Analog Devices 3DToF Safety Bubble Detector

Overview

The ADI 3DToF Safety Bubble Detector is a ROS(Robot Operating System) package for the Safety Bubble Detection application. The Safety Bubble Detectors are the basic building block of any AGV/AMR. The safety zone is a virtual area around an AGV/AMR. The Safety Bubble Detectors are used to detect the presence of any object inside this zone and prevent the AGV/AMR from colliding with the object.

The ADI 3DToF Safety Bubble Detector is developed as a ROS application running on the ADI’s EVAL-ADTF3175D-NXZ Time-of-Flight platform. The Safety Bubble Detection algorithm is highly optimized to run at 30FPS on the EVAL-ADTF3175D-NXZ platform. The node uses ADI ToF SDK APIs to capture the frames from the sensor. The algorithm is run on the captured images and the output is published as ROS topics. The Node publishes the detection flag and the output visualization image as the topics. The Depth and IR images are also published as ROS topics. The topics are published at 30FPS.

Connection Diagram

Humble Ubuntu 20.04 Ubuntu 22.04 License ARM64 x86_64

Hardware

  • EVAL-ADTF3175D-NXZ Module

  • USB Type-C to Type-A cable - with 5gbps data speed support

  • Host laptop with intel i5 or higher CPU running Ubuntu-20.04LTS or Ubuntu-22.04LTS

[!note] Refer the EVAL-ADTF3175D-NXZ User Guide to ensure the Eval module has adequate power supply during operation.

[!important] The EVAL-ADTF3175D-NXZ Sensor module must have a firmware version of at least 5.2.5.0. Refer to user guide on firmware upgrade, or see upgrading the firmware.

Connection Diagram

adi_3dtof_safety_bubble_detector_node

Operation Modes

This package has three different operation modes. Refer to the following intra-links to setup the package accordingly.

  1. Camera Sensor Mode

  2. File-IO Mode

  3. Network Mode

Camera Sensor Mode

The package is built on the sensor module and directly interfaces with the image sensor. The adi_3dtof_nxp_ubuntu_20_04_relx.x.x.img provided for the EVAL-ADTF3175D-NXZ sensor already contains this ROS package and is pre-built. In order to use this package, first we need to connect the sensor to the PC, and then SSH into it:

  1. SSH into the Sensor

ssh analog@10.43.0.1
Password: analog

  1. Source ROS Humble

source /opt/ros/humble/install/setup.bash

  1. Source the workspace

source ~/ros2_ws/install/setup.bash

  1. Launch the adi_3dtof_safety_bubble_detector package.

ros2 launch adi_3dtof_safety_bubble_detector adi_3dtof_safety_bubble_detector_single_camera_launch.py arg_input_sensor_mode:=0

[!note] The operation mode is determined by the launch parameter arg_input_sensor_mode:=0. This can be modified in the launch file. Refer to the parameter table to see what other parameters can be passed.

Updating the package

[!warning] The time and date may be incorrect on the sensor and this can cause issues when updating the package. To update the time and date, refer to updating date and time.

In order to update and rebuild package to the latest version, run the following commands:

cd ~/ros2_ws/src/adi_3dtof_safety_bubble_detector
git pull
cd ~/ros2_ws
export MAKEFLAGS="-j1"
colcon build --symlink-install --executor sequential --cmake-args -DCMAKE_BUILD_TYPE=Release -DNXP=1 --packages-up-to adi_3dtof_safety_bubble_detector

File-IO Mode

In this camera mode, the package is built on the Host PC in order to evaluate the properties of the package by running a pre-recorded bin file which contains the outputs from the sensor module.

Building the package for file-io

  1. On your PC, create a workspace

mkdir -p ~/ros2_ws/src

  1. Clone the repository

cd ~/ros2_ws/src
git clone https://github.com/analogdevicesinc/adi_3dtof_safety_bubble_detector.git -b v2.1.0
cd ..

  1. Build the workspace

rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release -DSENSOR_CONNECTED=False

Running the node in file-io

In order to run the package in file-io, it needs input files provided in the release image. Follow the steps below to use existing bin files, or follow the Creating Bin files for File-IO section in adi_3dtof_adtf31xx readme to create your own bin files.

  1. Go to the installation directory of the ADI 3DToF ADTF31xx application ~/Analog Devices/ADI3DToFSafetyBubbleDetector-Rel2.1.0

  2. Run the get_videos.sh script which will download the adi_3dtof_input_video_files.zip file in the current directory.

  3. Unzip it and copy the directory to ~/ros2_ws/src/adi_3dtof_input_video_files.

  4. Update the input file argument arg_in_file_name in the launch file adi_3dtof_safety_bubble_detector_single_camera_launch.py as per the above file path.

  5. Run the following commands:

# Source the workspace
source ~/ros2_ws/install/setup.bash

# Launch the package
ros2 launch adi_3dtof_safety_bubble_detector adi_3dtof_safety_bubble_detector_single_camera_launch.py arg_input_sensor_mode:=2

[!note] The arg_input_sensor_mode:=2 sets the node to operate in file-io mode. This can be set in the launch file. Refer to the parameter table to see what other parameters can be passed. Enabling file input may slow down the speed of publishing.

Network Mode

The sensor can be operated in network mode where depth and AB (Active Brightness) images are fetched over the local area network. And safety bubble alogirthm is run on the host. The simplest way to use this is to connect the sensor directly to the PC so that a network interface via USB is created with a default IP address of 10.43.0.1. In order to use the Network mode, follow the following steps:

Building the package

The adi_3dtof_safety_bubble_detector depends on libaditof in order to communicate with the sensor. So we will need to build this in the same workspace as adi_3dtof_safety_bubble_detector.

  1. On your PC, create the workspace and clone the required repositories.

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
git clone https://github.com/analogdevicesinc/adi_3dtof_safety_bubble_detector.git -b v2.1.0
git clone https://github.com/analogdevicesinc/libaditof.git -v v6.0.1

# Initialize the submodules for libaditof
cd libaditof
git submodule update --init --recursive

# Return to root of workspace folder
cd ../..

  1. Install dependencies

rosdep install --from-paths src --ignore-src -r -y

  1. Build the packages

colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-up-to adi_3dtof_safety_bubble_detector
source install/setup.bash

Running the node in network mode

To run the node in network mode, run

ros2 launch adi_3dtof_safety_bubble_detector adi_3dtof_safety_bubble_detector_single_camera_launch.py arg_input_sensor_mode:=3 arg_input_sensor_ip:=10.43.0.1

[!note] The arg_input_sensor_mode:=3 sets the node to operate in network mode. This value can be adjusted in the launch file. arg_input_sensor_ip must be set to the IP of the sensor. Refer to the parameter table to see what other parameters can be passed.

Parameters

Parameter

Type

Default

Description

var_cam1_base_frame

String

“adi_camera_link”

Name of camera Link

var_cam1_base_frame_optical

String

“optical_camera_link”

Name of optical camera Link

var_virtual_camera_base_frame

String

“virtual_camera_link”

Name of virtual camera Link

arg_safety_bubble_radius_in_mtr

float

1.0f

Safety zone radius

arg_safety_bubble_shape

int

0

Safety bubble shape, 0: circular, 1: Square

arg_virtual_camera_height_z_in_mtr

float

5.0f

Virtual camera height, default value is 5 meters.

arg_input_sensor_mode

int

0

Input mode, 0: Real Time Sensor, 2: Rosbag bin, 3: Network Mode

arg_output_mode

int

0

Output mode, 0: No output files written, 1: avi and csv output files are written

arg_input_file_name_or_ros_topic_prefix_name

String

“no name”

Input filename: Applicable only if the input mode is 2. Represents input file name or topic prefix.

arg_enable_ransac_floor_detection

int

true

Enable option for RANSAC floor detection, 0: disable, 1: enable

arg_enable_depth_ab_compression

int

false

Enable option to publish depth and IR compressed images, 0: disable, 1: enable

arg_enable_output_image_compression

int

false

Enable option to publish compressed output image, 0: disable, 1: enable

arg_safety_bubble_detection_sensitivity

int

10

Number of connected pixels to trigger object detection

arg_enable_floor_paint

int

false

Enable option to visualize floor paint, 0: disable, 1: enable

arg_enable_safety_bubble_zone_visualization

int

false

Enable option to visualize safety bubble zone, 0: disable, 1: enable

arg_ransac_distance_threshold_mtr

float

0.025f

The height of the floor RANSAC can find, default value is 2.5 cm

arg_ransac_max_iterations

int

10

Maximum iterations RANSAC is allowed

arg_ab_threshold

int

10

abThreshold for the sensor

arg_confidence_threshold

int

10

Confidence threshold for the sensor. Default value varies based on sensor serial number.

arg_config_file_name_of_tof_sdk

String

“config/config_adsd3500_adsd3100.json”

Configuration file name of ToF SDK. Varies based on Eval Board series.

arg_camera_mode

int

3

Frame Type. Varies based on Eval Board series.

Camera Modes

Imager Type

Mode Name

Mode Value

ADSD3100

sr-native

0

lr-native

1

sr-qnative

2

lr-qnative

3

sr-mixed

5

lr-mixed

6

ADSD3030

sr-native

0

lr-native

1

lr-qnative

3

sr-mixed

5

lr-mixed

6

Other modes

-

-

Topics

Topic

Description

/depth_image

16-bit Depth image

/ab_image

16-bit IR image

/out_image

8-bit output image

/object_detected

Boolean to indicate the object detection

/camera_info

Camera info

/depth_image/compressedDepth

16-bit Depth image from adi_3dtof_safety_bubble_detector node compressed with RVL compression (if enabled)

/ab_image/compressedDepth

16-bit IR image from adi_3dtof_safety_bubble_detector node compressed with RVL compression (if enabled)

/out_image/compressed

8-bit output image from adi_3dtof_safety_bubble_detector node compressed with JPEG compression (if enabled)

Output Images

Sample output images are shown below:

/cam1/depth_image depth_image

/cam1/ab_image ab_image

/cam1/out_image output_image

[!note] To setup Safety Bubble Detector with 4 devices refer Setting up 4 device for Safety Bubble Detector

Parameter Tuning

Some parameters of adi_3dtof_safety_bubble_detector ROS node can be modifed during runtime. The Perspective file is present in rqt_config/ folder.

Dynamic Reconfigure The GUI can be started by running the following command.

ros2 launch adi_3dtof_safety_bubble_detector adi_3dtof_safety_bubble_detector_rqt_launch.py

Make sure the adi_3dtof_safety_bubble_detector node is already running before executing this command.

Appendix:

Updating Date and Time

The customized ubuntu image loaded into the sensor will automatically connect to any WiFi hotspot with the SSID as ADI and password set as analog123. This network connection will automatically sync the system time using the available internet connection.

Build Flags

Flag Name

Type

Default Value

Description

SENSOR_CONNECTED

Boolean

TRUE

Set to TRUE if a sensor is connected, otherwise set to FALSE for File-IO mode.

BUILD_SBD_STITCH_HOST_NODE

Boolean

FALSE

Set to TRUE to build the adi_3dtof_safety_bubble_detector_stitch_host_node.

Upgrading the firmware

To check the existing firmware version, log into the sensor device via SSH.

$ ssh analog@10.43.0.1
   Username: analog
   Password: analog

Run command:

cd ~/Workspace/Tool/ctrl_app
./ctrl_app

Your output would look like this:

V4L2 custom control interface app version: 1.0.1
59 31
05 02 05 00 61 35 39 61 66 61 64 36 64 36 63 38 65 37 66 62 31 35 33 61 32 64 62 38 63 64 38 38 34 30 33 35 39 66 31 37 31 39 35 61
59 31

The first four values in the third line represents the version number, in this case, 5.2.5.0. If it is lower than this value, follow these steps below to update.

  1. On your PC, install ADI ToF SDK release v6.0.1

  2. After installing goto the installation folder and run the following commands to download the image

    cd ~/Analog\ Devices/ToF_Evaluation_Ubuntu_ADTF3175D-Relx.x.x/image.
chmod +x get_image.sh
./get_image.sh.

    • Latest image will be downloaded at ./image path as NXP-Img-Relx.x.x-ADTF3175D-.zip. Extract this folder using unzip NXP-Img-Relx.x.x-ADTF3175D-.zip command.

    • This folder contains the NXP image and ADSD3500 firmware(Fw_Update_x.x.x.bin).

  3. Run the following command to copy the Fimware to the NXP device

    $ scp Fw_Update_5.2.5.bin analog@10.43.0.1:/home/analog/Workspace
   Username: analog
   Password: analog

  4. Now login to the device and run the Firmware upgrade command.

[!warning] Do NOT reboot the board or interrupt the process as this may corrupt the module

$ ssh analog@10.43.0.1
   Username: analog
   Password: analog
$ cd Workspace/ToF/build/examples/data_collect/
$ ./data_collect --fw ~/Workspace/Fw_Update_x.x.x.bin config/config_default.json

  • Reboot the board after the successful operation.