' (1280x720)* 52 _ | _ | 'HD2' (1280x720)*
60 _ | _ | 'VGA' (672x376) 53 _ | _ | 'VGA' (672x376)
61 frame_rate | rate at which images are published | int 54 frame_rate | frame rate at which raw images are published | int
62 encoding | image encoding | 'yuv422' (default) or 'bgr8' 55 encoding | image encoding | 'yuv422' (default) or 'bgr8'
63 _ | when set to 'yuv422', YUYV format from the camera is converted to UYVY | _
64 56
65**'HD2'** is a newly added mode that provides 720p resolution for experiments that need a longer focal length than the native 'HD'. The images are obtained by center-cropping the original 1080p images captured from the 'FHD' mode. 57'HD2' is a newly added mode that provides 720p resolution for experiments that need a longer focal length than the native 'HD'. The images are obtained by center-cropping the original 1080p images captured from the 'FHD' mode.
58
59When `encoding` is set to 'yuv422', the pixel format YUV422::YUYV from the ZED camera is converted to YUV422::UYVY format considering the compatibility with LDC hardware accelerator.
66 60
67## Data Collection Steps 61## Data Collection Steps
68 62
691. Connect the ZED camera to **UBS 3** Type-C port and check it with `ls /dev/video*`. In a Ubuntu PC with a built-in webcam, ZED camera can be recognized as `/dev/video2`; while J7 host Linux, recognized as `/dev/video0`. 631. Connect the ZED camera to UBS 3 port (a USB type-A to type-C adaptor is required on J7 EVM). Check if the camera is recognized with `ls /dev/video*`. In a Ubuntu PC with a built-in webcam, the stereo camera can be recognized as `/dev/video2`; while in J7 host Linux it may be recognized as `/dev/video0`.
64
702. If necessary, update `launch/zed_capture.launch` to change video device, camera mode, frame rate, and etc. 652. If necessary, update `launch/zed_capture.launch` to change video device, camera mode, frame rate, and etc.
713. On the first terminal, launch the ZED capture node with following, and **keep it running**: 66
72``` 673. On the first terminal, launch the ZED capture node with following, and keep it running:
73$ roslaunch zed_capture zed_capture.launch 68 ```
74``` 69 $ roslaunch zed_capture zed_capture.launch
70 ```
71
754. On the second terminal, to capture into ROS bag files, run one of two examples below 724. On the second terminal, to capture into ROS bag files, run one of two examples below
76``` 73
77# Collect 15 seconds of data and stop itself 74 ```
78$ roslaunch zed_capture recordbag.launch 75 # Collect 15 seconds of data and stop itself
79# Save into a series of bag files, each keeping 15 seconds of data, until terminated with Ctrl+C 76 $ roslaunch zed_capture recordbag.launch
80$ roslaunch zed_capture recordbag_split.launch 77 # Save into a series of bag files, each keeping 15 seconds of data, until terminated with Ctrl+C
81``` 78 $ roslaunch zed_capture recordbag_split.launch
79 ```
80
825. (Optional to check the ROS topics) On 3rd terminal, 815. (Optional to check the ROS topics) On 3rd terminal,
83``` 82 ```
84$ rostopic list 83 $ rostopic list
85$ rqt_image_view /camera/left/image_raw 84 $ rqt_image_view /camera/left/image_raw
86``` 85 ```
87 86
88By default, ROS bag files are stored under `${HOME}/.ros` folder. 87By default, ROS bag files are stored under `${HOME}/.ros` folder.
89 88
90**Note**: It is not recommended combining the `zed_capture` node and ROSBAG capture into a single launch file, since it takes some several seconds for the ZED camera to settle down its ISP tuning after the ZED camera node starts. 89**Note**: It is not recommended combining the `zed_capture` node and ROSBAG capture into a single launch file, since it takes some several seconds for the ZED camera to settle down its ISP tuning after the ZED camera node is started.
diff --git a/drivers/zed_capture/config/SN29788442_HD_remap_LUT_left.txt b/drivers/zed_capture/config/SN29788442_HD_remap_LUT_left.txt
deleted file mode 100644
index 856a2fe..0000000
--- a/drivers/zed_capture/config/SN29788442_HD_remap_LUT_left.txt
+++ /dev/null
@@ -1,921600 +0,0 @@
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