REL.00.01.00.02. Compatible with: J7 PSDK-RTOS 07_01_00_09, tidl-semseg-model_1.3.0.11.tar.gz, ros-bag_2020_0914.tar.gz

39 files changed, 716 insertions, 436 deletions

diff --git a/README.md b/README.md
index 3386e43..70cc275 100644
--- a/README.md
+++ b/README.md
@@ -1,16 +1,44 @@
 TI OpenVX + ROS Framework & Applications
 ========================================
 
-## Introduction to TI OpenVX + ROS Framework
-[To be added]
+### Introduction to TI OpenVX + ROS Development Framework
 
-![TI OpenVX + ROS Example Diagram](docker/docs/tiovx_ros_diagram.png)
+<figure class="image">
+    <center><img src="docker/docs/tiovx_ros_sw_stack.png"/></center>
+    <figcaption> <center>Figure 1. TI OpenVX + ROS Framework: Software Stack </center></figcaption>
+</figure>
 
-## How to Set Up TI OpenVX + ROS Environment
-See [this link](docker/README.md)
+The TI OpenVX + ROS development framework is enabled in a Docker container environment on J7 Processor SDK Linux. We provide detailed steps for setting a Docker container environment for ROS Melodic together with the TI Vision Apps Library (see next section). The TI OpenVX + ROS development framework allows:
 
-## TI OpenVX + ROS Example Applications
+- Optimized software implementation of computation-intensive software blocks (including deep-learning, vision, perception, and ADAS) on deep-learning core (C7x/MMA), DSP cores, hardware accelerators built-in on the Jacinto 7 processor
+- Application softwares can be complied directly on the Jacinto 7 processor in a Docker container using APIs optimized on Jacinto 7 processor along with many open-source libraries and packages including, for example. OpenCV and Point-Cloud Library (PCL).
 
-### [Stereo Vision](nodes/ti_sde/README.md)
+Figure below is a representative vision application that can be developed in TI OpenVX + ROS framework.
 
-### [CNN Semantic Segmentation](nodes/ti_semseg_cnn/README.md)
+<figure class="image">
+    <center><img src="docker/docs/tiovx_ros_demo_diagram.png" style="width: 800px;"/></center>
+    <figcaption> <center>Figure 2. Example Application in TI OpenVX + ROS Framework </center></figcaption>
+</figure>
+
+### TI Vision Apps Library
+The TI Vision Apps Library is a set of APIs for the target deployment that are derived from the Jacinto 7 Processor SDK RTOS, which includes:
+- TI OpenVX kernels and infrastructure
+- TI deep learning (TIDL) applications
+- Imaging and vision applications
+- Advanced driver-assistance systems (ADAS) applications
+- Perception applications
+
+## How to Set Up TI OpenVX + ROS Docker Container Environment on J7 Target
+See [LINK](docker/README.md)
+
+## TI OpenVX + ROS Demo Applications
+
+### [Stereo Vision Processing Node Accelerated on LDC and SDE](nodes/ti_sde/README.md)
+
+### [CNN Semantic Segmentation Node with TIDL Running on C7x/MMA](nodes/ti_semseg_cnn/README.md)
+
+## Known Issues
+
+1. Display is not enabled from a Docker container on J7.
+2. The inference-time accuracy of `ti_semseg_cnn` semantic segmentation CNN is not great. This is expected since the CNN network was trained with Cityscapes dataset, and was not re-trained to further optimize the CNN model on the camera data that played back from the ROSBAG file.
+3. Ctrl+C terminal of a ROS node or a ROS launch session may be slow and sometimes does not  fully clean up OpenVX part of implementation, causing VX_ERROR in the next launching. When this happens, it is recommended to reboot the J7 EVM.
\ No newline at end of file
diff --git a/cmake/common.cmake b/cmake/common.cmake
index 568812d..31cff81 100644
--- a/cmake/common.cmake
+++ b/cmake/common.cmake
@@ -11,16 +11,18 @@ catkin_package(CATKIN_DEPENDS nodelet roscpp cv_bridge image_transport sensor_ms
 
 find_package(OpenCV REQUIRED)
 
-include_directories(include)
-include_directories(${catkin_INCLUDE_DIRS})
-include_directories(${OpenCV_INCLUDE_DIRS})
+include_directories(
+    include
+    ${catkin_INCLUDE_DIRS}
+    ${OpenCV_INCLUDE_DIRS}
+)
 
 # PSDKRA base folder location
 set(PSDK_DIR $ENV{PSDK_BASE_PATH})
 
 set(CGT7X_ROOT          ti-cgt-c7000_1.4.0.LTS)
 set(PDK_PACKAGE_ROOT    pdk/packages/ti)
-set(TIDL_PACKAGE_ROOT   tidl_j7_01_03_00_07/ti_dl)
+set(TIDL_PACKAGE_ROOT   tidl_j7_01_03_00_11/ti_dl)
 set(MMALIB_PACKAGE_ROOT mmalib_01_03_00_06)
 set(TIADALG_PATH        tiadalg)
 
@@ -63,33 +65,31 @@ unset(CMAKE_BUILD_TYPE CACHE)
 
 # pass the macros
 if(${TARGET_PLATFORM} STREQUAL "PC")
-    add_definitions(-DTARGET_CPU=${TARGET_CPU}
-                    -DTARGET_OS=${TARGET_OS}
-                    -DPROFILE=${PROFILE}
-                    -DBUILD_EMULATION_MODE=${BUILD_EMULATION_MODE}
-                    -DPC
-                    # -DTARGET_CPU_PC=true
+    add_definitions(
+        -DTARGET_CPU=${TARGET_CPU}
+        -DTARGET_OS=${TARGET_OS}
+        -DPROFILE=${PROFILE}
+        -DBUILD_EMULATION_MODE=${BUILD_EMULATION_MODE}
+        -DPC
     )
 else()  # J7
-    add_definitions(-DTARGET_CPU=${TARGET_CPU}
-                    -DTARGET_OS=${TARGET_OS}
-                    -DPROFILE=${PROFILE}
-                    -DBUILD_EMULATION_MODE=${BUILD_EMULATION_MODE}
+    add_definitions(
+        -DTARGET_CPU=${TARGET_CPU}
+        -DTARGET_OS=${TARGET_OS}
+        -DPROFILE=${PROFILE}
+        -DBUILD_EMULATION_MODE=${BUILD_EMULATION_MODE}
     )
 endif()
 
 # TIOVX, VISION_APPS, PTK_DEMOS: include folders
 set(TIOVX_INCLUDE_DIRS
     ${PSDK_DIR}/tiovx/include
+    ${PSDK_DIR}/tiovx/kernels_j7/include
     ${PSDK_DIR}/tiovx/tiovx_dev/kernels_j7/include
     ${PSDK_DIR}/tiovx/utils/include/
     ${PSDK_DIR}/tiovx/kernels/include/
 )
 
-# set(PDK_INCLUDE_DIRS
-#     ${PSDK_DIR}/${PDK_PACKAGE_ROOT}/drv/udma
-# )
-
 set(PTK_INCLUDE_DIRS
     ${PSDK_DIR}/perception/include
 )
@@ -133,14 +133,15 @@ set(OTHER_INCLUDE_DIRS
     ${PSDK_DIR}/ivision
 )
 
-include_directories(${TIOVX_INCLUDE_DIRS}
-                    ${PTK_INCLUDE_DIRS}
-                    ${VISION_APP_INCLUDE_DIRS}
-                    ${VISION_APP_KERNEL_INCLUDE_DIRS}
-                    ${MMALIB_INCLUDE_DIRS}
-                    ${TIDL_INCLUDE_DIRS}
-                    ${TIADALG_INCLUDE_DIRS}
-                    ${OTHER_INCLUDE_DIRS}
+include_directories(
+    ${TIOVX_INCLUDE_DIRS}
+    ${PTK_INCLUDE_DIRS}
+    ${VISION_APP_INCLUDE_DIRS}
+    ${VISION_APP_KERNEL_INCLUDE_DIRS}
+    ${MMALIB_INCLUDE_DIRS}
+    ${TIDL_INCLUDE_DIRS}
+    ${TIADALG_INCLUDE_DIRS}
+    ${OTHER_INCLUDE_DIRS}
 )
 
 # TIOVX, VISION_APPS, PTK_DEMOS: define lib variables
@@ -191,20 +192,22 @@ else() # static
         ${PTHREAD_LIB}
         ${ION_LIB}         # only for J7
         ${CMAKE_DL_LIBS}
-        -Wl,--end-group)
-
-    link_directories(${TIOVX_LIBS_DIR}
-                     ${VISION_APPS_LIBS_DIR}
-                     ${PDK_LIBS_DIR}
-                     ${PTK_LIBS_DIR}
-                     ${IMAGING_LIBS_DIR}
-                     ${CGT7X_LIBS_DIR}
-                     ${TIDL_LIBS_DIR}
-                     ${MMA_LIBS_DIR}
-                     ${TIADALG_LIBS_DIR}
-                     ${J7_CMODEL_LIBS_DIR}
-                     ${PTHREAD_LIB_DIR}
-                     ${ION_LIB_DIR}  # only for J7
-                    )
+        -Wl,--end-group
+    )
+
+    link_directories(
+        ${TIOVX_LIBS_DIR}
+        ${VISION_APPS_LIBS_DIR}
+        ${PDK_LIBS_DIR}
+        ${PTK_LIBS_DIR}
+        ${IMAGING_LIBS_DIR}
+        ${CGT7X_LIBS_DIR}
+        ${TIDL_LIBS_DIR}
+        ${MMA_LIBS_DIR}
+        ${TIADALG_LIBS_DIR}
+        ${J7_CMODEL_LIBS_DIR}
+        ${PTHREAD_LIB_DIR}
+        ${ION_LIB_DIR}  # only for J7
+    )
 endif()
 
diff --git a/docker/Makefile b/docker/Makefile
index 9eb12f4..465e84f 100644
--- a/docker/Makefile
+++ b/docker/Makefile
@@ -1,13 +1,15 @@
 #!make
+# Dependency: J7 Processor SDK-RTOS 07_01_00_11
+
 ## Independent variables
 # Dockerfile
 DOCKERFILE_NAME  = Dockerfile
 # Docker image tag
 DOCKER_TAG       = j7ros
 # TI Vision Apps Lib version
-LIB_VER          = 7.1.0-r0.0
+TIVA_LIB_VER     = 7.1.0
 # TIDL version
-TIDL_VER         = 1.3.0.7
+TIDL_VER         = 1.3.0.11
 # ROS bag date
 ROSBAG_DATE      = 2020_0914
 
@@ -27,36 +29,20 @@ SCRIPTS_DIR      = $(REPO_PATH)/docker/scripts
 ENV_FILE         = env_list.txt
 ENV_FILE_PATH    = $(DOCKER_DIR)/$(ENV_FILE)
 
-# Tarball URLs: tentative
-OPKG_REPO_URL   = https://txn.box.com/shared/static/uav8998htorweblm6se4o0uveepejymr
-TIDL_MODEL_URL  = https://txn.box.com/shared/static/2u7ypmbvy9mlk1hq1wq9ym88edk7rk9b
-ROSBAG_URL      = https://txn.box.com/shared/static/oyz3syp7up8rtfhif3akxiw1tac065ys
+# Tarball URLs
+TIDL_MODEL_URL  = https://tidrive.ext.ti.com/fss/public/link/public/stream/read/tidl-semseg-model_1.3.0.11.tar.gz?linkToken=xeW1RA_ltU_X5bVF&itemName=aabc76cb-ae69-451c-97b9-11bf0b959563
+ROSBAG_URL      = https://tidrive.ext.ti.com/fss/public/link/public/stream/read/ros-bag_2020_0914.tar.gz?linkToken=rRCsIGcQrCe_EKwh&itemName=3b002324-6c8b-43b4-b4b3-c797d3852ff3
 
 # Tarball filenames
-OPKG_REPO_FILE   = opkg-repo_$(LIB_VER).tar.gz
 TIDL_MODEL_FILE  = tidl-semseg-model_$(TIDL_VER).tar.gz
 ROSBAG_FILE      = ros-bag_$(ROSBAG_DATE).tar.gz
 
 # IP address
 J7_IP_ADDR       := $(shell ifconfig | grep -A 1 'eth0' | tail -1 | cut -d ':' -f 2 | cut -d ' ' -f 1)
 
-## Set up environments on J7 host linux
-host_setup: opkg_config opkg_repo_download ipk_install
-
-opkg_config:
-        $(SCRIPTS_DIR)/config_opkg_repo.sh
-
-ipk_install:
-        $(SCRIPTS_DIR)/install_tivision_apps_ipk.sh
-
 ip_show:
         @echo "$(J7_IP_ADDR)"
 
-opkg_repo_download: check_data_dir
-        wget -O $(DATA_DIR)/$(OPKG_REPO_FILE) $(OPKG_REPO_URL)
-        rm -rf $(OPKG_REPO_DIR)
-        tar xzf $(DATA_DIR)/$(OPKG_REPO_FILE) -C /
-
 ## Docker
 scripts: docker_build_sh docker_run_sh
 
@@ -67,7 +53,6 @@ docker_build_sh:
         @echo "cd $(WORK_PATH_HOST)"                             >> $(DOCKER_BUILD_SH)
         @echo "docker build -t \$$DOCKER_TAG -f \$$DOCKER_DIR/$(DOCKERFILE_NAME) ." >> $(DOCKER_BUILD_SH)
         @chmod +x $(DOCKER_BUILD_SH)
-        @cp $(DOCKER_BUILD_SH) $(DOCKER_DIR)/$(DOCKER_BUILD_SH)
         @echo "$(DOCKER_BUILD_SH) is generated"
 
 docker_run_sh:
@@ -75,6 +60,7 @@ docker_run_sh:
         @echo "DOCKER_TAG=$(DOCKER_TAG)"                         >> $(DOCKER_RUN_SH)
         @echo "DOCKER_DIR=$(DOCKER_DIR)"                         >> $(DOCKER_RUN_SH)
         @echo "IP_ADDR=\$$(ifconfig | grep -A 1 'eth0' | tail -1 | cut -d ':' -f 2 | cut -d ' ' -f 1)" >> $(DOCKER_RUN_SH)
+        @echo "TIVA_LIB_VER=$(TIVA_LIB_VER)"                     >> $(DOCKER_RUN_SH)
         @echo "if [ \"\$$#\" -lt 1 ]; then"                      >> $(DOCKER_RUN_SH)
         @echo "    COMMAND=/bin/bash"                            >> $(DOCKER_RUN_SH)
         @echo "else"                                             >> $(DOCKER_RUN_SH)
@@ -88,42 +74,38 @@ docker_run_sh:
         @echo "    --network host \\"                            >> $(DOCKER_RUN_SH)
         @echo "    --device-cgroup-rule='c 238:* rmw' \\"        >> $(DOCKER_RUN_SH)
         @echo "    --env J7_IP_ADDR=\$$IP_ADDR \\"               >> $(DOCKER_RUN_SH)
+        @echo "    --env TIVA_LIB_VER=\$$TIVA_LIB_VER \\"        >> $(DOCKER_RUN_SH)
         @echo "    --env-file \$$DOCKER_DIR/$(ENV_FILE) \\"      >> $(DOCKER_RUN_SH)
         @echo "      \$$DOCKER_TAG \$$COMMAND"                   >> $(DOCKER_RUN_SH)
         @chmod +x $(DOCKER_RUN_SH)
-        @cp $(DOCKER_RUN_SH) $(DOCKER_DIR)/$(DOCKER_RUN_SH)
         @echo "$(DOCKER_RUN_SH) is generated"
 
-docker_build:
-        ./docker_build.sh
-
-docker_run:
-        ./docker_run.sh
-
 ## data files
 data_download: tidl_net_download rosbag_download
 
 tidl_net_download: check_data_dir
-        wget -O $(DATA_DIR)/$(TIDL_MODEL_FILE) $(TIDL_MODEL_URL)
+        wget -O $(DATA_DIR)/$(TIDL_MODEL_FILE) "$(TIDL_MODEL_URL)"
         rm -rf  $(DATA_DIR)/tidl_semseg_model
         tar xzf $(DATA_DIR)/$(TIDL_MODEL_FILE) -C $(DATA_DIR)
+        rm -f $(DATA_DIR)/$(TIDL_MODEL_FILE)
 
 rosbag_download: check_data_dir
-        wget -O $(DATA_DIR)/$(ROSBAG_FILE) $(ROSBAG_URL)
+        wget -O $(DATA_DIR)/$(ROSBAG_FILE) "$(ROSBAG_URL)"
         rm -rf  $(DATA_DIR)/ros_bag
         tar xzf $(DATA_DIR)/$(ROSBAG_FILE) -C $(DATA_DIR)
+        rm -f $(DATA_DIR)/$(ROSBAG_FILE)
 
 check_data_dir:
         @if [ ! -d $(DATA_DIR) ]; then \
                 mkdir -p $(DATA_DIR); \
                 echo "mkdir -p $(DATA_DIR)"; \
         else \
-                echo "Ok,.$(DATA_DIR) exists"; \
+                echo "Ok, $(DATA_DIR) exists"; \
         fi
 
 data_clean:
         rm -rf $(DATA_DIR)
 
 ## .PHONY
-.PHONY: docker_build_sh docker_run_sh opkg_config ipk_install ip_show \
-        opkg_repo_download tidl_net_download rosbag_download check_data_dir
+.PHONY: docker_build_sh docker_run_sh ip_show \
+        tidl_net_download rosbag_download check_data_dir
diff --git a/docker/README.md b/docker/README.md
index c60e16d..b0b73e9 100644
--- a/docker/README.md
+++ b/docker/README.md
@@ -1,30 +1,43 @@
 How to Set Up TI OpenVX + ROS Environment
 =========================================
 
-## Prerequisites
+## Prerequisites & Dependency
 
 ### Hardward: J7/TDA4x Family Processors
 https://www.ti.com/processors/automotive-processors/featured-platform.html
 
-### J7 Host Linux: Jacinto Processor SDK Linux Version 7.1.0 or Later
-https://software-dl.ti.com/jacinto7/esd/processor-sdk-linux-jacinto7/latest/exports/docs/linux/index.html
+### J7 Processor SDK RTOS Version 7.1.0
+Currently testing with Prebuilt Package of J7 Processor SDK RTOS 7.1.0 RC9 [LINK](http://gtweb.dal.design.ti.com/nightly_builds/PSDKRA_INSTALLER/57-2020-11-19_11-41-23/artifacts/output/webgen/publish/PROCESSOR-SDK-RTOS-J721E/07_01_00_09/)
+
+Download [Pre-built Package](http://gtweb.dal.design.ti.com/nightly_builds/PSDKRA_INSTALLER/57-2020-11-19_11-41-23/artifacts/output/webgen/publish/PROCESSOR-SDK-RTOS-J721E/07_01_00_09/exports/ti-processor-sdk-rtos-j721e-evm-07_01_00_09-prebuilt.tar.gz) and instrall to a SD card by referring to the instruction on this page [LINK](http://gtweb.dal.design.ti.com/nightly_builds/PSDKRA_INSTALLER/57-2020-11-19_11-41-23/artifacts/output/webgen/publish/PROCESSOR-SDK-RTOS-J721E/07_01_00_09/exports/docs/psdk_rtos/docs/user_guide/out_of_box_j721e.html)
+
+### Terminal Session to J7
+
+Once finding the IP address assigned to J7 EVM (e.g., using a serial port communications program, for example, `minicom`), connect to J7 Linux with SSH:
+
+```
+ssh root@<J7_IP_address>
+```
+
+**Note**: It is highly recommended to use a "static IP" for the J7 EVM to make ROS network setting easy.
 
-Currently testing with pre-lease version of PSDKLA 7.1.0
 
 <!-- ================================================================================= -->
 ## Clone Git Repository
+
 ```sh
-# Working directory
+# project home directory
 WORK_DIR=$HOME/j7ros_home
 # catkin workspace
 CATKIN_WS=$WORK_DIR/catkin_ws
-
 mkdir -p $CATKIN_WS/src
 cd $CATKIN_WS/src
 
-# git clone
-# Not yet active >>> TODO
-git clone https://git.ti.com/git/processor-sdk-vision/jacinto_ros_perception.git jacinto_ros_perception
+# clone the project GIT repository
+# Below is accessible only in TI network:
+git clone ssh://git@bitbucket.itg.ti.com/processor-sdk-vision/jacinto_ros_perception.git
+# To be be available on the following GIT repository:
+# git clone https://git.ti.com/git/processor-sdk-vision/jacinto_ros_perception.git
 ```
 
 ## Configure J7 Host Linux & Install TI Vision Apps Library
@@ -32,32 +45,17 @@ git clone https://git.ti.com/git/processor-sdk-vision/jacinto_ros_perception.git
 For convenience, set up following soft-links:
 ```sh
 cd $WORK_DIR
-ln -s $CATKIN_WS/src/jacinto_ros_perception/docker
+ln -s $CATKIN_WS/src/jacinto_ros_perception/docker/Makefile
 ln -s docker/Makefile
 ```
 
-### Configure Host Linux
-For configuring the host Linux, run the following in `$WORK_DIR`:
-```sh
-make opkg_config
-```
-
-### Install TI Vision Apps Library
-
-To install the TI Vision Apps Library, run the following in `$WORK_DIR`:
-```sh
-make opkg_repo_download
-make ipk_install
-```
-
 <!-- ================================================================================= -->
 ## Build Docker Image
 
-The IP address that is assigned to the J7 host Linux will be required in setting network for the ROS applications.  The IP address is automatically parsed in `Makefile`, to check:
+The IP address that is assigned to the J7 host Linux will be required in setting network for the ROS applications. The IP address is automatically parsed in `Makefile`. To check the IP address:
 ```
 make ip_show
 ```
-**Note**: It is highly recommended to use a "static IP" for the J7 EVM to make ROS network setting easy.
 
 ### Generate Scripts
 To generate bash scripts for building and running a Docker image for the project:
@@ -97,6 +95,8 @@ j7ros               latest                     34ef46e34368        2 minutes ago
 arm64v8/ubuntu      18.04                      0ccb47f043f5        3 months ago        57.8MB
 ```
 
+**Note**: The Docker image that is built using `Makefile` provided in the GIT repository will include minimal number of ROS packages on which the ROS package(s) under `$CATKIN_WS/src` have dependency. In case when more ROS package(s) are added under the folder, it is required to re-build a Docker image using the `Makefile`.
+
 <!-- ================================================================================= -->
 ## Run Docker Image
 To run the docker image:
@@ -104,40 +104,62 @@ To run the docker image:
 ./docker_run.sh
 ```
 
-For reference, below shows `docker_run.sh`:
+To exit from inside the Docker container, type `exit` at the command line.
+
+<!-- ================================================================================= -->
+## Setting Up Remote PC for Visualization
+
+Open another terminal on Ubuntu PC to set up environments for visualization.
+
+### Clone GIT repository
 ```sh
-root@j7-evm:~/j7ros_home# cat docker_run.sh
-#!/bin/bash
-DOCKER_TAG=j7ros
-DOCKER_DIR=/home/root/j7ros_home/catkin_ws/src/jacinto_ros_perception/docker
-IP_ADDR=$(ifconfig | grep -A 1 'eth0' | tail -1 | cut -d ':' -f 2 | cut -d ' ' -f 1)
-if [ "$#" -lt 1 ]; then
-    COMMAND=/bin/bash
-else
-    COMMAND="$@"
-fi
-docker run -it --rm \
-    -v /home/root/j7ros_home:/root/j7ros_home \
-    -v /usr:/host/usr:ro \
-    -v /dev:/dev \
-    --privileged \
-    --network host \
-    --device-cgroup-rule='c 238:* rmw' \
-    --env J7_IP_ADDR=$IP_ADDR \
-    --env-file $DOCKER_DIR/env_list.txt \
-      $DOCKER_TAG $COMMAND
-```
-
-Some explanation:
-
-* `-v /home/root/j7ros_home:/root/j7ros_home`: `$WORK_DIR` is volume-mapped to `/root/j7ros_home` in the Docker container, under the folder all the source codes for the project will be available. Therefore, any changes made to `$WORK_DIR` will be accessible both inside the container or on the host Linux
-
-* `--env J7_IP_ADDR=$IP_ADDR`: IP address is passed as an environment variable `J7_IP_ADDR` to the container.
-
-* `--env-file $DOCKER_DIR/env_list.txt`: pass other environment variables that are specified in `$DOCKER_DIR/env_list.txt` for the ROS applications are passed to the container.
+# catkin workspace
+CATKIN_WS=$HOME/j7ros_home/catkin_ws
 
-To exit from inside the Docker container, type `exit` at the command line.
+mkdir -p $CATKIN_WS/src
+cd $CATKIN_WS/src
 
+# git clone
+# Below is accessible only in TI network:
+git clone ssh://git@bitbucket.itg.ti.com/processor-sdk-vision/jacinto_ros_perception.git
+# To be be available on the following GIT repository:
+# git clone https://git.ti.com/git/processor-sdk-vision/jacinto_ros_perception.git
+```
+
+### Build ROS nodes
+```
+cd $CATKIN_WS
+catkin_make
+```
+
+### PC Environment Setting
+For convenience, set up following soft-links:
+```sh
+cd $CATKIN_WS
+ln -s src/jacinto_ros_perception/setup_env_pc.sh
+```
+
+Update the following lines in `setup_env_pc.sh` for setting the ROS network:
+```
+PC_IP_ADDR=<PC_IP_address>
+J7_IP_ADRR=<J7_IP_address>
+```
+
+`<J7_IP_address>` can be found by running the following on the J7 terminal:
+```
+make ip_show
+```
+
+To set up the PC environment, run the following:
+```
+source setup_env_pc.sh
+```
+
+### Checking ROS topics
+After launching ROS nodes on the J7, when the network is set correctly, we can check the all the topics published with:
+```
+rostopic list
+```
 
 <!-- ================================================================================= -->
 ## ROS Applications
@@ -151,9 +173,6 @@ Several tarballs are downloaded and uncompressed under `$WORK_DIR/data`, with fo
 
 ```
 $WORK_DIR/data
-├── opkg-repo_7.1.0-r0.0.tar.gz
-├── ros-bag_2020_0914.tar.gz
-├── tidl-semseg-model_1.3.0.0.tar.gz
 ├── ros_bag
 │   └── 2020-09-14-12-31-43.bag
 └── tidl_semseg_model
@@ -181,6 +200,11 @@ Alternatively, you can run the following `roslaunch` command **inside** the Dock
 roslaunch ti_sde bag_sde.launch
 ```
 
+For visualization, on the PC (see the above for setting PC environment):
+```
+roslaunch ti_sde rviz.launch
+```
+
 ### Run Semantic Segmentation CNN App
 To launch `ti_semseg_cnn` along with `rosbag play <ROSBAG>`, run the following in `$WORK_DIR` on the J7 host Linux:
 ```sh
@@ -191,3 +215,9 @@ Alternatively, you can run the following `roslaunch` command **inside** the Dock
 ```sh
 roslaunch ti_semseg_cnn bag_semseg_cnn.launch
 ```
+
+For visualization, on the PC (see the above for setting PC environment):
+```
+roslaunch ti_semseg_cnn rviz.launch
+```
+
diff --git a/docker/docs/tiovx_ros_demo_diagram.png b/docker/docs/tiovx_ros_demo_diagram.png
new file mode 100644
index 0000000..b4618db
--- /dev/null
+++ b/docker/docs/tiovx_ros_demo_diagram.png
diff --git a/docker/docs/tiovx_ros_diagram.png b/docker/docs/tiovx_ros_diagram.png
deleted file mode 100644
index b67aca9..0000000
--- a/docker/docs/tiovx_ros_diagram.png
+++ /dev/null
diff --git a/docker/docs/tiovx_ros_sw_stack.png b/docker/docs/tiovx_ros_sw_stack.png
new file mode 100644
index 0000000..ac014a3
--- /dev/null
+++ b/docker/docs/tiovx_ros_sw_stack.png
diff --git a/docker/entrypoint.sh b/docker/entrypoint.sh
index 4dcb86e..7052217 100755
--- a/docker/entrypoint.sh
+++ b/docker/entrypoint.sh
@@ -4,18 +4,14 @@ set -e
 # set up ROS environment
 source "/opt/ros/$ROS_DISTRO/setup.bash"
 
-# set up TI Processor SDK environment
-ln -s /host/usr/lib/libtivision_apps.so.7.1.0 /usr/lib/libtivision_apps.so.7.1.0
-ln -s /usr/lib/libtivision_apps.so.7.1.0 /usr/lib/libtivision_apps.so
-ln -s /host/usr/include/processor_sdk /usr/include/processor_sdk
-ln -s /host/usr/lib/libion.so.1.0.0 /usr/lib/libion.so.1.0.0
-ln -s /usr/lib/libion.so.1.0.0 /usr/lib/libion.so
-ln -s /host/usr/lib/libgbm.so.1.0.0 /usr/lib/libgbm.so.1.0.0
-ln -s /usr/lib/libgbm.so.1.0.0 /usr/lib/libgbm.so.1
-ln -s /usr/lib/libgbm.so.1.0.0 /usr/lib/libgbm.so
-ln -s /host/usr/lib/libti_rpmsg_char.so.0.1.0 /usr/lib/libti_rpmsg_char.so.0.1.0
-ln -s /usr/lib/libti_rpmsg_char.so.0.1.0 /usr/lib/libti_rpmsg_char.so.0
-ln -s /usr/lib/libti_rpmsg_char.so.0.1.0 /usr/lib/libti_rpmsg_char.so
+# setup TI Processor SDK environment
+SRC_PATH=$WORK_DIR/catkin_ws/src/jacinto_ros_perception/docker
+FILE="$SRC_PATH/setup_ti_processor_sdk.sh"
+if [ -f $FILE ]; then
+    source $FILE
+else
+    echo "$FILE does not exist"
+fi
 
 # ROS network settings
 export ROS_MASTER_URI=http://$J7_IP_ADDR:11311
diff --git a/docker/setup_ti_processor_sdk.sh b/docker/setup_ti_processor_sdk.sh
new file mode 100644
index 0000000..90693a8
--- /dev/null
+++ b/docker/setup_ti_processor_sdk.sh
@@ -0,0 +1,13 @@
+#!/bin/bash
+# set up TI Processor SDK environment
+ln -s /host/usr/lib/libtivision_apps.so.$TIVA_LIB_VER /usr/lib/libtivision_apps.so.$TIVA_LIB_VER
+ln -s /usr/lib/libtivision_apps.so.$TIVA_LIB_VER /usr/lib/libtivision_apps.so
+ln -s /host/usr/include/processor_sdk /usr/include/processor_sdk
+ln -s /host/usr/lib/libion.so.1.0.0 /usr/lib/libion.so.1.0.0
+ln -s /usr/lib/libion.so.1.0.0 /usr/lib/libion.so
+ln -s /host/usr/lib/libgbm.so.1.0.0 /usr/lib/libgbm.so.1.0.0
+ln -s /usr/lib/libgbm.so.1.0.0 /usr/lib/libgbm.so.1
+ln -s /usr/lib/libgbm.so.1.0.0 /usr/lib/libgbm.so
+ln -s /host/usr/lib/libti_rpmsg_char.so.0.2.0 /usr/lib/libti_rpmsg_char.so.0.2.0
+ln -s /usr/lib/libti_rpmsg_char.so.0.2.0 /usr/lib/libti_rpmsg_char.so.0
+ln -s /usr/lib/libti_rpmsg_char.so.0.2.0 /usr/lib/libti_rpmsg_char.so
diff --git a/nodes/ti_sde/CMakeLists.txt b/nodes/ti_sde/CMakeLists.txt
index c49906e..ede37be 100644
--- a/nodes/ti_sde/CMakeLists.txt
+++ b/nodes/ti_sde/CMakeLists.txt
@@ -1,14 +1,17 @@
 cmake_minimum_required(VERSION 3.0.2)
 project(ti_sde)
 
-include(${CMAKE_CURRENT_SOURCE_DIR}/../../cmake/common.cmake)
+# Build only on J7
+if(${CMAKE_SYSTEM_PROCESSOR} STREQUAL "aarch64") 
+    include(${CMAKE_CURRENT_SOURCE_DIR}/../../cmake/common.cmake)
 
-# LDC+SDE example
-set(APP_SDE_SRCS
-    src/sde_main.cpp
-    src/sde_node.cpp
-    src/sde.cpp
-    src/sde_manage_graph.cpp)
+    # LDC+SDE example
+    set(APP_SDE_SRCS
+        src/sde_main.cpp
+        src/sde_node.cpp
+        src/sde.cpp
+        src/sde_manage_graph.cpp)
 
-# Build nodes
-build_node(sde APP_SDE_SRCS)
+    # Build nodes
+    build_node(sde APP_SDE_SRCS)
+endif()
diff --git a/nodes/ti_sde/README.md b/nodes/ti_sde/README.md
index 76afddb..eebca6b 100644
--- a/nodes/ti_sde/README.md
+++ b/nodes/ti_sde/README.md
@@ -3,16 +3,16 @@ Stereo Vision Application on ROS
 
 It demonstrates the stereo application that uses J7 LDC (Lense Distortion Correction) and DMPAC SDE (Stereo Depth Engine) HWAs. 
 
-LDC first rectifies the unrectified input stereo images using the separte rectifiation tables for lett and right cameras, respectively, in the format that LDC supports. 
+LDC first rectifies the unrectified input stereo images using the separate rectification tables for lett and right cameras, respectively, in the format that LDC supports.
 
-Then SDE produces disparity map from the rectified stereo images. Two different disparity estimation modes are supported in the application. One is a single-layer SDE mode, which outputs the raw disparity map from SDE without post processing. The other is a mulit-layer SDE refinement mode, which combines the disparity maps produced by SDE at different layers with post processings. Up to 3 layers are supported and these are configuarable.  The overall application data flow is shown below.
+Then SDE produces disparity map from the rectified stereo images. Two different disparity estimation modes are supported in the application. One is a single-layer SDE mode, which outputs the raw disparity map from SDE without post processing. The other is a multi-layer SDE refinement mode, which combines the disparity maps produced by SDE at different layers with post processing. Up to 3 layers are supported and these are configurable.  The overall application data flow is shown below.
 
 <figure class="image">
   <center><img src="./docs/ti_sde_data_flow.png"></center>
   <figcaption> <center>Figure 1. Overall stereo application flow </center></figcaption>
 </figure>
 
-# Introduction
+## Introduction
 
 `ti_sde` directory structure is shown below:
 ```
@@ -43,34 +43,50 @@ This application can be run by launching sde.launch file, i.e.,
 ```
 roslaunch ti_sde sde.launch
 ```
-It is recommended to launch bag_sde.launch file if a rosbag file needs to be played as well.
+It is recommended to launch bag_sde.launch file if a ROSBAG file needs to be played as well.
 
 sde.launch file specifies the followings:
-* YAML file that includes algorithm configuration parameters. For the decriptions of them, please take a look at this file.
+* YAML file that includes algorithm configuration parameters. For the descriptions of important parameters, refer to Parameter section below. For the descriptions of all parameters, please see a yaml file.
 * Left input topic name to read left images from a stereo camera.
 * Right input topic name to read right images from a stereo camera.
 * Output disparity topic name to publish raw disparity maps.
 
-This application publishes the raw disparity map and the color-coded disparity map image and confidence map image, which can be dispalyed by RViz, are created by launcing the ti_viz_disparity application, i.e.,
+This application publishes the raw disparity map and the color-coded disparity map image and confidence map image, which can be displayed by RViz, are created by launching the ti_viz_nodes application, i.e.,
 ```
-roslaunch ti_viz_disparity viz_disparity.launch
+roslaunch ti_viz_nodes viz_disparity.launch
 ```
 
-# LDC (Lense Distortion Correction)
+## Parameters
 
-As shown in Figure 1, We use the LDC HWA to rectify left and right images. In order to use LDC, the recfification tables should be provided in the format that LDC support. It is a two-step process to create the rectification table in the LDC format.
+ Parameter                | Description                                                                  | Value
+--------------------------|------------------------------------------------------------------------------|----------
+ left_lut_file_path       | LDC rectification table path for left image                                  | String
+ right_lut_file_path      | LDC rectification table path for right image                                 | String
+ input_format             | Input image format, 0: U8, 1: YUV422                                         | 0, 1
+ width                    | Input image width                                                            | Integer
+ height                   | Input image height                                                           | Integer
+ sde_algo_type            | SDE algorithm type, 0: sinlge-layer SDE, 1: multi-layer SDE                  | 0, 1
+ num_layers               | Number of layers in multi-layer SDE                                          | 2, 3
+ sde_confidence_threshold | Disparity with confidence less than this value is invalidated                | 0 ~ 7
+ disparity_min            | Minimum disparity to search, 0: 0, 1: -3                                     | 0, 1
+ disparity_max            | Maximum disparity to search, 0: 63, 1: 127, 2: 191                           | 0 ~ 2
+ pipeline_depth           | OpenVX grpah pipeline depth                                                  | 1 ~ 4
+
+## LDC (Lense Distortion Correction)
+
+As shown in Figure 1, We use the LDC HWA to rectify left and right images. In order to use LDC, the rectification tables should be provided in the format that LDC support. It is a two-step process to create the rectification table in the LDC format.
 
 1. Generation of raw rectification table
 
-    A raw look-up table has `width x height x 2` entries in it, where width and height are the horizontal and vertical sizes of an image, to specify the horizonal and vertical pixel position in a source image that every pixel in a target image maps to. It may consist of two look-up tables of `width x height` for hosizontal position and vertical position, respectively. A target image (i.e. rectified image) is created by fetching the pixel in a source image (i.e. unrectified image), which is spcified by a raw look up table, for every pixel. For example, OpenCV stereo rectification function generates such a raw rectification table for given camera parameters.
+    A raw look-up table has `width x height x 2` entries in it, where width and height are the horizontal and vertical sizes of an image, to specify the horizontal and vertical pixel position in a source image that every pixel in a target image maps to. It may consist of two look-up tables of `width x height` for horizontal position and vertical position, respectively. A target image (i.e. rectified image) is created by fetching the pixel in a source image (i.e. unrectified image), which is specified by a raw look up table, for every pixel. For example, OpenCV stereo rectification function generates such a raw rectification table for given camera parameters.
 
-2. Convertion of raw rectification table to LDC format
+2. Convention of raw rectification table to LDC format
 
-    A raw retification table is converted to the LDC format by the following pseudo code.
+    A raw rectification table is converted to the LDC format by the following pseudo code.
 
     ```
     // mapX is a raw LUT for horizontal pixel position in Q3 format. Its size is width x height
-    // mapY is a raw LUT for vertial pixel positin in Q3 format. Its size is width x height
+    // mapY is a raw LUT for vertical pixel position in Q3 format. Its size is width x height
     // ldcLUT is an output LDC format look-up table
 
     LDC_DS_FACTOR = 4
@@ -113,17 +129,17 @@ As shown in Figure 1, We use the LDC HWA to rectify left and right images. In or
     ```
 
 
-# SDE (Stereo Depth Engine)
+## SDE (Stereo Depth Engine)
 
 When `sde_algo_type = 0` in params.yaml, the output disparity map is simply the disparity map generated by the SDE HWA without any post processing.
 
-# Multi-Layer SDE Refinement
+## Multi-Layer SDE Refinement
 
-When `sde_algo_type = 1` in params.yaml, the mullti-layer SDE refinement is applied with post processings to improve the disparity map quality. The number of layers is configured by `num_layers` in params.yaml and it should be 2 or 3. 
+When `sde_algo_type = 1` in params.yaml, the multi-layer SDE refinement is applied with post processing to improve the disparity map quality. The number of layers is configured by `num_layers` in params.yaml and it should be 2 or 3.
 
 <figure class="image">
   <center><img src="./docs/sde_multilayer_data_flow.png"></center>
   <figcaption> <center>Figure 2. Multi-layer SDE refinement </center></figcaption>
 </figure>
 
-Figure 2 shows the overal block diagram of the multi-layer SDE Refinment approach. The rectified stereo pair at full resolution are down-sampled by half to smaller resolutions by the MSC (Multi -Scaler) HWA. The stereo pair at each layers are provided to SDEs to produce the disparity maps at different resolutions. Then the low-resolution disparity map is up-sampled and merged with the high-resolution disparity map successively. The merged disparity map is further processed by hole filling algorithm.
+Figure 2 shows the overal block diagram of the multi-layer SDE refinement approach. The rectified stereo pair at full resolution are down-sampled by half to smaller resolutions by the MSC (Multi-Scaler) HWA. The stereo pair at each layers are provided to SDEs to produce the disparity maps at different resolutions. Then the low-resolution disparity map is up-sampled and merged with the high-resolution disparity map successively. The merged disparity map is further processed by hole filling algorithm.
diff --git a/nodes/ti_sde/config/params.yaml b/nodes/ti_sde/config/params.yaml
index f33a5d0..6daa349 100644
--- a/nodes/ti_sde/config/params.yaml
+++ b/nodes/ti_sde/config/params.yaml
@@ -14,7 +14,6 @@ width:                              1280
 # input data height in lines
 height:                             720
 
-
 # SDE type
 # 0: Single-layer SDE, 1: Multi-layer SDE
 sde_algo_type:                      0
@@ -24,7 +23,7 @@ sde_algo_type:                      0
 num_layers:                         2
 
 # For single-layer SDE only
-# disparity thrshold 
+# disparity threshold
 sde_confidence_threshold:           1
 
 ####### SDE params BEGIN #######
@@ -46,7 +45,7 @@ texture_filter_enable:              0
 # <0 - 255>, scaled threshold for texture based filtering
 threshold_texture:                  0
 
-# <0 - 127>, Optimization penalty constant for smalle disparity change
+# <0 - 127>, Optimization penalty constant for small disparity change
 aggregation_penalty_p1:             32
 
 # <0 - 255>, Optimization penalty constant for large disparity change
diff --git a/nodes/ti_sde/launch/bag_sde.launch b/nodes/ti_sde/launch/bag_sde.launch
index 6ed2472..2326a84 100644
--- a/nodes/ti_sde/launch/bag_sde.launch
+++ b/nodes/ti_sde/launch/bag_sde.launch
@@ -1,9 +1,9 @@
 <launch>
 
-    <!-- ti_sde     -->
+    <!-- ti_sde -->
     <include file="$(find ti_sde)/launch/sde.launch"/>
 
-    <!-- rosbag play     -->
+    <!-- rosbag play -->
     <arg name="bagfile" default="$(env WORK_DIR)/data/ros_bag/2020-09-14-12-31-43.bag"/>
     <arg name="ratefactor" default="1.0"/>
     <node name="rosbag_play" pkg="rosbag" type="play" output="screen"
diff --git a/nodes/ti_viz_color_conversion/launch/yuv_to_rgb.launch b/nodes/ti_sde/launch/rviz.launch
index cd27c3f..3598df8 100644
--- a/nodes/ti_viz_color_conversion/launch/yuv_to_rgb.launch
+++ b/nodes/ti_sde/launch/rviz.launch
@@ -1,17 +1,21 @@
 <launch>
 
-    <node pkg="ti_viz_color_conversion" type="viz_color_conversion" name="viz_color_conversion_node" output="screen" args="" required="true">
+    <!-- color conversion from YUV422 to RGB -->
+    <node pkg="ti_viz_nodes" type="viz_color_conversion" name="viz_color_conversion_node" output="screen" args="" required="true">
         <param name="width" value="1280"/>
         <param name="height" value="720"/>
-
         <!-- Input YUV image topic name to subscribe to -->
         <param name= "input_yuv_topic"    value = "camera/right/image_raw"/>
-
         <!-- Output RGB image topic name to publish to -->
         <param name= "output_rgb_topic"   value = "camera/right/image_raw_rgb"/>
-
         <!-- Input YUV image format, YUV420 or YUV422 -->
         <param name= "yuv_format"   value = "YUV422"/>
     </node>
 
+    <!-- generate disparity map and confidence map from disparity_raw  -->
+    <include file="$(find ti_viz_nodes)/launch/viz_disparity.launch"/>
+
+    <!-- rviz -->
+    <node pkg="rviz" type="rviz" name="rviz_sde" args="-d $(find ti_sde)/rviz/sde.rviz" />
+
 </launch>
diff --git a/nodes/ti_sde/rviz/sde.rviz b/nodes/ti_sde/rviz/sde.rviz
new file mode 100644
index 0000000..928abb9
--- /dev/null
+++ b/nodes/ti_sde/rviz/sde.rviz
@@ -0,0 +1,136 @@
+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: <Fixed 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/nodes/ti_sde/src/sde.h b/nodes/ti_sde/src/sde.h
index c4598d4..1451d5a 100755
--- a/nodes/ti_sde/src/sde.h
+++ b/nodes/ti_sde/src/sde.h
@@ -194,7 +194,7 @@ typedef struct
     uint8_t                                inputFormat;

 

     /** Application interactive status, 0=non-interactive, 1=interactive. */

-    uint32_t                               is_interactive;

+    uint8_t                                is_interactive;

 

     SDELDCAPPLIB_createParams              sdeLdcCreateParams;

     SDELDCAPPLIB_Handle                    sdeLdcHdl;

diff --git a/nodes/ti_semseg_cnn/CMakeLists.txt b/nodes/ti_semseg_cnn/CMakeLists.txt
index 04c4d28..93497bc 100644
--- a/nodes/ti_semseg_cnn/CMakeLists.txt
+++ b/nodes/ti_semseg_cnn/CMakeLists.txt
@@ -1,13 +1,16 @@
 cmake_minimum_required(VERSION 3.0.2)
 project(ti_semseg_cnn)
 
-include(${CMAKE_CURRENT_SOURCE_DIR}/../../cmake/common.cmake)
+# Build only on J7
+if(${CMAKE_SYSTEM_PROCESSOR} STREQUAL "aarch64") 
+    include(${CMAKE_CURRENT_SOURCE_DIR}/../../cmake/common.cmake)
 
-# CNN based Semantic Segmentation example
-set(APP_SEMSEG_CNN_SRCS
-    src/semseg_cnn_main.cpp
-    src/semseg_cnn_node.cpp
-    src/semseg_cnn.cpp)
+    # CNN based Semantic Segmentation example
+    set(APP_SEMSEG_CNN_SRCS
+        src/semseg_cnn_main.cpp
+        src/semseg_cnn_node.cpp
+        src/semseg_cnn.cpp)
 
-# Build nodes
-build_node(semseg_cnn APP_SEMSEG_CNN_SRCS)
+    # Build nodes
+    build_node(semseg_cnn APP_SEMSEG_CNN_SRCS)
+endif()
\ No newline at end of file
diff --git a/nodes/ti_semseg_cnn/README.md b/nodes/ti_semseg_cnn/README.md
index 29b8c21..3fcf61c 100644
--- a/nodes/ti_semseg_cnn/README.md
+++ b/nodes/ti_semseg_cnn/README.md
@@ -1,14 +1,14 @@
 Semantic Segmentation Application on ROS
 ========================================
 
-It demonstrates the semantic segmenation application using a TIDL (TI Deep Learning) CNN network running on J7 C7x/MMA. However, as shown in Figure 1, this application consists of multiple processing blocks that consumes other J7 HWAs and processors besides C7x/MMA.
+It demonstrates the semantic segmentation application using a TIDL (TI Deep Learning) CNN network running on J7 C7x/MMA. However, as shown in Figure 1, this application consists of multiple processing blocks that consumes other J7 HWAs and processors besides C7x/MMA.
 
 <figure class="image">
   <center><img src="./docs/ti_semseg_cnn_data_flow.png"></center>
   <figcaption> <center>Figure 1. Overall semantic segmentation application flow </center></figcaption>
 </figure>
 
-# Introduction
+## Introduction
 
 `ti_semseg_cnn` directory structure is shown below:
 ```
@@ -36,21 +36,41 @@ This application can be run by launching semseg_cnn.launch file, i.e.,
 ```
 roslaunch ti_semseg_cnn semseg_cnn.launch
 ```
-It is recommended to launch bag_semseg_cnn.launch file if a rosbag file needs to be played as well.
+It is recommended to launch bag_semseg_cnn.launch file if a ROSBAG file needs to be played as well.
 
 semseg_cnn.launch file specifies the followings:
-* YAML file that includes algorithm configuration parameters. For the descriptions of them, please take a look at this file.
+* YAML file that includes algorithm configuration parameters. For the descriptions of important parameters, refer to Parameter section below. For the description of all parameters, please see a yaml file.
 * Input topic name to read input images.
 * Output undistorted or rectified image topic name.
 * Output semantic segmentation image topic name when an color-coded semantic segmentation map is published.
 * Flag that indicates the color-coded semantic segmentation map is published in RGB format. If this flag is false, it is published in YUV420 format.
 * Output semantic segmentation tensor topic name when the output tensor is published.
 
-When the semantic segmentation output tensor is published by the application, the color-coded semantic segmentation can be created alternatively by launching the ti_viz_semseg application, i.e.,
+When the semantic segmentation output tensor is published by the application, the color-coded semantic segmentation can be created alternatively by launching the ti_viz_nodes application, i.e.,
 ```
-roslaunch ti_viz_semseg viz_semseg.launch
+roslaunch ti_viz_nodes viz_semseg.launch
 ```
-# Processing Blocks
+
+## Parameters
+ 
+ Parameter                | Description                                                                  | Value
+--------------------------|------------------------------------------------------------------------------|----------
+ lut_file_path            | LDC rectification table path                                                 | String
+ tidl_config_file_path    | TIDL config file path                                                        | String
+ tidl_network_file_path   | TIDL network file path                                                       | String
+ tidl_network_file_path   | TIDL network file path                                                       | String
+ width                    | Input image width                                                            | Integer
+ height                   | Input image height                                                           | Integer
+ dl_width                 | Image width to TIDL network                                                  | Integer
+ dl_height                | Image height to TIDL network                                                 | Integer
+ out_width                | Output semantic segmentation output (tensor) width                           | Integer
+ out_height               | Output semantic segmentation output (tensor) height                          | Integer
+ num_classes              | Number of semantic segmentation classes                                      | 0 ~ 20
+ enable_post_proc         | Flag to indicate if the post processing of th TIDL output should be enabled  | 0, 1
+ pipeline_depth           | OpenVX graph pipeline depth                                                  | 1 ~ 4
+
+
+## Processing Blocks
 
 Please refer to Figure 1 for the following descriptions of the processing blocks implemented for this application. 
 
diff --git a/nodes/ti_semseg_cnn/launch/bag_semseg_cnn.launch b/nodes/ti_semseg_cnn/launch/bag_semseg_cnn.launch
index 1e6bb04..242e7aa 100644
--- a/nodes/ti_semseg_cnn/launch/bag_semseg_cnn.launch
+++ b/nodes/ti_semseg_cnn/launch/bag_semseg_cnn.launch
@@ -1,7 +1,7 @@
 <launch>
 
     <!-- ti_semseg_cnn -->
-    <include file="$(find ti_semseg_cnn)/launch/semseg_cnn.launch"/>    
+    <include file="$(find ti_semseg_cnn)/launch/semseg_cnn.launch"/>
 
     <!-- rosbag play -->
     <arg name="bagfile" default="$(env WORK_DIR)/data/ros_bag/2020-09-14-12-31-43.bag"/>
diff --git a/nodes/ti_semseg_cnn/launch/rviz.launch b/nodes/ti_semseg_cnn/launch/rviz.launch
new file mode 100644
index 0000000..86bbd28
--- /dev/null
+++ b/nodes/ti_semseg_cnn/launch/rviz.launch
@@ -0,0 +1,18 @@
+<launch>
+
+    <!-- color conversion for input image_raw for visualization -->
+    <node pkg="ti_viz_nodes" type="viz_color_conversion" name="viz_color_conversion_node" output="screen" args="" required="true">
+        <param name="width"            value="1280"/>
+        <param name="height"           value="720"/>
+        <param name="input_yuv_topic"  value="camera/right/image_raw"/>
+        <param name="output_rgb_topic" value="camera/right/image_raw_rgb"/>
+        <param name="yuv_format"       value="YUV422"/>
+    </node>
+
+    <!-- viz_semseg_cnn  -->
+    <include file="$(find ti_viz_nodes)/launch/viz_semseg.launch"/>
+
+    <!-- rviz -->
+    <node pkg="rviz" type="rviz" name="rviz_semseg" args="-d $(find ti_semseg_cnn)/rviz/semseg_cnn.rviz" />
+
+</launch>
diff --git a/nodes/ti_semseg_cnn/rviz/semseg_cnn.rviz b/nodes/ti_semseg_cnn/rviz/semseg_cnn.rviz
new file mode 100644
index 0000000..51dc01a
--- /dev/null
+++ b/nodes/ti_semseg_cnn/rviz/semseg_cnn.rviz
@@ -0,0 +1,123 @@
+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/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: 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
+  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: <Fixed 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/nodes/ti_viz_color_conversion/CMakeLists.txt b/nodes/ti_viz_color_conversion/CMakeLists.txt
deleted file mode 100644
index f399d88..0000000
--- a/nodes/ti_viz_color_conversion/CMakeLists.txt
+++ /dev/null
@@ -1,14 +0,0 @@
-cmake_minimum_required(VERSION 3.0.2)
-project(ti_viz_color_conversion)
-
-include(${CMAKE_CURRENT_SOURCE_DIR}/../../cmake/common.cmake)
-
-# Visualization nodes only built on PC
-if(${TARGET_PLATFORM} STREQUAL "PC")
-
-    # yuv420 to RGB conversion
-    set(VIZ_COL_CONV_SRCS src/ros_app_color_conversion_node.cpp)
-    build_node(viz_color_conversion VIZ_COL_CONV_SRCS)
-
-endif()
-
diff --git a/nodes/ti_viz_disparity/CMakeLists.txt b/nodes/ti_viz_disparity/CMakeLists.txt
deleted file mode 100644
index bfa8434..0000000
--- a/nodes/ti_viz_disparity/CMakeLists.txt
+++ /dev/null
@@ -1,15 +0,0 @@
-cmake_minimum_required(VERSION 3.0.2)
-project(ti_viz_disparity)
-
-include(${CMAKE_CURRENT_SOURCE_DIR}/../../cmake/common.cmake)
-
-# Visualization nodes only built on PC
-if(${TARGET_PLATFORM} STREQUAL "PC")
-    set(VIZ_DISP_SRCS src/viz_disparity_node.cpp)
-    build_node(viz_disparity VIZ_DISP_SRCS)
-    add_dependencies(viz_disparity ${catkin_EXPORTED_TARGETS})
-endif()
-
-
-
-
diff --git a/nodes/ti_viz_disparity/README.md b/nodes/ti_viz_disparity/README.md
deleted file mode 100644
index c415888..0000000
--- a/nodes/ti_viz_disparity/README.md
+++ /dev/null
@@ -1,28 +0,0 @@
-Disparity Map Visualization
-===========================
-
-This application subscribes to a raw disparity map topic, which is published by ti_sde, creates a color-coded disparity map and a confidence map from the raw disparity map and publish them.
-
-
-`ti_viz_disparity` directory structure is shown below:
-```
-ti_viz_disparity
-.
-├── CMakeLists.txt
-├── launch
-│   └── viz_disparity.launch
-├── package.xml
-├── README.md
-└── src
-    └── viz_disparity_node.cpp
-
-```
-
-We can run this application by launching viz_disparity.launch file, i.e.,
-```
-roslaunch ti_viz_disparity viz_disparity.launch
-```
-viz_disparity.launch file specifies the followings:
-* Input topic name to read a raw disparity map.
-* Output topic names to publish a color-coded disparity map and confidence map, respectively, which can be dispalyed directly by RViz. 
-
diff --git a/nodes/ti_viz_disparity/launch/viz_disparity.launch b/nodes/ti_viz_disparity/launch/viz_disparity.launch
deleted file mode 100644
index 20ac4bc..0000000
--- a/nodes/ti_viz_disparity/launch/viz_disparity.launch
+++ /dev/null
@@ -1,16 +0,0 @@
-<launch>
-
-    <node pkg="ti_viz_disparity" type="viz_disparity" name="viz_disparity" output="screen" args="" required="true">
-        <param name="width" value="1280"/>
-        <param name="height" value="720"/>
-
-        <!-- Input raw dispairty topic to subscribe to -->
-        <param name= "disparity_topic"    value = "camera/disparity/raw"/>
-        <!-- Output color coded disparity map topic to publish to -->
-        <param name = "cc_disparity_topic"  value = "camera/disparity/ccDisparity"/>
-        <!-- Output color coded confidence map topic to publish to -->
-        <param name = "cc_confidence_topic"   value = "camera/disparity/ccConfidence"/>
-
-    </node>
-
-</launch>
diff --git a/nodes/ti_viz_disparity/package.xml b/nodes/ti_viz_disparity/package.xml
deleted file mode 100644
index 4ce9959..0000000
--- a/nodes/ti_viz_disparity/package.xml
+++ /dev/null
@@ -1,47 +0,0 @@
-<?xml version="1.0"?>
-<package format="2">
-  <name>ti_viz_disparity</name>
-  <version>0.1.0</version>
-  <description>The ti_viz_disparity package</description>
-
-  <!-- One maintainer tag required, multiple allowed, one person per tag -->
-  <!-- Example:  -->
-  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
-  <maintainer email="d-kwon@ti.com">d.kwon</maintainer>
-
-  <!-- One license tag required, multiple allowed, one license per tag -->
-  <!-- Commonly used license strings: -->
-  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
-  <license>TODO</license>
-
-  <buildtool_depend>catkin</buildtool_depend>
-  <build_depend>geometry_msgs</build_depend>
-  <build_depend>roscpp</build_depend>
-  <build_depend>nodelet</build_depend>
-  <build_depend>cv_bridge</build_depend>
-  <build_depend>image_transport</build_depend>
-  <build_depend>sensor_msgs</build_depend>
-  <build_depend>message_generation</build_depend>
-  <!-- <build_depend>ti_sde</build_depend> -->
-  <build_export_depend>geometry_msgs</build_export_depend>
-  <build_export_depend>roscpp</build_export_depend>
-  <build_export_depend>nodelet</build_export_depend>
-  <build_export_depend>cv_bridge</build_export_depend>
-  <build_export_depend>image_transport</build_export_depend>
-  <build_export_depend>sensor_msgs</build_export_depend>
-  <build_export_depend>message_runtime</build_export_depend>
-  <!-- <build_export_depend>ti_sde</build_export_depend> -->
-  <exec_depend>geometry_msgs</exec_depend>
-  <exec_depend>roscpp</exec_depend>
-  <exec_depend>nodelet</exec_depend>
-  <exec_depend>cv_bridge</exec_depend>
-  <exec_depend>image_transport</exec_depend>
-  <exec_depend>sensor_msgs</exec_depend>
-  <exec_depend>message_runtime</exec_depend>
-  <!-- <exec_depend>ti_sde</exec_depend> -->
-
-  <!-- The export tag contains other, unspecified, tags -->
-  <export>
-    <!-- Other tools can request additional information be placed here -->
-  </export>
-</package>
diff --git a/nodes/ti_viz_nodes/CMakeLists.txt b/nodes/ti_viz_nodes/CMakeLists.txt
new file mode 100644
index 0000000..59ed65b
--- /dev/null
+++ b/nodes/ti_viz_nodes/CMakeLists.txt
@@ -0,0 +1,51 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(ti_viz_nodes)
+
+add_compile_options(-std=c++14)
+
+find_package(catkin REQUIRED COMPONENTS roscpp cv_bridge image_transport sensor_msgs std_msgs message_generation common_msgs)
+
+catkin_package(CATKIN_DEPENDS roscpp cv_bridge image_transport sensor_msgs message_runtime)
+
+find_package(OpenCV REQUIRED)
+
+include_directories(
+    include
+    ${catkin_INCLUDE_DIRS}
+    ${OpenCV_INCLUDE_DIRS}
+)
+
+link_directories(${catkin_LIBRARY_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} ${catkin_LIBRARIES})
+    add_dependencies(${app} ${common_msgs_EXPORTED_TARGETS})
+endfunction()
+
+# Visualization nodes only built on PC
+if (${CMAKE_SYSTEM_PROCESSOR} STREQUAL "x86_64")
+    # viz_disparity
+    set(VIZ_DISP_SRCS src/viz_disparity_node.cpp)
+    build_node(viz_disparity VIZ_DISP_SRCS)
+    add_dependencies(viz_disparity ${catkin_EXPORTED_TARGETS})
+
+    # YUV to RGB conversion
+    set(VIZ_COL_CONV_SRCS src/ros_app_color_conversion_node.cpp)
+    build_node(viz_color_conversion VIZ_COL_CONV_SRCS)
+
+    # viz_semseg
+    set(VIZ_SEMSEG_SRCS src/viz_semseg_node.cpp)
+    build_node(viz_semseg VIZ_SEMSEG_SRCS)
+    add_dependencies(viz_semseg ${catkin_EXPORTED_TARGETS})
+
+endif()
+
+
+
+
diff --git a/nodes/ti_viz_nodes/README.md b/nodes/ti_viz_nodes/README.md
new file mode 100644
index 0000000..a3b2d55
--- /dev/null
+++ b/nodes/ti_viz_nodes/README.md
@@ -0,0 +1,29 @@
+Visualization Nodes
+===================
+
+## Disparity Map Visualization
+
+This application subscribes to a raw disparity map topic, which is published by ti_sde, creates a color-coded disparity map and a confidence map from the raw disparity map and publish them.
+
+We can run this application by launching `viz_disparity.launch` file, i.e.,
+```
+roslaunch ti_viz_nodes viz_disparity.launch
+```
+viz_disparity.launch file specifies the followings:
+* Input topic name to read a raw disparity map.
+* Output topic names to publish a color-coded disparity map and confidence map, respectively, which can be displayed directly by RViz.
+
+<!-- =================================================================================================== -->
+## Semantic Segmentation Map Visualization
+
+This application subscribes to two topics, one is an input image topic, on which class dependent colors will be overlaid, and the other is a semantic segmentation CNN output tensor topic, which has class information for all pixels. It creates a color-coded semantic segmentation map from them, which is published as an output.
+
+We can run this application by launching `viz_semseg.launch` file, i.e.,
+```
+roslaunch ti_viz_nodes viz_semseg.launch
+```
+
+`viz_semseg.launch` file specifies the followings:
+* Input image topic name to read input images.
+* CNN tensor topic name to read output tensors from a CNN network.
+* Output topic name to publish a color-coded semantic segmentation map, which can be displayed directly by RViz.
diff --git a/nodes/ti_viz_nodes/launch/viz_disparity.launch b/nodes/ti_viz_nodes/launch/viz_disparity.launch
new file mode 100644
index 0000000..7dae506
--- /dev/null
+++ b/nodes/ti_viz_nodes/launch/viz_disparity.launch
@@ -0,0 +1,14 @@
+<launch>
+
+    <node pkg="ti_viz_nodes" type="viz_disparity" name="viz_disparity" output="screen" args="" required="true">
+        <param name="width"  value="1280"/>
+        <param name="height" value="720"/>
+        <!-- Input raw dispairty topic to subscribe to -->
+        <param name="disparity_topic"     value="camera/disparity/raw"/>
+        <!-- Output color coded disparity map topic to publish to -->
+        <param name="cc_disparity_topic"  value="camera/disparity/ccDisparity"/>
+        <!-- Output color coded confidence map topic to publish to -->
+        <param name="cc_confidence_topic" value="camera/disparity/ccConfidence"/>
+    </node>
+
+</launch>
diff --git a/nodes/ti_viz_semseg/launch/viz_semseg.launch b/nodes/ti_viz_nodes/launch/viz_semseg.launch
index f5fd19b..6a63265 100644
--- a/nodes/ti_viz_semseg/launch/viz_semseg.launch
+++ b/nodes/ti_viz_nodes/launch/viz_semseg.launch
@@ -1,21 +1,16 @@
 <launch>
 
-    <node pkg="ti_viz_semseg" type="viz_semseg" name="viz_semseg" output="screen" args="" required="true">
-
+    <node pkg="ti_viz_nodes" type="viz_semseg" name="viz_semseg" output="screen" args="" required="true">
         <param name="width"         value="1280"/>
         <param name="height"        value="720"/>
         <param name="tensor_width"  value="768"/>
         <param name="tensor_height" value="432"/>
-
         <!-- Input recitified image topic name to subscribe to -->
-        <param name = "rectified_image_topic"    value = "camera/right/image_rect_mono"/>
-
+        <param name="rectified_image_topic"    value="camera/right/image_rect_mono"/>
         <!-- Input CNN tensor topic name to subscribe to -->
-        <param name = "semseg_cnn_tensor_topic"  value = "semseg_cnn/tensor"/>
-
+        <param name="semseg_cnn_tensor_topic"  value="semseg_cnn/tensor"/>
         <!-- Output semantic segmentation image topic name to publish to -->
-        <param name = "semseg_cnn_image_topic"   value = "semseg_cnn/out_image"/>
-
+        <param name="semseg_cnn_image_topic"   value="semseg_cnn/out_image"/>
     </node>
 
 </launch>
diff --git a/nodes/ti_viz_nodes/launch/yuv_to_rgb.launch b/nodes/ti_viz_nodes/launch/yuv_to_rgb.launch
new file mode 100644
index 0000000..d60714d
--- /dev/null
+++ b/nodes/ti_viz_nodes/launch/yuv_to_rgb.launch
@@ -0,0 +1,15 @@
+<launch>
+
+    <node pkg="ti_viz_nodes" type="viz_color_conversion" 
+     name="viz_color_conversion" output="screen" args="" required="true">
+        <param name="width"  value="1280"/>
+        <param name="height" value="720"/>
+        <!-- Input YUV image topic name to subscribe to -->
+        <param name="input_yuv_topic"  value="camera/right/image_raw"/>
+        <!-- Output RGB image topic name to publish to -->
+        <param name="output_rgb_topic" value="camera/right/image_raw_rgb"/>
+        <!-- Input YUV image format, YUV420 or YUV422 -->
+        <param name="yuv_format"       value="YUV422"/>
+    </node>
+
+</launch>
diff --git a/nodes/ti_viz_color_conversion/package.xml b/nodes/ti_viz_nodes/package.xml
index dfbc5fb..e2dec76 100644
--- a/nodes/ti_viz_color_conversion/package.xml
+++ b/nodes/ti_viz_nodes/package.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <package format="2">
-  <name>ti_viz_color_conversion</name>
+  <name>ti_viz_nodes</name>
   <version>0.1.0</version>
-  <description>The ti_viz_color_conversion package</description>
+  <description>The ti_viz_nodes package</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
@@ -17,21 +17,18 @@
   <buildtool_depend>catkin</buildtool_depend>
   <build_depend>geometry_msgs</build_depend>
   <build_depend>roscpp</build_depend>
-  <build_depend>nodelet</build_depend>
   <build_depend>cv_bridge</build_depend>
   <build_depend>image_transport</build_depend>
   <build_depend>sensor_msgs</build_depend>
   <build_depend>message_generation</build_depend>
   <build_export_depend>geometry_msgs</build_export_depend>
   <build_export_depend>roscpp</build_export_depend>
-  <build_export_depend>nodelet</build_export_depend>
   <build_export_depend>cv_bridge</build_export_depend>
   <build_export_depend>image_transport</build_export_depend>
   <build_export_depend>sensor_msgs</build_export_depend>
   <build_export_depend>message_runtime</build_export_depend>
   <exec_depend>geometry_msgs</exec_depend>
   <exec_depend>roscpp</exec_depend>
-  <exec_depend>nodelet</exec_depend>
   <exec_depend>cv_bridge</exec_depend>
   <exec_depend>image_transport</exec_depend>
   <exec_depend>sensor_msgs</exec_depend>
diff --git a/nodes/ti_viz_color_conversion/src/ros_app_color_conversion_node.cpp b/nodes/ti_viz_nodes/src/ros_app_color_conversion_node.cpp
index 9932b1a..9932b1a 100644
--- a/nodes/ti_viz_color_conversion/src/ros_app_color_conversion_node.cpp
+++ b/nodes/ti_viz_nodes/src/ros_app_color_conversion_node.cpp
diff --git a/nodes/ti_viz_disparity/src/viz_disparity_node.cpp b/nodes/ti_viz_nodes/src/viz_disparity_node.cpp
index fc8e7ff..fc8e7ff 100644
--- a/nodes/ti_viz_disparity/src/viz_disparity_node.cpp
+++ b/nodes/ti_viz_nodes/src/viz_disparity_node.cpp
diff --git a/nodes/ti_viz_semseg/src/viz_semseg_node.cpp b/nodes/ti_viz_nodes/src/viz_semseg_node.cpp
index 0583670..9dd469a 100644
--- a/nodes/ti_viz_semseg/src/viz_semseg_node.cpp
+++ b/nodes/ti_viz_nodes/src/viz_semseg_node.cpp
@@ -11,13 +11,14 @@
 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
 {
     /**
@@ -81,13 +82,16 @@ namespace ros_app_viz
             // Semantic class
             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;
 
             cv_bridge::CvImagePtr cv_ssPtr;
-            cv_ssPtr = cv_bridge::toCvCopy(imagePtr, sensor_msgs::image_encodings::BGR8);
+            cv_ssPtr = cv_bridge::toCvCopy(imagePtr, sensor_msgs::image_encodings::RGB8);
 
             for (j = 0; j < m_height; j++)
             {
@@ -100,11 +104,11 @@ namespace ros_app_viz
                     classId =  tensorPtr->data[y*m_tensorWidth + x];
 
                     cv_ssPtr->image.data[j*stride + i*3]     =
-                        0.5*cv_ssPtr->image.data[j*stride + i*3]     + 0.5*color_map[classId][0];
+                        (1-bf)*cv_ssPtr->image.data[j*stride + i*3]     + bf*color_map[classId][0];
                     cv_ssPtr->image.data[j*stride + i*3 + 1] =
-                        0.5*cv_ssPtr->image.data[j*stride + i*3 + 1] + 0.5*color_map[classId][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] =
-                        0.5*cv_ssPtr->image.data[j*stride + i*3 + 2] + 0.5*color_map[classId][2];
+                        (1-bf)*cv_ssPtr->image.data[j*stride + i*3 + 2] + bf*color_map[classId][2];
                 }
             }
 
diff --git a/nodes/ti_viz_semseg/CMakeLists.txt b/nodes/ti_viz_semseg/CMakeLists.txt
deleted file mode 100644
index e462b21..0000000
--- a/nodes/ti_viz_semseg/CMakeLists.txt
+++ /dev/null
@@ -1,14 +0,0 @@
-cmake_minimum_required(VERSION 3.0.2)
-project(ti_viz_semseg)
-
-include(${CMAKE_CURRENT_SOURCE_DIR}/../../cmake/common.cmake)
-
-# Visualization nodes only built on PC
-if(${TARGET_PLATFORM} STREQUAL "PC")
-    set(VIZ_SEMSEG_SRCS src/viz_semseg_node.cpp)
-    build_node(viz_semseg VIZ_SEMSEG_SRCS)
-    add_dependencies(viz_semseg ${catkin_EXPORTED_TARGETS})
-endif()
-
-
-
diff --git a/nodes/ti_viz_semseg/README.md b/nodes/ti_viz_semseg/README.md
deleted file mode 100644
index d0ef2d8..0000000
--- a/nodes/ti_viz_semseg/README.md
+++ /dev/null
@@ -1,29 +0,0 @@
-Semantic Segmentation Map Visualization
-=======================================
-
-This application subscribes to two topics, one is an input image topic, on which class dependent colors will be overlaid, and the other is a semantic segmentation CNN output tensor topic, which has class information for all pixels. It creates a color-coded semantic segmentation map from them, which is published as an output.
-
-
-`ti_viz_semseg` directory structure is shown below:
-```
-ti_viz_semseg
-.
-├── CMakeLists.txt
-├── launch
-│   └── viz_semseg.launch
-├── package.xml
-├── README.md
-└── src
-    └── viz_semseg_node.cpp
-
-```
-
-We can run this application by launching viz_semseg.launch file, i.e.,
-```
-roslaunch ti_viz_semseg viz_semseg.launch
-```
-viz_semseg.launch file specifies the followings:
-* Input image topic name to read input images.
-* CNN tensor topic name to read output tensors from a CNN network.
-* Output topic name to publish a color-coded semantic segmentation map, which can be displayed directly by RViz.
-
diff --git a/nodes/ti_viz_semseg/package.xml b/nodes/ti_viz_semseg/package.xml
deleted file mode 100644
index 093e7b3..0000000
--- a/nodes/ti_viz_semseg/package.xml
+++ /dev/null
@@ -1,47 +0,0 @@
-<?xml version="1.0"?>
-<package format="2">
-  <name>ti_viz_semseg</name>
-  <version>0.1.0</version>
-  <description>The ti_viz_semseg package</description>
-
-  <!-- One maintainer tag required, multiple allowed, one person per tag -->
-  <!-- Example:  -->
-  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
-  <maintainer email="d-kwon@ti.com">d.kwon</maintainer>
-
-  <!-- One license tag required, multiple allowed, one license per tag -->
-  <!-- Commonly used license strings: -->
-  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
-  <license>TODO</license>
-
-  <buildtool_depend>catkin</buildtool_depend>
-  <build_depend>geometry_msgs</build_depend>
-  <build_depend>roscpp</build_depend>
-  <build_depend>nodelet</build_depend>
-  <build_depend>cv_bridge</build_depend>
-  <build_depend>image_transport</build_depend>
-  <build_depend>sensor_msgs</build_depend>
-  <build_depend>message_generation</build_depend>
-  <!-- <build_depend>ti_semseg_cnn</build_depend> -->
-  <build_export_depend>geometry_msgs</build_export_depend>
-  <build_export_depend>roscpp</build_export_depend>
-  <build_export_depend>nodelet</build_export_depend>
-  <build_export_depend>cv_bridge</build_export_depend>
-  <build_export_depend>image_transport</build_export_depend>
-  <build_export_depend>sensor_msgs</build_export_depend>
-  <build_export_depend>message_runtime</build_export_depend>
-  <!-- <build_export_depend>ti_semseg_cnn</build_export_depend> -->
-  <exec_depend>geometry_msgs</exec_depend>
-  <exec_depend>roscpp</exec_depend>
-  <exec_depend>nodelet</exec_depend>
-  <exec_depend>cv_bridge</exec_depend>
-  <exec_depend>image_transport</exec_depend>
-  <exec_depend>sensor_msgs</exec_depend>
-  <exec_depend>message_runtime</exec_depend>
-  <!-- <exec_depend>ti_semseg_cnn</exec_depend> -->
-
-  <!-- The export tag contains other, unspecified, tags -->
-  <export>
-    <!-- Other tools can request additional information be placed here -->
-  </export>
-</package>
diff --git a/setup_env_pc.sh b/setup_env_pc.sh
new file mode 100755
index 0000000..1f57e6b
--- /dev/null
+++ b/setup_env_pc.sh
@@ -0,0 +1,11 @@
+# NOTE: Update the following lines based on your setting
+export J7_IP_ADDR=192.168.1.32
+export PC_IP_ADDR=192.168.1.20
+export CATKIN_WS=$HOME/j7ros_home/catkin_ws
+
+# ROS network setting
+export ROS_MASTER_URI=http://$J7_IP_ADDR:11311
+export ROS_IP=$PC_IP_ADDR
+
+source /opt/ros/melodic/setup.bash
+source $CATKIN_WS/devel/setup.bash