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Running Mode

  • Online: receive and process the real-time sensor data
  • Offline: read the recorded data and playback

We can switch the running mode easily by clicking the switch buttom at the home page of web UI.

Processing Mode

Currently, there are four processing modes are supported by LSD, all modes can be running at online or offline.

  • Data Acquisition --- preview the sensor data, sensor calibration or data recording.
  • Object Detection --- cnn based network detection of pointcloud, object tracking, prediction. (high cpu load in x86_64 docker)
  • SLAM --- pointcloud mapping or localization with LiDAR, camera and IMU.
  • Object Detection & SLAM --- running object detetcion and SLAM simultaneously.

These modes can be configured by "Web UI => Config => Device => Mode" and click the "Upload" button to save. (this operation needs to restart LSD manually)

Sensor Configure

LSD can support various sensors including LiDAR, Camera, Radar, INS/IMU etc.

Type Sensor Specification
LiDAR Ouster 32/64/128, RoboSense 16/32/80, VLP-16, LS-C-16 10Hz mode
Camera GMSL, RTSP, UVC GMSL, UVC: v4l2, RTSP: H264
Radar ARS408 Object mode
INS/IMU CGI-610(CHCNAV)

LiDAR Configure

We can add a LiDAR through "Web UI => Config => LiDAR", then input the LiDAR name and the UDP port (should be configured before)

Camera Configure

We can add a camera through "Web UI => Config => Camera" and the camera name should be input and follow the rules:

  • GMSL, UVC: the index of v4l2 device. example: "Name" should be "0" if the v4l2 device is /dev/video0.
  • RTSP: rtsp://username:password@(ipaddress)/(videotype)/ch(number)/(streamtype). example: rtsp://admin:[email protected]:554/h264/ch33/main/av_stream

Note: the v4l2 device should be mapped into container firstly when start the docker container (--device=/dev/video0:/dev/video0)

Radar Configure

We can add a LiDAR through "Web UI => Config => Radar", then input the CAN interface and baud of Radar.

Data Recording

LSD can support software time syncing for sensors and real-time data recording.

The data is recorded as a python dictionary and serialized to serveral pickle files.

Here is the example data is listed as below:

Data Name Type Description
frame_start_timestamp uint64_t the start time of frame (us)
lidar_valid boolean indicate the LiDAR data is valid
points Dict: name - > numpy pointcloud of LiDAR, key is the sensor name, value is a n x 4 numpy array
image_valid boolean indicate the camera data is valid
image Dict: name - > bytes JPEG image data, key is the sensor name, value is compressed jpeg data
ins_valid boolean indicate the INS/IMU data is valid
ins_data Dict store the data of latitude,longitude,altitude and gyro, accelerator, etc

Here are the operation steps.

Mount a directory into /media

mount --bind /root/exchange/ /media/external/

Mode Setting

The "Data Acquisition" and "Online" mode should be configured by above step, then check the sensor data through the preview page of web.

Start Recording

Click the button which is right align to the "Disk" at the home page.