# Qrb-ros-color-space-convert

`Qrb-ros-color-space-convert` 示例应用程序在 NV12 和 RGB888 格式之间进行转换。

Qualcomm 的智能设备（例如 RB3 Gen 2）使用 NV12 作为默认图像颜色空间的转换格式。但是，更常见的颜色空间格式是 RGB888。`Qrb-ros-color-space-convert` 示例应用程序实现了以下内容：

- 提供 ROS 节点

> 
> 
> - 将 nv12 转换为 rgb8 的 API
>     - 将 rgb8 转换为 nv12 的 API
- 支持 `dmabuf` fd 作为输入和输出
- 使用 QRB ROS 传输接收和发送输入和输出镜像
- 通过 OpenGL ES 使用 GPU 进行硬件加速

![../../_images/colorspace-convert-pipeline.png](data:image/png;base64,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)

**图：qrb-ros-color-space-convert pipeline**

## 用例

**前提条件：**

- 您已编译并安装了 QIRP SDK 和依赖项，请参阅[编译软件](https://docs.qualcomm.com/doc/80-70018-265Y/topic/build-the-software_4_1.html#build-the-software-4-1)和[刷写并安装](https://docs.qualcomm.com/doc/80-70018-265Y/topic/flash-and-install_4_3.html#flash-and-install-4-3)。
- 您已按照[使用 SSH 登录](https://docs.qualcomm.com/bundle/publicresource/topics/80-70018-254/how_to.html#use-ssh)中提到的步骤在“Permissive”模式下启用 `SSH`。

**用例 1：运行开箱即用的 qrb-ros-color-space-convert**

**步骤：**

1. 编写您自己的 ROS 节点并在终端中运行它。
2. 在终端窗口 1 中，在设备上设置 QIRP SDK 和 ROS2 环境。

    1. 设置环境：

(ssh) export HOME=/opt
            (ssh) source /usr/share/qirp-setup.sh
            (ssh) export ROS_DOMAIN_ID=xx
            (ssh) source /usr/bin/ros_setup.bash
            (ssh) export XDG_RUNTIME_DIR=/dev/socket/weston/
            (ssh) mkdir -p $XDG_RUNTIME_DIR
            (ssh) export WAYLAND_DISPLAY=wayland-1
            (ssh) export FASTRTPS_DEFAULT_PROFILES_FILE=/usr/share/qrb_ros_colorspace_convert/config/large_message_profile.xml
            Copy to clipboard
    2. NV12 转换为 RGB888，您可以运行命令

(ssh) ros2 launch qrb_ros_colorspace_convert colorspace_convert.launch.py 'conversion_type:=nv12_to_rgb8' 'latency_fps_test:=True'
            Copy to clipboard
    3. RGB888 转换为 NV12，您可以运行命令

(ssh) ros2 launch qrb_ros_colorspace_convert colorspace_convert.launch.py 'conversion_type:=rgb8_to_nv12' 'latency_fps_test:=True'
            Copy to clipboard

**用例 2：编译并运行 qrb-ros-color-space-convert**

**步骤：**

1. 在主机上，编译 QIRP SDK 提供的 `qrb_ros_color_space_convert`。

cd <qirp_decompressed_workspace>
        source setup.sh
        
        cd qirp-samples/demos/platform/qrb_ros_color_space_convert
        
        colcon build --continue-on-error --cmake-args \
          -DCMAKE_TOOLCHAIN_FILE=${OE_CMAKE_TOOLCHAIN_FILE} \
          -DPYTHON_EXECUTABLE=${OECORE_NATIVE_SYSROOT}/usr/bin/python3 \
          -DPython3_NumPy_INCLUDE_DIR=${OECORE_NATIVE_SYSROOT}/usr/lib/python3.10/site-packages/numpy/core/include \
          -DSYSROOT_LIBDIR=${OECORE_TARGET_SYSROOT}/usr/lib \
          -DSYSROOT_INCDIR=${OECORE_TARGET_SYSROOT}/usr/include \
          -DCMAKE_MAKE_PROGRAM=/usr/bin/make \
          -DBUILD_TESTING=OFF
        Copy to clipboard
2. 将 `qrb_ros_color_space_convert` 推送至设备。

Note

确保设备上已安装 QIRP SDK。

cd qirp-samples/demos/platform/qrb_ros_color_space_convert/install/qrb_ros_colorspace_convert
        tar czvf qrb_ros_color_space_convert.tar.gz lib share
        scp qrb_ros_color_space_convert.tar.gz root@[ip-addr]:/opt/
        ssh root@[ip-addr]
        (ssh) mount -o remount,rw /usr
        (ssh) tar --no-same-owner -zxf /opt/qrb_ros_color_space_convert.tar.gz -C /usr/
        Copy to clipboard
3. 参考[用例 1：运行开箱即用的 qrb-ros-color-space-convert](https://docs.qualcomm.com/doc/80-70018-265Y/topic/qrb-ros-color-space-convert_5_2_9.html#case1-ros-colorspace)，在设备上运行 `qrb_ros_color_space_convert`。

## Qrb-ros-color-space-convert 的 pipeline 工作流

表：qrb-ros-color-space-convert pipeline 中使用的 ROS 节点

| ROS 节点 | 说明 |
| --- | --- |
| colorspace_convert_node<br>    Copy to clipboard | 发布 `/image` ROS 主题。 |

表：qrb-ros-color-space-convert pipeline 中使用的 ROS topic

| ROS topic | 类型 | 发布方 |
| --- | --- | --- |
| /image<br>    Copy to clipboard | <qrb_ros::transport::type::Image><br>    Copy to clipboard | `qrb_ros_color_space_convert`节点 |

Last Published: May 12, 2025

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