Apollo9.0摄像头Camera适配无data输出

[Jacen0610]

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System information

• OS Platform and Distribution (e.g., Linux Ubuntu 18.04):18.04
• Apollo installed from (source or binary):source
• Apollo version (3.5, 5.0, 5.5, 6.0):9.0
• Output of apollo.sh config if on master branch:

Steps to reproduce the issue:

• Please use bullet points and include as much details as possible:
• 适配你们这套apollo9.0简直是噩梦般的体验，有没有你们官方教程操作的传感器，心累了。usb摄像头都能整出这么多花活来，非得用什么v4l2封装搞成CyberRT，搞个通用的opencv很困难吗。我自己用python把摄像头打开转成cyberRT图像节点跑perception的camera_multistage直接没有error退出程序。好好的ROS不用，搞什么cyberRT还只有helloworld教程。启动文件到处乱放，配置文件参数都不知道是干嘛的，运行程序到处的aerror。看看下面这个什么Wrong Buf Len，我该怎么改配置参数？

Supporting materials (screenshots, command lines, code/script snippets):

[daohu527]

@Jacen0610 Your question is a good one, thanks for your suggestion.

I want to clarify here that Apollo is currently an autonomous driving system for production environments, so it is more concerned with efficiency, speed and stability. In terms of ease of use, a third-party library or Python is the most convenient. But you know you can't have your cake and eat it too.

We will not avoid the problem. It is true that there are some problems with the data structure of the image processing of the perception module. For example, blob data overflows and crashes when the image size exceeds the requirement.

questions

Back to the question itself, you can explain your problem in detail so that you can better solve it. For example, how do you create a node to send a picture?

[Jacen0610]

@Jacen0610 Your question is a good one, thanks for your suggestion.

I want to clarify here that Apollo is currently an autonomous driving system for production environments, so it is more concerned with efficiency, speed and stability. In terms of ease of use, a third-party library or Python is the most convenient. But you know you can't have your cake and eat it too.

We will not avoid the problem. It is true that there are some problems with the data structure of the image processing of the perception module. For example, blob data overflows and crashes when the image size exceeds the requirement.

questions

Back to the question itself, you can explain your problem in detail so that you can better solve it. For example, how do you create a node to send a picture?

I just want to know what sensor devices you recommend, such as what brand and model of camera and access method.

I only want to be able to run through all the modules according to your official tutorials, so I have no intention of modifying any code or adding any features.

Starting from this camera driver, I will buy a device you recommend to verify all the camera-related perception functions. So, please tell me what sensor to buy.

[Jacen0610]

使用OpenCV读取摄像头后转成cyberRT的Image格式的消息后分辨率莫名其妙被改变，opencv打开的1920x1080变为1280x720。此问题导致perception_perception_camera_single_stage和perception_perception_camera_multi_stage的cudamemcpy复制gpu内存缺失。请问如何使用python将摄像头的数据正确转发到CyberRT上

[daohu527]

@Jacen0610 Please describe your startup steps in detail.

There are settings in the configuration to change the image size.

[MambaWong]

cap.set()设置宽高不知道有没有成功哦。 我之前也封装了OpenCV的VideoCapture，转Image之后，是可以正常工作的。