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raw | patch | inline | side by side (parent: b988d38)
REL.09.01.00.07. Compatible with: Processor SDK Linux for Edge AI 09.01.00 master REL.09.01.00 REL.09.01.00.07
author | JuneChul Roh <jroh@ti.com> | |
Wed, 20 Dec 2023 17:40:04 +0000 (11:40 -0600) | ||
committer | JuneChul Roh <jroh@ti.com> | |
Wed, 20 Dec 2023 17:40:04 +0000 (11:40 -0600) |
diff --git a/ros1/nodes/ti_vision_cnn/README_6D_pose.md b/ros1/nodes/ti_vision_cnn/README_6D_pose.md
index 04e1f626ad2d8de428155999118cfc562d14290d..5412db7747e6abedc363ac7a1189a7412e0dd225 100644 (file)
## System Description
-![](docs/objdet_demo_block_diagram.svg)
+![](docs/6dpose_demo_block_diagram.svg)
<figcaption>Figure 1. 6D Pose demo: block diagram</figcaption>
<br />
diff --git a/ros1/nodes/ti_vision_cnn/docs/6dpose_demo_block_diagram.svg b/ros1/nodes/ti_vision_cnn/docs/6dpose_demo_block_diagram.svg
--- /dev/null
@@ -0,0 +1,4 @@
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xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 112px; height: 1px; padding-top: 90px; margin-left: 759px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center; width: 110px; max-height: 60px; overflow: hidden;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; width: 100%; white-space: normal; overflow-wrap: normal;"><div style="font-size: 1px"><font style="font-size:12.7px;font-family:Arial;color:#000000;direction:ltr;letter-spacing:0px;line-height:120%;opacity:1">Deep-Learning Runtime<br />(C7/MMA)<br /></font></div></div></div></div></foreignObject><text x="815" y="94" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">Deep-Learning Runti...</text></switch></g><path d="M 706 90 L 755.53 90" fill="none" stroke="#1a5fb4" stroke-width="2" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 750.76 93.5 L 757.76 90 L 750.76 86.5" fill="none" stroke="#1a5fb4" stroke-width="2" stroke-miterlimit="10" pointer-events="all"/><path d="M 606 120 L 706 120 L 706 60 L 606 60 L 606 120" fill="url(#mx-gradient-f6d5b9-1-f2c59f-1-s-0)" stroke="#d26d19" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 102px; height: 1px; padding-top: 90px; margin-left: 605px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center; width: 100px; max-height: 60px; overflow: hidden;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; width: 100%; white-space: normal; overflow-wrap: normal;"><div style="font-size: 1px"><font style="font-size:12.7px;font-family:Arial;color:#000000;direction:ltr;letter-spacing:0px;line-height:120%;opacity:1">Pre-Processing<br />(A72)<br /></font></div></div></div></div></foreignObject><text x="656" y="94" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">Pre-Processing...</text></switch></g><path d="M 552 62 L 617 62 L 617 40 L 552 40 L 552 62" fill="none" stroke="none" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 67px; height: 1px; padding-top: 51px; margin-left: 551px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center; width: 65px; max-height: 22px; overflow: hidden;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; width: 100%; white-space: normal; overflow-wrap: normal;"><div style="font-size: 1px"><font style="font-size:8.47px;font-family:Arial;color:#0000ff;direction:ltr;letter-spacing:0px;line-height:120%;opacity:1">640 x 480<br />(nv12)</font><font style="font-size:8.47px;font-family:Arial;color:#000000;direction:ltr;letter-spacing:0px;line-height:120%;opacity:1"><br /></font></div></div></div></div></foreignObject><text x="585" y="55" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">640 x 480...</text></switch></g><path d="M 706 61 L 760 61 L 760 39 L 706 39 L 706 61" fill="none" stroke="none" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 56px; height: 1px; padding-top: 50px; margin-left: 705px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center; width: 54px; max-height: 22px; overflow: hidden;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; width: 100%; white-space: normal; overflow-wrap: normal;"><div style="font-size: 1px"><font style="font-size:8.47px;font-family:Arial;color:#0000ff;direction:ltr;letter-spacing:0px;line-height:120%;opacity:1">640 x 480 (bgr)</font><font style="font-size:8.47px;font-family:Arial;color:#000000;direction:ltr;letter-spacing:0px;line-height:120%;opacity:1"><br /></font></div></div></div></div></foreignObject><text x="733" y="54" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">640 x 480...</text></switch></g><path d="M 870 60 L 930 60 L 930 38 L 870 38 L 870 60" fill="none" stroke="none" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 62px; height: 1px; padding-top: 49px; margin-left: 869px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center; width: 60px; max-height: 22px; overflow: hidden;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; width: 100%; white-space: normal; overflow-wrap: normal;"><div style="font-size: 1px"><font style="font-size:8.47px;font-family:Arial;color:#0000ff;direction:ltr;letter-spacing:0px;line-height:120%;opacity:1"><br />(tensor)</font><font style="font-size:8.47px;font-family:Arial;color:#000000;direction:ltr;letter-spacing:0px;line-height:120%;opacity:1"><br /></font></div></div></div></div></foreignObject><text x="900" y="53" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">
(tensor)</text></switch></g><path d="M 221 121 L 331 121 L 331 61 L 221 61 L 221 121" fill="url(#mx-gradient-e0e6cd-1-d3dcba-1-s-0)" stroke="#3e75a6" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 112px; height: 1px; padding-top: 91px; margin-left: 220px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center; width: 110px; max-height: 60px; overflow: hidden;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; width: 100%; white-space: normal; overflow-wrap: normal;"><div style="font-size: 1px"><font style="font-size:12.7px;font-family:Arial;color:#000000;direction:ltr;letter-spacing:0px;line-height:120%;opacity:1">Camera Capture<br />(gscam)</font></div><div style="font-size: 1px"><font style="font-size:12.7px;font-family:Arial;color:#000000;direction:ltr;letter-spacing:0px;line-height:120%;opacity:1">(A72)<br /></font></div></div></div></div></foreignObject><text x="276" y="95" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">Camera Capture...</text></switch></g><rect x="0" y="75" width="150" height="30" fill="none" stroke="none" pointer-events="all" transform="translate(2,3)" opacity="0.25"/><rect x="0" y="75" width="150" height="30" fill="none" stroke="none" pointer-events="all"/><path d="M 138.26 75.03 L 138.26 75 L 51.74 75 L 51.74 75.03 C 48.7 74.75 45.71 76.21 43.49 79.04 C 41.26 81.88 40 85.85 40 90 C 40 94.15 41.26 98.12 43.49 100.96 C 45.71 103.79 48.7 105.25 51.74 104.97 L 51.74 105 L 138.26 105 L 138.26 104.97 C 141.3 105.25 144.29 103.79 146.51 100.96 C 148.74 98.12 150 94.15 150 90 C 150 85.85 148.74 81.88 146.51 79.04 C 144.29 76.21 141.3 74.75 138.26 75.03" fill="#bfcee1" stroke="#1f477d" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 112px; height: 1px; padding-top: 90px; margin-left: 39px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center; width: 110px; max-height: 30px; overflow: hidden;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; width: 100%; white-space: normal; overflow-wrap: normal;"><div style="font-size: 1px"></div></div></div></div></foreignObject><text x="95" y="94" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle"></text></switch></g><path d="M 85 90 C 85 84.48 89.48 80 95 80 C 100.52 80 105 84.48 105 90 C 105 95.52 100.52 100 95 100 C 89.48 100 85 95.52 85 90" fill="url(#mx-gradient-ffffff-1-f0f0f0-1-s-0)" stroke="#404040" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 22px; height: 1px; padding-top: 90px; margin-left: 84px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center; width: 20px; max-height: 20px; overflow: hidden;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; width: 100%; white-space: normal; overflow-wrap: normal;"><div style="font-size: 1px"></div></div></div></div></foreignObject><text x="95" y="94" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle"></text></switch></g><path d="M 127 131 L 203 131 L 203 101 L 127 101 L 127 131" fill="none" stroke="none" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 78px; height: 1px; padding-top: 116px; margin-left: 126px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center; width: 76px; max-height: 30px; overflow: hidden;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; width: 100%; white-space: normal; overflow-wrap: normal;"><div style="font-size: 1px"><font style="font-size:11.29px;font-family:Arial;color:#000000;direction:ltr;letter-spacing:0px;line-height:120%;opacity:1">USB 3.1<br />/dev/videoX<br /></font></div></div></div></div></foreignObject><text x="165" y="120" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">USB 3.1...</text></switch></g><path d="M 112 67 L 192 67 L 192 47 L 112 47 L 112 67" fill="none" stroke="none" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 82px; height: 1px; padding-top: 57px; margin-left: 111px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center; width: 80px; max-height: 20px; overflow: hidden;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; width: 100%; white-space: normal; overflow-wrap: normal;"><div style="font-size: 1px"><font style="font-size:8.47px;font-family:Arial;color:#0000ff;direction:ltr;letter-spacing:0px;line-height:120%;opacity:1">1280 x 720 <br /></font></div><div style="font-size: 1px"><font style="font-size:8.47px;font-family:Arial;color:#0000ff;direction:ltr;letter-spacing:0px;line-height:120%;opacity:1">(MJPG)<br /></font></div></div></div></div></foreignObject><text x="152" y="61" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">1280 x 720...</text></switch></g><path d="M 304 59 L 347 59 L 347 39 L 304 39 L 304 59" fill="none" stroke="none" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe flex-start; width: 45px; height: 1px; padding-top: 49px; margin-left: 304px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: left; width: 43px; max-height: 20px; overflow: hidden;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; width: 100%; white-space: normal; overflow-wrap: normal;"><div style="font-size: 1px"><p style="text-align:left;margin-left:0;margin-right:0;margin-top:0px;margin-bottom:0px;text-indent:0;vertical-align:middle;direction:ltr;"><font style="font-size:8.47px;font-family:Arial;color:#0000ff;direction:ltr;letter-spacing:0px;line-height:120%;opacity:1"> 1280 x 720 <br /></font></p><p style="text-align:left;margin-left:0;margin-right:0;margin-top:0px;margin-bottom:0px;text-indent:0;vertical-align:middle;direction:ltr;"><font style="font-size:8.47px;font-family:Arial;color:#0000ff;direction:ltr;letter-spacing:0px;line-height:120%;opacity:1"> (nv12)</font><font style="font-size:8.47px;font-family:Arial;color:#000000;direction:ltr;letter-spacing:0px;line-height:120%;opacity:1"><br /></font></p></div></div></div></div></foreignObject><text x="304" y="53" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px">1280 x...</text></switch></g><path d="M 73.13 147 L 116 147 C 124.17 175.06 124.17 204.94 116 233 L 73.13 233 C 64.96 204.94 64.96 175.06 73.13 147" fill="url(#mx-gradient-e1ebf3-1-cbddeb-1-s-0)" stroke="#3e75a6" stroke-miterlimit="10" transform="rotate(270,91.5,190)" pointer-events="all"/><path d="M 116 147 C 107.83 175.06 107.83 204.94 116 233" fill="none" stroke="#3e75a6" stroke-miterlimit="10" transform="rotate(270,91.5,190)" pointer-events="all"/><rect x="56" y="163" width="72.24" height="57.19" fill="none" stroke="none" transform="rotate(359.95,92.12,191.6)" pointer-events="all"/><g transform="translate(-0.5 -0.5)rotate(359.95 92.11999999999989 191.59500000000003)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 74px; height: 1px; padding-top: 192px; margin-left: 55px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center; width: 72px; max-height: 57px; overflow: hidden;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; width: 100%; white-space: normal; overflow-wrap: normal;"><div style="font-size: 1px"><font style="font-size:12.7px;font-family:Arial;color:#000000;direction:ltr;letter-spacing:0px;line-height:120%;opacity:1">ROS Bag file<br /></font></div></div></div></div></foreignObject><text x="92" y="195" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">ROS Bag file
</text></switch></g><path d="M 221 215 L 331 215 L 331 165 L 221 165 L 221 215" fill="url(#mx-gradient-e0e6cd-1-d3dcba-1-s-0)" stroke="#3e75a6" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 112px; height: 1px; padding-top: 190px; margin-left: 220px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center; width: 110px; max-height: 50px; overflow: hidden;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; width: 100%; white-space: normal; overflow-wrap: normal;"><div style="font-size: 1px"><font style="font-size:12.7px;font-family:Arial;color:#000000;direction:ltr;letter-spacing:0px;line-height:120%;opacity:1">ROSBAG play<br />(A72)<br /></font></div></div></div></div></foreignObject><text x="276" y="194" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">ROSBAG play...</text></switch></g><path d="M 19 290 L 361 290 L 361 230 L 19 230 L 19 290" fill="none" stroke="none" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe flex-start; width: 344px; height: 1px; padding-top: 260px; margin-left: 19px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: left; width: 342px; max-height: 60px; overflow: hidden;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; width: 100%; white-space: normal; overflow-wrap: normal;"><div style="font-size: 1px"><p style="text-align:left;margin-left:0;margin-right:0;margin-top:0px;margin-bottom:0px;text-indent:0;vertical-align:middle;direction:ltr;"><font style="font-size:12.7px;font-family:Arial;color:#000000;direction:ltr;letter-spacing:0px;line-height:120%;opacity:1"><b>Input sources</b></font><font style="font-size:12.7px;font-family:Arial;color:#000000;direction:ltr;letter-spacing:0px;line-height:120%;opacity:1">: <br />1) ROSBAG playback<br /></font></p><p style="text-align:left;margin-left:0;margin-right:0;margin-top:0px;margin-bottom:0px;text-indent:0;vertical-align:middle;direction:ltr;"><font style="font-size:12.7px;font-family:Arial;color:#000000;direction:ltr;letter-spacing:0px;line-height:120%;opacity:1">2) USB mono camera (C920, C270)<br /></font></p></div></div></div></div></foreignObject><text x="19" y="264" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px">Input sources:...</text></switch></g><path d="M 411 66 L 480 66 L 480 33 L 411 33 L 411 66" fill="none" stroke="none" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 71px; height: 1px; padding-top: 50px; margin-left: 410px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center; width: 69px; max-height: 33px; overflow: hidden;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; width: 100%; white-space: normal; overflow-wrap: normal;"><div style="font-size: 1px"><font style="font-size:8.47px;font-family:Arial;color:#0000ff;direction:ltr;letter-spacing:0px;line-height:120%;opacity:1">1280 x 720 <br /></font></div><div style="font-size: 1px"><font style="font-size:8.47px;font-family:Arial;color:#0000ff;direction:ltr;letter-spacing:0px;line-height:120%;opacity:1">(nv12)</font><font style="font-size:8.47px;font-family:Arial;color:#000000;direction:ltr;letter-spacing:0px;line-height:120%;opacity:1"><br /></font></div></div></div></div></foreignObject><text x="446" y="53" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">1280 x 720...</text></switch></g><path d="M 750 349 L 840 349 L 840 299 L 750 299 L 750 349" fill="url(#mx-gradient-e0e6cd-1-d3dcba-1-s-0)" stroke="#3e75a6" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 92px; height: 1px; padding-top: 324px; margin-left: 749px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center; width: 90px; max-height: 50px; overflow: hidden;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; width: 100%; white-space: normal; overflow-wrap: normal;"><div style="font-size: 1px"><font style="font-size:12.7px;font-family:Arial;color:#000000;direction:ltr;letter-spacing:0px;line-height:120%;opacity:1">viz_objdet<br /></font></div></div></div></div></foreignObject><text x="795" y="328" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">viz_objdet
</text></switch></g><path d="M 881 349 L 971 349 L 971 299 L 881 299 L 881 349" fill="url(#mx-gradient-e0e6cd-1-d3dcba-1-s-0)" stroke="#3e75a6" stroke-miterlimit="10" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 92px; height: 1px; padding-top: 324px; margin-left: 880px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center; width: 90px; max-height: 50px; overflow: hidden;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; width: 100%; white-space: normal; overflow-wrap: normal;"><div style="font-size: 1px"><font style="font-size:12.7px;font-family:Arial;color:#000000;direction:ltr;letter-spacing:0px;line-height:120%;opacity:1">RViz<br /></font></div></div></div></div></foreignObject><text x="926" y="328" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">RViz
</text></switch></g><path d="M 776 386 L 944 386 L 944 364 L 776 364 L 776 386" fill="none" stroke="none" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 170px; height: 1px; padding-top: 375px; margin-left: 775px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center; width: 168px; max-height: 22px; overflow: hidden;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; width: 100%; white-space: normal; overflow-wrap: normal;"><div style="font-size: 1px"><font style="font-size:12.7px;font-family:Arial;color:#7f7f7f;direction:ltr;letter-spacing:0px;line-height:120%;opacity:1"><b>Remote Visualization PC<br /></b></font></div></div></div></div></foreignObject><text x="860" y="379" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">Remote Visualization PC
</text></switch></g><path d="M 457 269 L 645 269 L 645 245 L 457 245 L 457 269" fill="none" stroke="none" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 190px; height: 1px; padding-top: 257px; margin-left: 456px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center; width: 188px; max-height: 24px; overflow: hidden;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; width: 100%; white-space: normal; overflow-wrap: normal;"><div style="font-size: 1px"><font style="font-size:12.7px;font-family:Arial;color:#8c4810;direction:ltr;letter-spacing:0px;line-height:120%;opacity:1"><b>J7/TDA4x<br /></b></font></div></div></div></div></foreignObject><text x="551" y="261" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">J7/TDA4x
</text></switch></g><path d="M 381 90 L 456.53 90" fill="none" stroke="#1a5fb4" stroke-width="2" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 451.76 93.5 L 458.76 90 L 451.76 86.5" fill="none" stroke="#1a5fb4" stroke-width="2" stroke-miterlimit="10" pointer-events="all"/><path d="M 341 100 L 401 100 L 401 80 L 341 80 L 341 100" fill="url(#mx-gradient-b3c283-1-a7b96f-1-s-0)" stroke="#404040" stroke-miterlimit="10" transform="rotate(90,371,90)" pointer-events="all"/><g transform="translate(-0.5 -0.5)rotate(90 371 90)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 62px; height: 1px; padding-top: 90px; margin-left: 340px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center; width: 60px; max-height: 20px; overflow: hidden;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; width: 100%; white-space: normal; overflow-wrap: normal;"><div style="font-size: 1px"><font style="font-size:9.88px;font-family:Arial;color:#000000;direction:ltr;letter-spacing:0px;line-height:120%;opacity:1">Subscriber<br /></font></div></div></div></div></foreignObject><text x="371" y="94" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">Subscriber
</text></switch></g><path d="M 911 99 L 971 99 L 971 79 L 911 79 L 911 99" fill="url(#mx-gradient-b3c283-1-a7b96f-1-s-0)" stroke="#404040" stroke-miterlimit="10" transform="rotate(90,941,89)" pointer-events="all"/><g transform="translate(-0.5 -0.5)rotate(90 941 89)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 62px; height: 1px; padding-top: 89px; margin-left: 910px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center; width: 60px; max-height: 20px; overflow: hidden;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; width: 100%; white-space: normal; overflow-wrap: normal;"><div style="font-size: 1px"><font style="font-size:9.88px;font-family:Arial;color:#000000;direction:ltr;letter-spacing:0px;line-height:120%;opacity:1">Publisher<br /></font></div></div></div></div></foreignObject><text x="941" y="93" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">Publisher
</text></switch></g><path d="M 971 80 L 1031 80 L 1031 60 L 971 60 L 971 80" fill="none" stroke="none" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 62px; height: 1px; padding-top: 70px; margin-left: 970px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center; width: 60px; max-height: 20px; overflow: hidden;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; width: 100%; white-space: normal; overflow-wrap: normal;"><div style="font-size: 1px"><font style="font-size:11.29px;font-family:Arial;color:#000000;direction:ltr;letter-spacing:0px;line-height:120%;opacity:1">Ethernet<br /></font></div></div></div></div></foreignObject><text x="1001" y="74" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">Ethernet
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</text></switch></g><path d="M 284 349 L 360 349 L 360 327 L 284 327 L 284 349" fill="none" stroke="none" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 78px; height: 1px; padding-top: 338px; margin-left: 283px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center; width: 76px; max-height: 22px; overflow: hidden;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; width: 100%; white-space: normal; overflow-wrap: normal;"><div style="font-size: 1px"><font style="font-size:12.7px;font-family:Arial;color:#000000;direction:ltr;letter-spacing:0px;line-height:120%;opacity:1">ROS Topic<br /></font></div></div></div></div></foreignObject><text x="322" y="342" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">ROS Topic
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\ No newline at end of file
diff --git a/ros2/nodes/ti_viz_nodes/src/viz_pose6d_node.cpp b/ros2/nodes/ti_viz_nodes/src/viz_pose6d_node.cpp
index d4cee1a43e3ca5ace5446a6a0512bb5bebb0a0a9..387e653c5b736c868e693bf40a6d0283112f07b3 100644 (file)
score = poseMsg->bounding_boxes[i].confidence;
label_id = poseMsg->bounding_boxes[i].label_id;
- if (label_id < 0 || label_id > 20)
+ if (label_id != 4)
{
continue;
}