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摄像头预览（CSI）

摄像头预览（CSI）1、编译功能包2、启动摄像头3、预览画面4、主要代码

1、编译功能包​

cd ~/yahboom_ws xxxxxxxxxx colcon build xxxxxxxxxx source install/setup.bash

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2、启动摄像头​

启动摄像头

xxxxxxxxxx ros2 run camera camera_csi

查看节点和话题

xxxxxxxxxx ros2 node list xxxxxxxxxx ros2 topic list

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3、预览画面​

使用rqt查看摄像头对应的画面话题：rqt → Plugins → Visualization → Image View

xxxxxxxxxx rqt

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4、主要代码​

​ x import rclpy from rclpy.node import Node from sensor_msgs.msg import Image from cv_bridge import CvBridge import cv2 from jetcam.csi_camera import CSICamera class CameraNode(Node): def __init__(self): super().__init__('camera_csi') self.publisher = self.create_publisher(Image, 'image_raw', 10) self.bridge = CvBridge() self.cap = CSICamera(capture_device=0, width=640, height=480) self.timer = self.create_timer(0.05, self.timer_callback) def timer_callback(self): frame = self.cap.read() if frame is not None: image_msg = self.bridge.cv2_to_imgmsg(frame, encoding="bgr8") self.publisher.publish(image_msg) else: self.get_logger().warn('Failed to capture image') def main(args=None): rclpy.init(args=args) node = CameraNode() rclpy.spin(node) node.cap.release() rclpy.shutdown() if __name__ == '__main__': main()