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cyberdog-camera's Introduction

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。

cyberdog-camera's People

Contributors

huliang999 avatar leejeerywen avatar ruheng avatar

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