QRB ROS Color Space Convert

Overview

Qualcomm’s smart devices, such as the RB3 Gen2, use NV12 as the default image color space conversion format. Generally, the more common color space format is RGB888. To embrace open source and facilitate developers in converting between these two formats, we have developed the qrb_ros_colorspace_convert. The feature as follows:

• Provide ROS node include

  • API to convert nv12 to rgb8

  • API to convert rgb8 to nv12

• Support dmabuf fd as input / output

• Input & output image receive &send with QRB ROS transport

• Hardware accelerates with GPU by OpenGL ES

Build

Currently, we only support use QCLINUX to build

1. Setup environments follow this document ‘s Set up the cross-compile environment.

2. Create ros_ws directory in <qirp_decompressed_workspace>/qirp-sdk/

3. Clone this repository under <qirp_decompressed_workspace>/qirp-sdk/ros_ws

git clone https://github.com/quic-qrb-ros/lib_mem_dmabuf.git
git clone https://github.com/quic-qrb-ros/qrb_ros_transport.git
git clone https://github.com/quic-qrb-ros/qrb_ros_colorspace_convert.git

4. Build this project

export AMENT_PREFIX_PATH="${OECORE_TARGET_SYSROOT}/usr;${OECORE_NATIVE_SYSROOT}/usr"
export PYTHONPATH=${PYTHONPATH}:${OECORE_TARGET_SYSROOT}/usr/lib/python3.10/site-packages

colcon build --merge-install --cmake-args \
-DPython3_ROOT_DIR=${OECORE_TARGET_SYSROOT}/usr \
-DPython3_NumPy_INCLUDE_DIR=${OECORE_TARGET_SYSROOT}/usr/lib/python3.10/site-packages/numpy/core/include \
-DSYSROOT_LIBDIR=${OECORE_TARGET_SYSROOT}/usr/lib \
-DSYSROOT_INCDIR=${OECORE_TARGET_SYSROOT}/usr/include \
-DPYTHON_SOABI=cpython-310-aarch64-linux-gnu -DCMAKE_STAGING_PREFIX=$(pwd)/install \
-DCMAKE_PREFIX_PATH=$(pwd)/install/share \
-DBUILD_TESTING=OFF

5. Push to the device & Install

cd ``<qirp_decompressed_workspace>/qirp-sdk/ros_ws/install``
tar czvf qrb_ros_colorspace_convert.tar.gz lib share
scp qrb_ros_colorspace_convert.tar.gz root@[ip-addr]:/opt/
ssh root@[ip-addr]
(ssh) tar -zxf /opt/qrb_ros_colorspace_convert.tar.gz -C /opt/qcom/qirp-sdk/usr/

Run

This package supports running it directly from the command or by dynamically adding it to the ros2 component container.

1. Source this file to set up the environment on your device:

ssh root@[ip-addr]
(ssh) export HOME=/opt
(ssh) source /opt/qcom/qirp-sdk/qirp-setup.sh
(ssh) export ROS_DOMAIN_ID=xx
(ssh) source /usr/bin/ros_setup.bash

2. Use this command to run this package

(ssh) ros2 launch qrb_ros_colorspace_convert colorspace_convert.launch.py

Packages

1. ROS Topic

Topic name	Message type	Description
image_raw	qrb_ros::transport::type::Image	The input image
image	qrb_ros::transport::type::Image	The output image

2. ROS2 parameters

Parameter name	Type	Default value	Description
conversion_type	string	nv12_to_rgb8	The conversion type
latency_fps_test	bool	True	test the fps & latency

Supported Platforms

This package is designed and tested to be compatible with ROS 2 Humble running on Qualcomm RB3 gen2.

Hardware	Software
Qualcomm RB3 gen2	LE.QCROBOTICS.1.0

Updates

Date	Changes
2024-7-9	Initial release