cyberdog_camera repository

cyberdog_camera repository

cyberdog_camera repository

Repository Summary

Checkout URI https://github.com/miroboticslab/cyberdog_camera.git
VCS Type git
VCS Version rolling
Last Updated 2023-08-15
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
camera_api 0.0.0
camera_base 0.0.0
camera_service 0.0.0
camera_test 0.0.0
camera_utils 0.0.0

README

简介

运行于小米CyberDog,基于Nvidia ArgusRos2的相机程序。

该程序使用Argus API提供的接口来操控MIPI相机硬件并实时捕获图像,使用ROS2提供的接口来管理相机节点,为外部模块提供交互接口。

编译

编译本模块需要依赖若干外部软件包,编译前需按照下列命令安装:

依赖项

1.nvidia-l4t-jetson-multimedia-api

sudo apt-get install nvidia-l4t-jetson-multimedia-api

2.cuda-toolkit

sudo apt-get install cuda-toolkit-10-2

3.libavformat-dev

sudo apt-get install libavformat-dev

4.protocol仓

git clone https://git.n.xiaomi.com/MiRoboticsLab/rop/bridges

测试程序

基于相机api的相机测试程序,可以用来测试相机是否正常,亦可以作为camera api使用方式参考。

编译

colcon build --merge-install --packages-up-to camera_test

运行

测试程序,用来测试相机出图是否正常

./build/camera_test/camera_test cam_id width height rgb/bgr

例如,测试camera 0,640x480分辨率RGB出图的话,使用如下命令: ./build/camera_test/camera_test 0 640 480 rgb

主摄相机服务程序,可以进行拍照录像等命令

ros2 run camera_test camera_server

拍照命令:

ros2 service call /camera_service protocol/srv/CameraService "{command: 1, args: ''}"

录像命令:

//开始
$ ros2 service call /camera_service protocol/srv/CameraService "{command: 2, args: ''}"
//停止
$ ros2 service call /camera_service protocol/srv/CameraService "{command: 3, args: ''}"

双目/RGB相机ros2程序

ros2 run camera_test stereo_camera

运行之后,双目相机和RGB相机将通过/image_left、/image_right、/image_rgb三个topic发布图像。

CONTRIBUTING

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cyberdog_camera repository

cyberdog_camera repository

cyberdog_camera repository

cyberdog_camera repository

cyberdog_camera repository

cyberdog_camera repository

cyberdog_camera repository

cyberdog_camera repository

cyberdog_camera repository

cyberdog_camera repository

cyberdog_camera repository

cyberdog_camera repository

cyberdog_camera repository

cyberdog_camera repository

cyberdog_camera repository