1 files changed, 59 insertions, 56 deletions
diff --git a/nodes/ti_estop/README.md b/nodes/ti_estop/README.md
index 96f3589..14b016b 100644
--- a/nodes/ti_estop/README.md
+++ b/nodes/ti_estop/README.md
@@ -46,79 +46,82 @@ roslaunch ti_estop rviz_ogmap.launch
 ```
 ## Launch File Parameters
-`estop.launch` file specifies the followings:
-* YAML file that includes algorithm configuration parameters. For the descriptions of important parameters, refer to "`rosparam` Parameters" section below. For the descriptions of all parameters, please see `config/params.yaml`
-* Left input topic name to read left images from a stereo camera.
-* Right input topic name to read right images from a stereo camera.
-* Right camera parameter topic name to read width, height, distortion centers and focal length
-* Output semantic segmentation map tensor topic to publish the output tensors from a semantic segmentation network.
-* Output rectified right image topic name to publish rectified right images.
-* Output bounding box topic name to publish the 3D bounding boxes coordinates of detected obstacles.
-* Output disparity topic name to publish raw disparity maps.
-* Output occupancy grid topic name to publish ego-centric occupancy grid map.
-* Output emergency stop topic name to publish emergency stop flag when obstacles are too close to a robot. When this flag is true, a robot is forced to stop moving.
+Parameter                | Description                                                                | Value
-## `rosparam` Parameters
+-------------------------|----------------------------------------------------------------------------|-------------------
+rosparam file            | Algorithm configuration parameters (see "ROSPARAM Parameters" section)     | config/params.yaml
+left_input_topic_name    | Left input topic name to read left images from a stereo camera             | camera/left/image_raw
+right_input_topic_name   | Right input topic name to read right images from a stereo camera           | camera/right/image_raw
+camera_info_topic        | Right camera_info topic name to read relevant camera parameters            | camera/right/camera_info
+semseg_cnn_out_image     | Publish topic name for semantic segmentation output image                  | semseg_cnn/out_image
+semseg_cnn_tensor_topic  | Publish topic name for semantic segmentation tensor                        | semseg_cnn/tensor
+rectified_image_topic    | Publish topic name for rectified right image                               | camera/right/image_rect_mono
+bounding_box_topic       | Publish topic name for 3D bounding boxes coordinates of detected obstacles | detection3D/3dBB
+raw_disparity_topic_name | Publish topic name for raw disparity map                                   | camera/disparity/raw
+ogmap_topic_name         | Publish topic name for ego-centric occupancy grid map                      | detection3D/ogmap
+estop_topic_name         | Publish topic name for binary emergency stop message, indicating whether obstacle(s) is in proximity to the  robot or not | detection3D/estop
+ssmap_output_rgb         | Flag to indicate if the output semantic segmentation map is published in RGB format | true, false
+_                        | The output semantic segmentation map is published in YUV420 if false        | _
+## ROSPARAM Parameters
 ### Basic input, LDC and SDE Parameters
- Parameter                | Description                                                                  | Value
+Parameter                | Description                                                                  | Value
--------------------------|------------------------------------------------------------------------------|----------
+-------------------------|------------------------------------------------------------------------------|----------
- left_lut_file_path       | LDC rectification table path for left image                                  | String
+left_lut_file_path       | LDC rectification table path for left image                                  | String
- right_lut_file_path      | LDC rectification table path for right 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
+input_format             | Input image format, 0: U8, 1: YUV422                                         | 0, 1
- sde_algo_type            | SDE algorithm type, 0: single-layer SDE, 1: multi-layer SDE                  | 0, 1
+sde_algo_type            | SDE algorithm type, 0: single-layer SDE, 1: multi-layer SDE                  | 0, 1
- num_layers               | Number of layers in multi-layer SDE                                          | 2, 3
+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
+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_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
+disparity_max            | Maximum disparity to search, 0: 63, 1: 127, 2: 191                           | 0 ~ 2
 ### Camera Parameters
- Parameter                | Description                                                                  | Value
+Parameter                | Description                                                                  | Value
--------------------------|------------------------------------------------------------------------------|----------
+-------------------------|------------------------------------------------------------------------------|----------
- camera_height            | Camera mounting height                                                       | Float32
+camera_height            | Camera mounting height                                                       | Float32
- camera_pitch             | Camera pitch angle in radian                                                 | Float32
+camera_pitch             | Camera pitch angle in radian                                                 | Float32
 ### Occupancy Grid Map Parameters
- Parameter                | Description                                                                  | Value
+Parameter                | Description                                                                  | Value
--------------------------|------------------------------------------------------------------------------|----------
+-------------------------|------------------------------------------------------------------------------|----------
- grid_x_size              | Horizontal width of a grid of a OG map in millimeter                         | Integer
+grid_x_size              | Horizontal width of a grid of a OG map in millimeter                         | Integer
- grid_y_size              | Vertical length of a grid of a OG map in millimeter                          | Integer
+grid_y_size              | Vertical length of a grid of a OG map in millimeter                          | Integer
- min_x_range              | Minimum horizontal range in millimeter to be covered by a OG map             | Integer
+min_x_range              | Minimum horizontal range in millimeter to be covered by a OG map             | Integer
- max_x_range              | Maximum horizontal range in millimeter to be covered by a OG map             | Integer
+max_x_range              | Maximum horizontal range in millimeter to be covered by a OG map             | Integer
- min_y_range              | Minimum vertical range in millimeter to be covered by a OG map               | Integer
+min_y_range              | Minimum vertical range in millimeter to be covered by a OG map               | Integer
- max_y_range              | Maximum vertical range in millimeter to be covered by a OG map               | Integer
+max_y_range              | Maximum vertical range in millimeter to be covered by a OG map               | Integer
 The number of grids in one row is defined by (max_x_range - min_x_range) / grid_x_size. Likewise, the number of grids in one column is defined by (max_y_range - min_y_range) / grid_y_size.
 ### Obstacle Detection Parameters
+Parameter                     | Description                                                             | Value
- Parameter                     | Description                                                             | Value
+------------------------------|-------------------------------------------------------------------------|----------
-------------------------------|-------------------------------------------------------------------------|----------
+min_pixel_count_grid          | Minimum number of pixels for a grid to be occupied                      | Integer
- min_pixel_count_grid          | Minimum number of pixels for a grid to be occupied                      | Integer
+min_pixel_count_object        | Minimum number of pixels for connected grids to be an object            | Integer
- min_pixel_count_object        | Minimum number of pixels for connected grids to be an object            | Integer
+max_object_to_detect          | Maximum number of objects to detect in a frame                          | Integer
- max_object_to_detect          | Maximum number of objects to detect in a frame                          | Integer
+num_neighbor_grid             | Number of neighboring grids to check for connected component analysis   | 8, 24
- num_neighbor_grid             | Number of neighboring grids to check for connected component analysis   | 8, 24
+enable_spatial_obj_merge      | Enabling flag of merging spatially close objects                        | 0, 1
- enable_spatial_obj_merge      | Enabling flag of merging spatially close objects                        | 0, 1
+enable_temporal_obj_merge     | Enabling flag of use of temporal information                            | 0, 1
- enable_temporal_obj_merge     | Enabling flag of use of temporal information                            | 0, 1
+enable_temporal_obj_smoothing | Enabling flag of use of a corresponding object in a previous frame to compute an object position      | 0, 1
- enable_temporal_obj_smoothing | Enabling flag of use of a corresponding object in a previous frame to compute an object position      | 0, 1
+object_distance_mode          | Method to compute distance between objects (0: distance between centers, 1: distance between corners) | 0, 1
- object_distance_mode          | Method to compute distance between objects (0: distance between centers, 1: distance between corners) | 0, 1
 ### e-Stop Parameters
- Parameter                     | Description                                                             | Value
+Parameter                     | Description                                                             | Value
-------------------------------|-------------------------------------------------------------------------|----------
+------------------------------|-------------------------------------------------------------------------|----------
- min_estop_distance            | Minimum distance of e-Stop area. Should be 0                            | 0
+min_estop_distance            | Minimum distance of e-Stop area. Should be 0                            | 0
- max_estop_distance            | Maximum distance of e-Stop area in millimeter                           | Integer
+max_estop_distance            | Maximum distance of e-Stop area in millimeter                           | Integer
- min_estop_width               | Width of e-Stop area in millimeter at min_estop_distance                | Integer
+min_estop_width               | Width of e-Stop area in millimeter at min_estop_distance                | Integer
- max_estop_width               | Width of e-Stop area in millimeter at max_estop_distance                | Integer
+max_estop_width               | Width of e-Stop area in millimeter at max_estop_distance                | Integer
- min_free_frame_run            | Minimum number of consecutive frames without any obstacle in e-Stop area to be determined free   | Integer
+min_free_frame_run            | Minimum number of consecutive frames without any obstacle in e-Stop area to be determined free   | Integer
- min_obs_frame_run             | Minimum number of consecutive frames with any obstacle in e-Stop area to be determined infringed | Integer
+min_obs_frame_run             | Minimum number of consecutive frames with any obstacle in e-Stop area to be determined infringed | Integer
-e-Stop area forms a trapezoid defined by first four values. When obstacles are detected in e-Stop area, a robot is forced to stop.
+e-Stop area forms a trapezoid defined by the first four parameters. When obstacles are detected in the e-Stop area, `detection3D/estop` topic is turned on `1`, so that the robot can be forced to stop.
 ## Camera Setup
@@ -127,4 +130,4 @@ e-Stop area forms a trapezoid defined by first four values. When obstacles are d
 To create LDC-format LUT for ZED camera, please refer to [zed_capture/README.md](../../drivers/zed_capture/README.md).
 ### Camera Mounting
-For accurate obstacle detection, it is important to mount properly and correct values of `camera_height` and `camera_pitch` should be provided. For example, incorrect values of camera pitch angle result in 3D object boxes being overlaid in front of or behind obstacles on images. It is recommended to install the stereo camera parallel to the ground plane or slightly tilted downward, e.g., 0° ~ 10°. In general, camera pitch angle should be close to 0 when a camera's height is low, while camera pitch angle can be larger to some extent when the camera is mounted higher.
+For accurate obstacle detection, it is important to mount properly and correct values of `camera_height` and `camera_pitch` should be provided. For example, incorrect values of camera pitch angle result in 3D object boxes being overlaid in front of or behind obstacles on images. It is recommended to install the stereo camera parallel to the ground plane or slightly tilted downward, e.g., between 0° and 10°. In general, camera pitch angle should be close to 0 when a camera's height is low, while camera pitch angle can be larger to some extent when the camera is mounted higher.

diff --git a/nodes/ti_estop/README.md b/nodes/ti_estop/README.md index 96f3589..14b016b 100644 --- a/nodes/ti_estop/README.md +++ b/nodes/ti_estop/README.md
@@ -46,79 +46,82 @@ roslaunch ti_estop rviz_ogmap.launch
46	```	46	```
47		47
48	## Launch File Parameters	48	## Launch File Parameters
49	`estop.launch` file specifies the followings:
50	* YAML file that includes algorithm configuration parameters. For the descriptions of important parameters, refer to "`rosparam` Parameters" section below. For the descriptions of all parameters, please see `config/params.yaml`
51	* Left input topic name to read left images from a stereo camera.
52	* Right input topic name to read right images from a stereo camera.
53	* Right camera parameter topic name to read width, height, distortion centers and focal length
54	* Output semantic segmentation map tensor topic to publish the output tensors from a semantic segmentation network.
55	* Output rectified right image topic name to publish rectified right images.
56	* Output bounding box topic name to publish the 3D bounding boxes coordinates of detected obstacles.
57	* Output disparity topic name to publish raw disparity maps.
58	* Output occupancy grid topic name to publish ego-centric occupancy grid map.
59	* Output emergency stop topic name to publish emergency stop flag when obstacles are too close to a robot. When this flag is true, a robot is forced to stop moving.
60		49
61		50	Parameter \| Description \| Value
62	## `rosparam` Parameters	51	-------------------------\|----------------------------------------------------------------------------\|-------------------
		52	rosparam file \| Algorithm configuration parameters (see "ROSPARAM Parameters" section) \| config/params.yaml
		53	left_input_topic_name \| Left input topic name to read left images from a stereo camera \| camera/left/image_raw
		54	right_input_topic_name \| Right input topic name to read right images from a stereo camera \| camera/right/image_raw
		55	camera_info_topic \| Right camera_info topic name to read relevant camera parameters \| camera/right/camera_info
		56	semseg_cnn_out_image \| Publish topic name for semantic segmentation output image \| semseg_cnn/out_image
		57	semseg_cnn_tensor_topic \| Publish topic name for semantic segmentation tensor \| semseg_cnn/tensor
		58	rectified_image_topic \| Publish topic name for rectified right image \| camera/right/image_rect_mono
		59	bounding_box_topic \| Publish topic name for 3D bounding boxes coordinates of detected obstacles \| detection3D/3dBB
		60	raw_disparity_topic_name \| Publish topic name for raw disparity map \| camera/disparity/raw
		61	ogmap_topic_name \| Publish topic name for ego-centric occupancy grid map \| detection3D/ogmap
		62	estop_topic_name \| Publish topic name for binary emergency stop message, indicating whether obstacle(s) is in proximity to the robot or not \| detection3D/estop
		63	ssmap_output_rgb \| Flag to indicate if the output semantic segmentation map is published in RGB format \| true, false
		64	_ \| The output semantic segmentation map is published in YUV420 if false \| _
		65
		66	## ROSPARAM Parameters
63		67
64	### Basic input, LDC and SDE Parameters	68	### Basic input, LDC and SDE Parameters
65		69
66	Parameter \| Description \| Value	70	Parameter \| Description \| Value
67	--------------------------\|------------------------------------------------------------------------------\|----------	71	-------------------------\|------------------------------------------------------------------------------\|----------
68	left_lut_file_path \| LDC rectification table path for left image \| String	72	left_lut_file_path \| LDC rectification table path for left image \| String
69	right_lut_file_path \| LDC rectification table path for right image \| String	73	right_lut_file_path \| LDC rectification table path for right image \| String
70	input_format \| Input image format, 0: U8, 1: YUV422 \| 0, 1	74	input_format \| Input image format, 0: U8, 1: YUV422 \| 0, 1
71	sde_algo_type \| SDE algorithm type, 0: single-layer SDE, 1: multi-layer SDE \| 0, 1	75	sde_algo_type \| SDE algorithm type, 0: single-layer SDE, 1: multi-layer SDE \| 0, 1
72	num_layers \| Number of layers in multi-layer SDE \| 2, 3	76	num_layers \| Number of layers in multi-layer SDE \| 2, 3
73	sde_confidence_threshold \| Disparity with confidence less than this value is invalidated \| 0 ~ 7	77	sde_confidence_threshold \| Disparity with confidence less than this value is invalidated \| 0 ~ 7
74	disparity_min \| Minimum disparity to search, 0: 0, 1: -3 \| 0, 1	78	disparity_min \| Minimum disparity to search, 0: 0, 1: -3 \| 0, 1
75	disparity_max \| Maximum disparity to search, 0: 63, 1: 127, 2: 191 \| 0 ~ 2	79	disparity_max \| Maximum disparity to search, 0: 63, 1: 127, 2: 191 \| 0 ~ 2
76		80
77	### Camera Parameters	81	### Camera Parameters
78		82
79	Parameter \| Description \| Value	83	Parameter \| Description \| Value
80	--------------------------\|------------------------------------------------------------------------------\|----------	84	-------------------------\|------------------------------------------------------------------------------\|----------
81	camera_height \| Camera mounting height \| Float32	85	camera_height \| Camera mounting height \| Float32
82	camera_pitch \| Camera pitch angle in radian \| Float32	86	camera_pitch \| Camera pitch angle in radian \| Float32
83		87
84	### Occupancy Grid Map Parameters	88	### Occupancy Grid Map Parameters
85		89
86	Parameter \| Description \| Value	90	Parameter \| Description \| Value
87	--------------------------\|------------------------------------------------------------------------------\|----------	91	-------------------------\|------------------------------------------------------------------------------\|----------
88	grid_x_size \| Horizontal width of a grid of a OG map in millimeter \| Integer	92	grid_x_size \| Horizontal width of a grid of a OG map in millimeter \| Integer
89	grid_y_size \| Vertical length of a grid of a OG map in millimeter \| Integer	93	grid_y_size \| Vertical length of a grid of a OG map in millimeter \| Integer
90	min_x_range \| Minimum horizontal range in millimeter to be covered by a OG map \| Integer	94	min_x_range \| Minimum horizontal range in millimeter to be covered by a OG map \| Integer
91	max_x_range \| Maximum horizontal range in millimeter to be covered by a OG map \| Integer	95	max_x_range \| Maximum horizontal range in millimeter to be covered by a OG map \| Integer
92	min_y_range \| Minimum vertical range in millimeter to be covered by a OG map \| Integer	96	min_y_range \| Minimum vertical range in millimeter to be covered by a OG map \| Integer
93	max_y_range \| Maximum vertical range in millimeter to be covered by a OG map \| Integer	97	max_y_range \| Maximum vertical range in millimeter to be covered by a OG map \| Integer
94		98
95	The number of grids in one row is defined by (max_x_range - min_x_range) / grid_x_size. Likewise, the number of grids in one column is defined by (max_y_range - min_y_range) / grid_y_size.	99	The number of grids in one row is defined by (max_x_range - min_x_range) / grid_x_size. Likewise, the number of grids in one column is defined by (max_y_range - min_y_range) / grid_y_size.
96		100
97	### Obstacle Detection Parameters	101	### Obstacle Detection Parameters
98		102	Parameter \| Description \| Value
99	Parameter \| Description \| Value	103	------------------------------\|-------------------------------------------------------------------------\|----------
100	-------------------------------\|-------------------------------------------------------------------------\|----------	104	min_pixel_count_grid \| Minimum number of pixels for a grid to be occupied \| Integer
101	min_pixel_count_grid \| Minimum number of pixels for a grid to be occupied \| Integer	105	min_pixel_count_object \| Minimum number of pixels for connected grids to be an object \| Integer
102	min_pixel_count_object \| Minimum number of pixels for connected grids to be an object \| Integer	106	max_object_to_detect \| Maximum number of objects to detect in a frame \| Integer
103	max_object_to_detect \| Maximum number of objects to detect in a frame \| Integer	107	num_neighbor_grid \| Number of neighboring grids to check for connected component analysis \| 8, 24
104	num_neighbor_grid \| Number of neighboring grids to check for connected component analysis \| 8, 24	108	enable_spatial_obj_merge \| Enabling flag of merging spatially close objects \| 0, 1
105	enable_spatial_obj_merge \| Enabling flag of merging spatially close objects \| 0, 1	109	enable_temporal_obj_merge \| Enabling flag of use of temporal information \| 0, 1
106	enable_temporal_obj_merge \| Enabling flag of use of temporal information \| 0, 1	110	enable_temporal_obj_smoothing \| Enabling flag of use of a corresponding object in a previous frame to compute an object position \| 0, 1
107	enable_temporal_obj_smoothing \| Enabling flag of use of a corresponding object in a previous frame to compute an object position \| 0, 1	111	object_distance_mode \| Method to compute distance between objects (0: distance between centers, 1: distance between corners) \| 0, 1
108	object_distance_mode \| Method to compute distance between objects (0: distance between centers, 1: distance between corners) \| 0, 1
109		112
110	### e-Stop Parameters	113	### e-Stop Parameters
111		114
112	Parameter \| Description \| Value	115	Parameter \| Description \| Value
113	-------------------------------\|-------------------------------------------------------------------------\|----------	116	------------------------------\|-------------------------------------------------------------------------\|----------
114	min_estop_distance \| Minimum distance of e-Stop area. Should be 0 \| 0	117	min_estop_distance \| Minimum distance of e-Stop area. Should be 0 \| 0
115	max_estop_distance \| Maximum distance of e-Stop area in millimeter \| Integer	118	max_estop_distance \| Maximum distance of e-Stop area in millimeter \| Integer
116	min_estop_width \| Width of e-Stop area in millimeter at min_estop_distance \| Integer	119	min_estop_width \| Width of e-Stop area in millimeter at min_estop_distance \| Integer
117	max_estop_width \| Width of e-Stop area in millimeter at max_estop_distance \| Integer	120	max_estop_width \| Width of e-Stop area in millimeter at max_estop_distance \| Integer
118	min_free_frame_run \| Minimum number of consecutive frames without any obstacle in e-Stop area to be determined free \| Integer	121	min_free_frame_run \| Minimum number of consecutive frames without any obstacle in e-Stop area to be determined free \| Integer
119	min_obs_frame_run \| Minimum number of consecutive frames with any obstacle in e-Stop area to be determined infringed \| Integer	122	min_obs_frame_run \| Minimum number of consecutive frames with any obstacle in e-Stop area to be determined infringed \| Integer
120		123
121	e-Stop area forms a trapezoid defined by first four values. When obstacles are detected in e-Stop area, a robot is forced to stop.	124	e-Stop area forms a trapezoid defined by the first four parameters. When obstacles are detected in the e-Stop area, `detection3D/estop` topic is turned on `1`, so that the robot can be forced to stop.
122		125
123		126
124	## Camera Setup	127	## Camera Setup
@@ -127,4 +130,4 @@ e-Stop area forms a trapezoid defined by first four values. When obstacles are d
127	To create LDC-format LUT for ZED camera, please refer to [zed_capture/README.md](../../drivers/zed_capture/README.md).	130	To create LDC-format LUT for ZED camera, please refer to [zed_capture/README.md](../../drivers/zed_capture/README.md).
128		131
129	### Camera Mounting	132	### Camera Mounting
130	For accurate obstacle detection, it is important to mount properly and correct values of `camera_height` and `camera_pitch` should be provided. For example, incorrect values of camera pitch angle result in 3D object boxes being overlaid in front of or behind obstacles on images. It is recommended to install the stereo camera parallel to the ground plane or slightly tilted downward, e.g., 0° ~ 10°. In general, camera pitch angle should be close to 0 when a camera's height is low, while camera pitch angle can be larger to some extent when the camera is mounted higher.	133	For accurate obstacle detection, it is important to mount properly and correct values of `camera_height` and `camera_pitch` should be provided. For example, incorrect values of camera pitch angle result in 3D object boxes being overlaid in front of or behind obstacles on images. It is recommended to install the stereo camera parallel to the ground plane or slightly tilted downward, e.g., between 0° and 10°. In general, camera pitch angle should be close to 0 when a camera's height is low, while camera pitch angle can be larger to some extent when the camera is mounted higher.