# 架构

Source: [https://docs.qualcomm.com/doc/80-70015-265Y/topic/architecture.html](https://docs.qualcomm.com/doc/80-70015-265Y/topic/architecture.html)

该图显示了 QIRP SDK 的整体软件架构。

![](data:image/png;base64,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)

QIRP SDK 集成了称为功能 SDK 的专用组件，如下所示：

| 功能 SDK | 说明 |
| --- | --- |
| Qualcomm® Intelligent Multimedia SDK (IM SDK) | 提供用于优化应用程序开发的 Qualcomm 硬件加速插件。 |
| Qualcomm® Intelligent Robotics Function SDK | 为 Qualcomm 机器人平台提供机器人功能 ROS 节点。该 SDK 基于 ROS，这是一种开源的元操作系统。 |
| Qualcomm® AI Engine Direct SDK | 为 Qualcomm 芯片组和 AI 加速核心上的 AI/ML 用例提供软件架构。它提供了一个统一的 API，具有模块化和可扩展的加速器库，形成了全栈 AI 解决方案的可重用基线。它支持 Qualcomm® Neural Processing SDK 和 TensorFlow Lite AI Engine Direct Delegates 等 runtime。 |

## QIRP SDK 的组件层

QIRP SDK 使用与 Yocto 社区相同的方法将源代码安排到以下的层中。

- QIRP 层：包括机器人和 Qualcomm Linux 层，对所有用户开放。
- 附加层：提供给拥有经过验证的组织账户的注册用户，这些用户可以访问指定的 Qualcomm Linux 固件组件、附加层和机器人附加层。

Note: 有关未注册用户、注册用户和授权用户的详细信息，参见 [Qualcomm® Linux 编译指南](https://docs.qualcomm.com/bundle/publicresource/topics/80-70015-254)。

**QIRP 层**

Table : 机器人层

| 层 | 类别 | 说明 |
| --- | --- | --- |
| `meta-ros` | 机器人层 | 一系列 OpenEmbedded 层，旨在增加 Yocto Project 提供的嵌入式 Linux 发行版本机器人操作系统 (ROS) 的支持。 |
| `meta-qcom-robotics-distro` | 机器人层 | 包含生成 ROS 镜像所需的配置信息，包括但不限于软件包组和镜像 recipe。 |
| `meta-qcom-robotics` | 机器人层 | 包括所有机器人功能的 recipe。 |
| `meta-qcom-robotics-sdk` | 机器人层 | 包含 Qualcomm Intelligent Robotics Product (QIRP) SDK 的生成/获取机制。 |

Note: 有关机器人层的详细信息，参见 [Robotics层规范](https://docs.qualcomm.com/doc/80-70015-265Y/topic/robotics-layers.html)。

Table : Qualcomm Linux 层

| 层 | 类别 | 说明 |
| --- | --- | --- |
| `meta-qcom` | Qualcomm Linux 层 | 包含 Qualcomm 硬件支持元数据和上游 OSS 软件组件。 |
| `meta-qcom-hwe` | Qualcomm Linux 层 | 包含 Qualcomm 硬件支持元数据和 Qualcomm 增值软件组件。 |
| `meta-qcom-distro` | Qualcomm Linux 层 | 包含生成基础镜像所需的发行版本配置，包括但不限于软件package group和镜像 recipe。 |
| `meta-qcom-qim-product-sdk` | 依赖 SDK | 提供基于 GStreamer 框架的 Qualcomm 多媒体和 AI SDK。 |

**附加层**

| `meta-qcom-robotics-extras` | 包括使用源代码编译的专有机器人功能 recipe。 |
| --- | --- |
| `meta-qcom-extras` | 可对部分 Qualcomm Linux 组件进行源代码编译，并包含一些组件二进制文件。 |

## 示例程序列表

**开源示例程序**

| 示例程序 | 说明 |
| --- | --- |
| Nav2-bringup | 启用 ROS2 导航框架和系统。它提供感知、规划、控制、定位、可视化等功能，帮助编译高度可靠的自主系统。 |
| Librealsense2 | 通过topic生成mono和depth模式的Camera信息。Librealsense2 和 realsense2-camera 可以使 RealSense™ 摄像头 D455 在 RGB 或深度模式下正常工作。 |
| Rplidar-ros2 | 为 2D 激光扫描仪 RPLIDAR A1/A2/A3/S1/S2/S3 提供基本的设备处理功能。 |
| QRB-ROS-IMU | 创建 `/imu`  topic以发布惯性测量单元 (IMU) 数据。 |
| QRB-ROS-CAMERA | 使用 camera-server 获取最新的摄像头数据。 |
| QRB-ROS-SYSTEM-MONITOR | 包含多个 ROS 节点，用于发布系统状态信息，例如 CPU 负载、内存利用率和磁盘空间。 |
| OCR-service | 启用提供光学字符识别 (OCR) 功能的服务。它从 ROS 系统中获取镜像主题，并将结果发布到 `ocr_topic`。 |

**专有示例**

| 示例程序 | 说明 |
| --- | --- |
| Follow-me | 使带轮子的机器人能够跟随行走的人。 |
| Voxel-map | 运行 VSLAM 时使用深度信息和里程计生成 2D 导航地图。 |
| Mono-vslam | 利用mono模式摄像头实现机器人运动时定位功能。 |
| Depth-vslam | 利用depth模式摄像头实现机器人运动时定位功能。 |
| Auto-explore | 使带轮子的机器人能够自动绘制 2D 地图。 |
| 视觉惯性里程计 (VIO) | 通过融合摄像头、加速度计和陀螺仪来跟踪六自由度 (6DOF) 姿态，并持续估算重力方向和姿态。 |

Last Published: Dec 05, 2024

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