Camera¶
camera包是基于V4L USB相机设备实现封装，提供图像采集及发布的功能。本驱动中使用了一台长焦相机和一台短焦相机。
Output channels¶
/apollo/sensor/camera/front_12mm/image
/apollo/sensor/camera/front_6mm/image
/apollo/sensor/camera/front_fisheye/image
/apollo/sensor/camera/left_fisheye/image
/apollo/sensor/camera/right_fisheye/image
/apollo/sensor/camera/rear_6mm/image
启动camera驱动¶
请先修改并确认launch文件中的参数与实际车辆相对应
# in docker
bash /apollo/scripts/camera.sh
# or
cd /apollo && cyber_launch start modules/drivers/camera/launch/camera.launch
启动camera + video compression驱动¶
请先修改并确认launch文件中的参数与实际车辆相对应
# in docker
bash /apollo/scripts/camera_and_video.sh
# or
cd /apollo && cyber_launch start modules/drivers/camera/launch/camera_and_video.launch
常见问题¶
如果出现报错“sh: 1: v4l2-ctl: not found”，需要安装v4l2库。
sudo apt-get install v4l-utils