# QRB-ROS-CAMERA

Source: [https://docs.qualcomm.com/doc/80-65220-2Y/topic/qrb-ros-camera_5_2_5.html](https://docs.qualcomm.com/doc/80-65220-2Y/topic/qrb-ros-camera_5_2_5.html)

QRB-ROS-CAMERA 实现了一个摄像头 ROS2 节点，当数据从摄像头服务器传出时，可实现 zero-copy 性能。此示例大幅减少了 ROS 节点之间的延迟。

Qualcomm Camera-Server 提供从摄像头传感器获取的摄像头数据。`qrb_ros_camera` 使用该摄像头服务器获取最新的摄像头数据。

Figure : qrb-ros-camera pipeline

![](data:image/png;base64,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)

有关 pipeline 流程中使用的 ROS 节点和主题的详细信息，参见 [QRB-ROS-CAMERA 的 pipeline 流程](https://docs.qualcomm.com/doc/80-65220-2Y/topic/qrb-ros-camera_5_2_5.html#ID-concept-d32488e4627__section_err_vxg_vbc)。

## 用例

**前提条件：**

- QIRP SDK 和依赖项已安装，参见[编译软件](https://docs.qualcomm.com/doc/80-65220-2Y/topic/build-the-software_4_1.html)和[刷写和安装](https://docs.qualcomm.com/doc/80-65220-2Y/topic/flash-and-install_4_3.html)。
- 已在“Permissive”模式下按照 [如何使用 SSH](https://docs.qualcomm.com/bundle/publicresource/topics/80-70014-254/how_to.html#how-to-ssh-) 中介绍的步骤启用 `SSH`。

**用例 1：运行开箱即用的 qrb-ros-camera**

**步骤：**

1. 启动两个终端，并在每个终端运行以下命令，从而在设备上搭建 QIRP SDK 和 ROS2 环境。 
    ROS\_DOMAIN\_ID 的取值范围：[0, 232]

        ssh root@[ip-addr]
        (ssh) export HOME=/opt
        (ssh) source /opt/qcom/qirp-sdk/qirp-setup.sh
        (ssh) export ROS_DOMAIN_ID=xx
        (ssh) source /usr/bin/ros_setup.bash
        Copy to clipboard
2. 在终端 1 中，运行 CAMERA ROS 节点。

        (ssh) ros2 launch qrb_ros_camera qrb_ros_camera_launch.py
        Copy to clipboard
3. 在终端 2 中，获取摄像头图像数据。

        (ssh) ros2 topic echo /image
        Copy to clipboard

**用例 2：编译并运行 qrb-ros-camera**

**步骤：**

1. 在主机上编译由 QIRP SDK 提供的 `qrb_ros_camera`。

        cd <qirp_decompressed_workspace>
        source setup.sh
        
        cd sample-code/qirp_nodes/perception_nodes/qrb_ros_camera
        export AMENT_PREFIX_PATH="${OECORE_TARGET_SYSROOT}/usr;${OECORE_NATIVE_SYSROOT}/usr"
        export PYTHONPATH=${PYTHONPATH}:${OECORE_TARGET_SYSROOT}/usr/lib/python3.10/site-packages
        
        colcon build --continue-on-error --cmake-args \
          -DCMAKE_TOOLCHAIN_FILE=${OE_CMAKE_TOOLCHAIN_FILE} \
          -DPYTHON_EXECUTABLE=${OECORE_NATIVE_SYSROOT}/usr/bin/python3 \
          -DPython3_NumPy_INCLUDE_DIR=${OECORE_NATIVE_SYSROOT}/usr/lib/python3.10/site-packages/numpy/core/include \
          -DSYSROOT_LIBDIR=${OECORE_TARGET_SYSROOT}/usr/lib \
          -DSYSROOT_INCDIR=${OECORE_TARGET_SYSROOT}/usr/include \
          -DCMAKE_MAKE_PROGRAM=/usr/bin/make \
          -DBUILD_TESTING=OFF
        Copy to clipboard
2. 将 `qrb_ros_camera` 推送到设备。 
Note: 确保设备上已安装 QIRP SDK。

        cd sample-code/qirp_nodes/perception_nodes/qrb_ros_camera/install
        tar czvf qrb_ros_camera.tar.gz include lib share
        scp qrb_ros_camera.tar.gz root@[ip-addr]:/opt/qcom/qirp-sdk/
        ssh root@[ip-addr]
        (ssh) tar -zxf /opt/qcom/qirp-sdk/qrb_ros_camera.tar.gz -C /opt/qcom/qirp-sdk/usr/
        Copy to clipboard
3. 在设备上运行 `qrb_ros_camera`，参考 [用例 1：运行开箱即用的 qrb-ros-camera](https://docs.qualcomm.com/doc/80-65220-2Y/topic/qrb-ros-camera_5_2_5.html#ID-concept-d32488e4627__case1-ros-camera)。

## QRB-ROS-CAMERA 的 pipeline 流程

Table : Qrb-ros-camera pipeline 中使用的 ROS 节点

| ROS 节点 | 说明 |
| --- | --- |
| CAMERACopy to clipboard | 发布 `/image/camera_info` ROS 主题。 |

Table : Qrb-ros-camera pipeline 中使用的 ROS 主题

| ROS 主题 | 类型 | 发布方 |
| --- | --- | --- |
| /imageCopy to clipboard | <sensor_msgs::msg::Image> <br>    Copy to clipboard | `CAMERA `节点 |
| /camera_infoCopy to clipboard | <sensor_msgs::msg::CameraInfo>Copy to clipboard | `CAMERA `节点 |

## 局限性

摄像头 ROS 节点支持的格式是 NV12。目前不支持动态更改图像尺寸。

**Parent Topic:** [开源示例](https://docs.qualcomm.com/doc/80-65220-2Y/topic/open-source-samples_5_2.html)

Last Published: Aug 09, 2024

[Previous Topic
QRB-ROS-IMU](https://docs.qualcomm.com/bundle/publicresource/80-65220-2Y/topics/qrb-ros-imu_5_2_4.md) [Next Topic
QRB-ROS-SYSTEM-MONITOR](https://docs.qualcomm.com/bundle/publicresource/80-65220-2Y/topics/qrb-ros-system-monitor_5_2_6.md)