Performs path planning by reading sensor data (as provided by sensord) and camera data which it reads on its own in another instance (i.e. one instance for path planning by reading frames from state shmem and another for reading camera frames and writing them to state shmem).
camera pipeline: Reads frames from the real camera and saves them in state shared memory.proc pipeline: This is the processing pipeline which reads frames from state shared memory and performs processing to get useful information about where the car should go and how which is then written to plan shared memory.display pipeline: Displays a window which shows the processed frames. This is only used for testing and should never be run on the target.
The camera pipeline is set to 60fps. To enable this, please apply the driver patch supplied
in tco-utils/mendel_patches. If for some reason, you do not want to apply this step, please
change the camera format to something supported like :
video/x-raw,format=YUY2,width=640,height=480,framerate=30/1 !.
- libglib2.0-dev (also contains libgobject-2.0-dev)
- libgstreamer1.0-dev
- gstreamer1.0-plugins-base (contains 'appsink' and 'appsrc')
- gstreamer1.0-plugins-good (contains 'v4l2src')
- pthread