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feat(perception): 360 equirectangular video stitching + RTSP streaming #105

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opened 2026-03-02 08:27:36 -05:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-02 08:27:36 -05:00
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Summary

Replace IPM bird's-eye stitching with proper 360 equirectangular projection and H.264 RTSP stream.

Requirements

  • Equirectangular projection: Stitch 4x IMX219 (160° FOV, 90° apart) into 360 panorama
  • Alpha blending: Smooth seam blending in 70° overlap zones between adjacent cameras
  • H.264 encoder: Use Orin hardware NVENC for real-time encoding at 1920x960 @ 15fps
  • RTSP server: GStreamer RTSP server for remote viewing (VLC/browser compatible)
  • ROS2 topic: /camera/panoramic/image_raw (sensor_msgs/Image) + /camera/panoramic/compressed
  • Calibration integration: Load real IMX219 intrinsics from calibration YAML (not placeholders)
  • GPU pipeline: cv2.cuda or GStreamer nvvidconv for zero-copy GPU processing

Agent: sl-perception

Labels: phase-2, surround-vision

## Summary Replace IPM bird's-eye stitching with proper 360 equirectangular projection and H.264 RTSP stream. ## Requirements - **Equirectangular projection**: Stitch 4x IMX219 (160° FOV, 90° apart) into 360 panorama - **Alpha blending**: Smooth seam blending in 70° overlap zones between adjacent cameras - **H.264 encoder**: Use Orin hardware NVENC for real-time encoding at 1920x960 @ 15fps - **RTSP server**: GStreamer RTSP server for remote viewing (VLC/browser compatible) - **ROS2 topic**: /camera/panoramic/image_raw (sensor_msgs/Image) + /camera/panoramic/compressed - **Calibration integration**: Load real IMX219 intrinsics from calibration YAML (not placeholders) - **GPU pipeline**: cv2.cuda or GStreamer nvvidconv for zero-copy GPU processing ## Agent: sl-perception ## Labels: phase-2, surround-vision
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shaytac sl-controls sl-firmware sl-jetson sl-mechanical sl-perception sl-uwb sl-webui seb
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Reference: seb/saltylab-firmware#105
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