quanchenzhou/pcie_sdk_demo

ALG PCIE SDK Demo Code

ALG PCIE SDK Demo

This is demostration codes for developer who work on ALG's PCIE Card utilizations.

For more information check the website

Prerequisites

1. Windows

   • CMake 3.5 or newer
   • Mingw64 gcc version 7.3-posix-seh-rev0
   • Optional : Opencv 3.4.9 (for image display), GStreamer V1.21 (for V4L2/RTP), CUDA Toolkit V11.6 (for Video Codec)

2. Linux (Ubuntu)

   • CMake 3.5 or newer
   • gcc version 7.5.0 (Ubuntu 7.5.0-3ubuntu1~18.04)
   • Optional : Opencv 3.4.9 (for Image Display), GStreamer V1.21 (for V4L2/RTP), CUDA Toolkit V11.6 (for Video Codec)

Quick Build Instructions

1. mkdir build
2. cd build
3. cmake -DCMAKE_INSTALL_PREFIX=<install path> ..
   to build with image display add option : -DBUILD_IMAGE_DISP=ON
   to build with codec add option : -DWITH_GSTREAMER=ON and -DWITH_CUDA=ON
4. make
5. make install

Usuage

Init SDK

cd <install path>
sudo ./pcie_sdk_demo_init -s

or use Python :
sudo python init_sdk.py

Set Sensor Config

for all types sensor (use json file)
python set_sensor_from_json.py --json_file=<path to json file> --channel=xx

Stream On/Off

cd <src/python>
Stream on python stream_on_by_channel.py --channel='x,y'

Stream off python stream_off.py

Subscribe to image

cd <install path>
sudo ./pcie_sdk_demo_client -image <topic_name>

Image Display (by OpenCV)

cd <install path>
display all images :
sudo ./pcie_sdk_demo_image_disp -all

display image from select channel :
sudo ./pcie_sdk_demo_image_disp -c <topic_name>

Image Display (by OpenGL)

cd <install path>
display all images :
sudo ./pcie_sdk_demo_gl_disp -all

display image from select channel :
sudo ./pcie_sdk_demo_gl_disp -c <topic_name>

Set/Get System Time

cd <src/python>
Set System Time:
python set_time.py --device=xx --time_mode=1 --utc_time=2022:08:23:15:25:30 --unix_time=1660972543000000 --relative_time=0

Get System Time:
python get_time.py --device=xx

Set Trigger

cd <src/python>
Set Trigger Mode (Int Trigger) :
python set_trigger_mode.py --device=xx --mode=2

Set Trigger Mode (Ext Trigger) :
python set_trigger_mode.py --device=xx --mode=1

Set Trigger Parameters :
python set_trigger_mode.py --channel=xx,yy --mode=2 --delay_time=0 --valid_time=1000 --polarity=0 --freq=30

Publish ROS Image (Ubuntu)

Build With ROS (melodic / noetic)

1. Install ROS melodic.
2. After installation, add ROS libraries to PATH:
   source /opt/ros/melodic/setup.bash
3. Add option -DWITH_ROS=ON in cmake: cmake -DWITH_ROS=ON ..
make & make install

Run ROS Publish

1. Start roscore, open Terminal and run :
   roscore &
2. Init SDK : sudo ./pcie_sdk_demo_init -s
3. Set Sensor Config :
   python set_sensor_from_json.py --json_file=<path to json file> --channel=xx
4. Stream on :
   python stream_on_by_channel.py --channel='x,y'
5. Run Rospub : sudo ./pcie_sdk_demo_rospub -all

Subscribe to ROS Topic

ROS Topic Name : /image_data/stream/xx
(xx is channel id starting from 00)
To display image of channel 0, use image_view :
rosrun image_view image_view image:=/image_data/stream/00

Publish ROS2 Image (Ubuntu)

Build With ROS2 (humble)

1. Install ROS2 humble.
2. After installation, add ROS2 libraries to PATH:
   source /opt/ros/humble/setup.bash
3. Add option -DWITH_ROS2=ON in cmake: cmake -DWITH_ROS2=ON ..
make & make install

Run ROS2 Publish

1. Init SDK : sudo ./pcie_sdk_demo_init -s
2. Set Sensor Config :
   python set_sensor_from_json.py --json_file=<path to json file> --channel=xx
3. Stream on :
   python stream_on_by_channel.py --channel='x,y'
4. Run Rospub : sudo ./pcie_sdk_demo_ros2pub -all

Subscribe to ROS2 Topic

ROS2 Topic Name : /image_data/stream/ch_xx
(xx is channel id starting from 00)
To display image of channel 0, use rviz2 :
topic=/image_data/stream/ch_00

Support

contact : [email protected]