This week I worked on making the streaming work between the RPi and TX1. Rather than using raspicam_node package in ROS, which was giving too many errors for raspberry, I decided to use cv_bridge. Alvin and I worked on creating the script to convert the Pi camera image to a OpenCv image to then a ROS type image using cv bridge. Here is a picture of an image that was taken on the camera streamed to the TX1:
There is a 2-3 second delay between capturing frame and streaming it to the TX1 . One of the problems we are having is the TX1 is not receiving good WiFi strength. I also worked with the team to do various other tasks like testing out the buck convertor which will be used to power the RPi. I also worked on the camera calibration so the images that will be captured by camera can be converted to real work coordinates.
On schedule, next week plan to access the issue with Wifi connectivity of TX1, improve the latency between capturing and receiving the image. Also, planning to access how the running the algorithms on these frames will impact the latency when images send back to RPi.