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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 Argus和Ros2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
No CONTRIBUTING.md found.
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