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Zenoh#

Installation#

We need install zenoh and some dependencies first.

  • Zenoh C library: Required for the transportation.

    • Download from the GitHub release
    • You can also add the Eclipse repository for apt server.
    curl -L https://download.eclipse.org/zenoh/debian-repo/zenoh-public-key | sudo gpg --dearmor --yes --output /etc/apt/keyrings/zenoh-public-key.gpg
echo "deb [signed-by=/etc/apt/keyrings/zenoh-public-key.gpg] https://download.eclipse.org/zenoh/debian-repo/ /" | sudo tee /etc/apt/sources.list.d/zenoh.list > /dev/null
sudo apt update
sudo apt install libzenohc-dev

  • CLI11: Used for the command line interface.

    • Ubuntu: sudo apt install libcli11-dev

Build#

  • Environment setup
export PATH=/usr/local/cuda/bin:$PATH
export LD_LIBRARY_PATH=/usr/local/cuda/lib64:$LD_LIBRARY_PATH
  • Configure with cmake
mkdir build && cd build
cmake .. \
    -DLIBTORCH_INSTALL_ROOT=/path/to/libtorch/ \
    -DONNXRUNTIME_ROOTDIR=/path/to/onnxruntime-linux-x64-gpu-1.22.0 \
    -DUSE_CUDA_BACKEND=True
  • Build
make

Usage#

After a successful build, you will find two executables in the build directory.

Video Visualization#

Subscribe a video from a Zenoh publisher and then publish it to a Zenoh Subscriber.

  • Usage the video publisher and subscriber
# Terminal 1
./video_publisher -k video/input
# Terminal 2
./run_model SceneSeg_FP32.onnx -i video/input -o video/output
./run_model DomainSeg_FP32.onnx -i video/input -o video/output
# Terminal 3
./video_subscriber -k video/output