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TI OpenVX + ROS Framework & Applications
========================================
### Introduction to TI OpenVX + ROS Development Framework
<figure class="image">
<center><img src="docker/docs/tiovx_ros_sw_stack.png" style="width:726px; height:398px;"/></center>
<figcaption> <center>Figure 1. TI OpenVX + ROS Framework: Software Stack </center></figcaption>
</figure>
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:
* 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).
Figure below is a representative vision application that can be developed in TI OpenVX + ROS framework.
<figure class="image">
<center><img src="docker/docs/tiovx_ros_demo_diagram.png" style="width:896px;"/></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
The TI Vision Apps Library is included in the pre-built package of [J721E Processor SDK RTOS 7.1.0](https://software-dl.ti.com/jacinto7/esd/processor-sdk-rtos-jacinto7/latest/index_FDS.html).
## How to Set Up TI OpenVX + ROS Docker Container Environment on J7 Target
See [docker/README.md](docker/README.md), or download [docker/README.pdf](docker/README.pdf) (in case `docker/README.md` does not display well on your web browser).
## TI OpenVX + ROS Demo Applications
<figure class="image">
<center><img src="docker/docs/sde_semseg_rviz.png" style="width:700px;"/></center>
<figcaption> <center>Figure 3. Demo Applications </center></figcaption>
</figure>
### [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 from insider a Docker container on J7 is not enabled. RViz visualization is displayed on a remote Ubuntu PC.
2. Ctrl+C termination of a ROS node or a ROS launch session can be sometimes slow. When VX_ERROR happens, it is recommended to reboot the J7 EVM.
3. Stereo Vision Demo
* Output disparity map may have artifacts that are common to block-based stereo algorithms. e.g., noise in the sky, textureless area, repeated patterns, etc.
* While the confidence map from SDE has 8 values between 0 (least confident) to 7 (most confident), the confidence map from the multi-layer SDE refinement has only 2 values, 0 and 7. Therefore, it would not appear as fine as the SDE's confidence map.
## Questions & Feedback
If you have questions or feedback, please use [TI E2E](https://e2e.ti.com/support/processors).
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