qrb_ros_yolo_processor提供ros节点来执行yolo模型的预处理_qrb_ros_yolo_proc

# qrb_ros_yolo_processor qrb_ros_yolo_processor provides ros nodes to execute pre/post-process for Yolo model ## Overview qrb_ros_yolo_processor provides ros nodes to execute pre/post-process for Yolo model ## System Requirements - ROS 2 Humble and later ## Quickstart ### Code Sync Currently, we only support build with QCLINUX SDK. 1. Setup QCLINUX SDK environments follow this document: [Set up the cross-compile environment](https://docs.qualcomm.com/bundle/publicresource/topics/80-65220-2/develop-your-first-application_6.html?product=1601111740013072&facet=Qualcomm%20Intelligent%20Robotics%20(QIRP)%20Product%20SDK&state=releasecandidate) 2. Create `ros_ws` directory in `<qirp_decompressed_workspace>/qirp-sdk/` ```bash mkdir -p <qirp_decompressed_workspace>/qirp-sdk/ros_ws ``` 3. Clone this repository and dependencies under `<qirp_decompressed_workspace>/qirp-sdk/ros_ws` ```bash cd <qirp_decompressed_workspace>/qirp-sdk/ros_ws ## current repository git clone https://github.qualcomm.com/QUIC-QRB-ROS/qrb_ros_yolo_processor.git ## dependencies git clone https://github.com/quic-qrb-ros/qrb_ros_vision_msgs.git ``` ### Build ```bash 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 \ -DPYTHON_SOABI=cpython-310-aarch64-linux-gnu -DCMAKE_STAGING_PREFIX=$(pwd)/install \ -DCMAKE_PREFIX_PATH=$(pwd)/install/share \ -DBUILD_TESTING=OFF ``` ### Run 1. Set up the environment on your device: ```bash ssh root@[ip-addr] (ssh) export HOME=/opt (ssh) source /opt/qcom/qirp-sdk/qirp-setup.sh (ssh) source /usr/bin/ros_setup.bash ``` 2. use launch file to run your inference pipeline ```bash (ssh) ros2 launch ${package_name} ${launch-file} ``` ## Resources ## Contributions Thanks for your interest in contributing to qrb_ros_yolo_processor! Please read our [Contributions Page](CONTRIBUTING.md) for more information on contributing features or bug fixes. We look forward to your participation! ## License qrb_ros_yolo_processor is licensed under the BSD 3-clause "New" or "Revised" License. Check out the [LICENSE](LICENSE) for more details.