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ros2_hwcv's Introduction

HWCV

A computer vision Vitis accelerated library

Accelerated Kernels

Header Kernel
cvt_color bgr2gray_accel
demosaicing_accel
feature fast_accel
stereo stereo_lbm_accel

Disabling Kernel Synthesis

It is possible to disable all kernel synthesis and linking by specify the cmake switch ǸOKERNELS. When using colcon this can be done by appending -DNOKERNELS=ON to --cmake-args of colcon build

Other switches are availble to selectively disable particular kernels:

Switch Kernel
NO_CVT_COLOR_KERNEL bgr2gray_accel
demosaicing_accel
NO_FEATURE_KERNEL fast_accel
NO_STEREO_KERNEL stereo_lbm_accel

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ros2_hwcv's Issues

SW_EMU/HW_EMU possible ?

Hey @soallak I would like to run this repo to compare the stereo block matching algorithms, but I don't have access to my KV260 starter kit atm (it's packed away for moving).

I have been able to get a stereo camera model in gazebo working and publishing point clouds (in rviz) with the standard ros2 disparity and point cloud nodes. Is it possible to run emulation for the Kria reference boards at this time? I'm not familiar with sw or hw emulation..forgive me if this sounds naive.

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