【Apollo学习笔记】—— 相机仿真

前言

本文是对Cyber RT的学习记录,文章可能存在不严谨、不完善、有缺漏的部分，还请大家多多指出。这一章的内容还是比较简单的，直接上代码与结果。
课程地址: https://apollo.baidu.com/community/course/outline/329?activeId=10200
更多还请参考:
[1] Apollo星火计划学习笔记——第三讲（Apollo Cyber RT 模块详解与实战）https://blog.csdn.net/sinat_52032317/article/details/126924375
[2] 【Apollo星火计划】—— Cyber基础概念|通信机制
https://blog.csdn.net/sinat_52032317/article/details/131878429?spm=1001.2014.3001.5501
[3] 第一章：Cyber RT基础入门与实践https://apollo.baidu.com/community/article/1093
[4] 第二章：Cyber RT通信机制解析与实践https://apollo.baidu.com/community/article/1094
[5] 第三章：Component组件认知与实践https://apollo.baidu.com/community/article/1103
[6] 第四章：Cyber RT之调度简介与实践https://apollo.baidu.com/community/article/1106
[7] 第五章：使用Cyber RT进行相机仿真https://apollo.baidu.com/community/article/1105

相关代码整理

链接: https://pan.baidu.com/s/1ENgXE4yQ1v4nJRjcfZtd8w?pwd=ht4c 提取码: ht4c

测试实践

文件目录

参考以下文件目录进行

camera_demo
|-- driver|-- camera_sim|   |-- BUILD|   |-- camera_driver.cc
|--BUILD
|--camera_demo.BUILD
|--cyberfile.xml

包管理BUILD文件以及cyberfile.xml文件

参考之前的文章https://blog.csdn.net/sinat_52032317/article/details/131878429?spm=1001.2014.3001.5501

源程序

camera_driver.cc

/*  需求: 发布摄像头仿真数据。实现:1.头文件；2.初始化 cyber 框架；3.创建节点；4.创建发布者；5.组织数据并发布；6.等待关闭。
*/
#include "cyber/cyber.h"
#include "modules/common_msgs/sensor_msgs/sensor_image.pb.h"using apollo::drivers::Image;int main(int argc, char *argv[])
{apollo::cyber::Init(argv[0]);// 3.创建节点；auto talker_node = apollo::cyber::CreateNode("camear_sim_node");// 4.创建发布者；auto talker = talker_node->CreateWriter<Image>("/image_sim");// 5.组织数据并发布；size_t width = 500;size_t height = 350;size_t cell = 50; // 单元格宽度size_t step = width * 3; // 一行像素数char black = 200;char white = 10;apollo::cyber::Rate rate(10.0);while (apollo::cyber::OK()){// 组织数据auto msg = std::make_shared<Image>();msg->set_frame_id("camera");auto now = apollo::cyber::Time::Now();msg->set_measurement_time(now.ToSecond());msg->set_width(width);msg->set_height(height);msg->set_encoding("rgb8");msg->set_step(msg->width() * 3); // 一图片行的元素个数size_t length = msg->width() * msg->height() * 3;char value[length]; for (size_t i = 0; i < height; i++){ // 遍历像素行for (size_t j = 0; j < step; j++){ // 遍历列// 当前字节索引 value[i * step + j]int index = i * step + j;// 行赋值if (i / cell % 2 == 0){ // 偶数行value[index] = black;} else {value[index] = white;}// 列赋值// 偶数列，无需更改if (j / 3 / cell % 2 == 1) {// 奇数列，取反value[index] = value[index] == white ? black : white;}}}msg->set_data(value);//发布talker->Write(msg);rate.Sleep();}// 6.等待关闭。apollo::cyber::WaitForShutdown();return 0;
}

BUILD

load("@rules_cc//cc:defs.bzl", "cc_binary", "cc_library")
load("//tools/install:install.bzl", "install", "install_src_files")
load("//tools:cpplint.bzl", "cpplint")
package(default_visibility = ["//visibility:public"])cc_binary(name = "camera_driver",srcs = ["camera_driver.cc"],deps = ["//cyber","//modules/common_msgs/sensor_msgs:sensor_image_cc_proto",], 
)install(name = "install",runtime_dest = "camera_demo/bin",targets = [":camera_driver"],
)install_src_files(name = "install_src",src_dir = ["."],dest = "camera_demo/src/cyberatest",filter = "*",
)

记得修改包管理BUILD中的deps

运行

 ./bazel-bin/test/test_camera/camera_driver

另开一个终端打开DreamView

aem bootstrap start

选定合适的camera channel

结果

其他参考

apollo相机驱动在modules/drivers/camera文件目录下，需要设置好相应的配置文件，才能进行正常驱动。下面贴出文档中的README部分

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
1. 如果出现报错“sh: 1: v4l2-ctl: not found”，需要安装v4l2库。```bash
sudo apt-get install v4l-utils

camera 驱动解释可以参考这篇博客Apollo camera驱动分析（二十九）
实践例子可参考自动驾驶开发者说|框架|如何在apollo中添加自己的USB摄像头？