{"id":31554,"date":"2025-04-21T16:56:06","date_gmt":"2025-04-21T08:56:06","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/31554.html"},"modified":"2025-04-21T16:56:06","modified_gmt":"2025-04-21T08:56:06","slug":"%e9%a6%99%e6%a9%99%e6%b4%be-5-plus-%e8%b0%83%e7%94%a8%e6%91%84%e5%83%8f%e5%a4%b4%ef%bc%88ros2%ef%bc%89","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/31554.html","title":{"rendered":"\u9999\u6a59\u6d3e 5 PLUS \u8c03\u7528\u6444\u50cf\u5934\uff08ROS2\uff09"},"content":{"rendered":"<p>\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u6211\u9700\u8981\u5728ROS2 Humble \u73af\u5883\u4e0b\u8c03\u7528\u9999\u6a59\u6d3e 5 PLUS \u7684\u6444\u50cf\u5934\u3002<\/p>\n<p>\u786c\u4ef6&#xff1a;\u9999\u6a59\u6d3e 5 PLUS\u3001OV13855(\u6444\u50cf\u5934)\u3001USB \u6444\u50cf\u5934&#xff08;\u7f57\u6280720P&#xff09;<\/p>\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"600\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/04\/20250421085604-680608242b218.jpg\" width=\"800\" \/><\/p>\n<p>\u00a0<\/p>\n<p>\u786c\u4ef6\u81ea\u5df1\u8fde\u63a5\u54c8 \u3002<\/p>\n<p>\u00a0\u6ce8&#xff1a;\u9ed1\u8272\u91d1\u5c5e\u5916\u58f3\u6563\u70ed\u6548\u679c\u4e00\u822c\u3002<\/p>\n<h3>1\u3001\u786c\u4ef6\u521d\u59cb\u5316<\/h3>\n<p>\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u9996\u5148&#xff0c;\u6309\u7167\u6587\u4ef6<\/p>\n<p>OrangePi_5_Plus_RK3588_\u7528\u6237\u624b\u518c_v1.8.pdf<\/p>\n<p>\u4e2d&#xff0c;<\/p>\n<p>3.34. OV13850 \u548c OV13855 MIPI \u6444\u50cf\u5934\u7684\u6d4b\u8bd5\u65b9\u6cd5<\/p>\n<p>\u64cd\u4f5c\u4e00\u904d\u3002<\/p>\n<h3>2\u3001\u5b89\u88c5pip<\/h3>\n<p>\u6ce8&#xff1a;\u901a\u8fc7pip\u5b89\u88c5opencv-python<\/p>\n<p>Ubuntu22\u7cfb\u7edf\u6ca1\u6709\u9884\u5148\u5b89\u88c5pip&#xff0c;\u9700\u8981\u81ea\u5df1\u5b89\u88c5&#xff0c;\u65b9\u6cd5\u5982\u4e0b&#xff1a;<\/p>\n<p>sudo apt update<\/p>\n<p>sudo apt install python3-pip <\/p>\n<h3>3\u3001\u5b89\u88c5opencv-python<\/h3>\n<p>\u6ce8&#xff1a;\u8c03\u7528\u6444\u50cf\u5934\u9700\u8981\u7528\u5230opencv<\/p>\n<p>Ubuntu22\u7cfb\u7edf\u6ca1\u6709\u9884\u5148\u5b89\u88c5opencv-python&#xff0c;\u9700\u8981\u81ea\u5df1\u5b89\u88c5&#xff0c;\u65b9\u6cd5\u5982\u4e0b&#xff1a;<\/p>\n<p>sudo apt update<\/p>\n<p>pip3 install opencv-python <\/p>\n<h3>4\u3001\u521b\u5efa\u4e00\u4e2aROS2\u8282\u70b9<\/h3>\n<p>\u00a0 \u00a0 \u00a0 \u00a0 \u8282\u70b9\u7684\u521b\u5efa\u4e0d\u505a\u63cf\u8ff0&#xff0c;\u6211\u7684\u6587\u4ef6\u76ee\u5f55\u5982\u4e0b<\/p>\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"419\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/04\/20250421085604-68060824a629a.png\" width=\"317\" \/><\/p>\n<p>\u5411node.py \u6587\u4ef6\u5185\u590d\u5236\u5982\u4e0b\u4ee3\u7801&#xff1a;<\/p>\n<p>#!\/usr\/bin\/env python3<br \/>\nimport rclpy<br \/>\nfrom rclpy.node import Node<br \/>\nimport cv2<\/p>\n<p>class MyNode(Node):<br \/>\n    &#034;&#034;&#034;<br \/>\n    \u521b\u5efa\u4e00\u4e2aMyNode\u8282\u70b9&#xff0c;\u5e76\u5728\u521d\u59cb\u5316\u65f6\u8f93\u51fa\u4e00\u4e2a\u8bdd<br \/>\n    &#034;&#034;&#034;<br \/>\n    def __init__(self, name):<br \/>\n        super().__init__(name)<br \/>\n        self.get_logger().info(&#034;\u5927\u5bb6\u597d&#xff0c;\u6211\u662f%s!&#034; % name)<br \/>\n        for device in [11, 16]:<br \/>\n            if self.open_camera(device):<br \/>\n                break<\/p>\n<p>    def open_camera(self, device_id):<br \/>\n        # \u6253\u5f00\u6444\u50cf\u5934<br \/>\n        cap &#061; cv2.VideoCapture(device_id)<\/p>\n<p>        # \u8bbe\u7f6e\u5206\u8fa8\u7387<br \/>\n        cap.set(cv2.CAP_PROP_FRAME_WIDTH, 640)  # \u8bbe\u7f6e\u5bbd\u5ea6<br \/>\n        cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 480)  # \u8bbe\u7f6e\u9ad8\u5ea6    <\/p>\n<p>        if not cap.isOpened():<br \/>\n            self.get_logger().error(f&#034;Can not find camera at \/dev\/video{device_id}&#034;)<br \/>\n            return False<\/p>\n<p>        self.get_logger().info(f&#034;Camera \/dev\/video{device_id} is opened successfully.&#034;)<\/p>\n<p>        while True:<br \/>\n            # \u6355\u83b7\u5e27<br \/>\n            ret, frame &#061; cap.read()<\/p>\n<p>            if not ret:<br \/>\n                self.get_logger().error(&#034;Failed to grab frame&#034;)<br \/>\n                break<\/p>\n<p>            # \u663e\u793a\u5e27<br \/>\n            cv2.imshow(f&#034;Camera \/dev\/video{device_id}&#034;, frame)<\/p>\n<p>            # \u6309\u4e0b &#039;q&#039; \u952e\u9000\u51fa<br \/>\n            if cv2.waitKey(1) &amp; 0xFF &#061;&#061; ord(&#039;q&#039;):<br \/>\n                break<\/p>\n<p>        # \u91ca\u653e\u6444\u50cf\u5934\u5e76\u5173\u95ed\u6240\u6709OpenCV\u7a97\u53e3<br \/>\n        cap.release()<br \/>\n        cv2.destroyAllWindows()<br \/>\n        return True<\/p>\n<p>def main(args&#061;None):<br \/>\n    rclpy.init(args&#061;args)  # \u521d\u59cb\u5316rclpy<br \/>\n    node &#061; MyNode(&#034;node&#034;)  # \u65b0\u5efa\u4e00\u4e2a\u8282\u70b9<br \/>\n    rclpy.spin(node)  # \u4fdd\u6301\u8282\u70b9\u8fd0\u884c&#xff0c;\u68c0\u6d4b\u662f\u5426\u6536\u5230\u9000\u51fa\u6307\u4ee4&#xff08;Ctrl&#043;C&#xff09;<br \/>\n    rclpy.shutdown()  # \u5173\u95edrclpy<\/p>\n<p>if __name__ &#061;&#061; &#034;__main__&#034;:<br \/>\n    main()<\/p>\n<p>\u4e0b\u9762\u8fd9\u90e8\u5206\u4ee3\u7801\u4e2d\u6570\u7ec4\u00a0[11, 16]\u4ee3\u8868\u7740\u8bbe\u5907\u53f7<\/p>\n<p>for device in [11, 16]:<br \/>\n    if self.open_camera(device):<br \/>\n        break<\/p>\n<p>\u00a0\u4f60\u53ef\u4ee5\u901a\u8fc7\u547d\u4ee4ls \/dev\/video*\u67e5\u770b\u6709\u54ea\u4e9b\u89c6\u9891\u8bbe\u5907\u53ef\u7528<\/p>\n<p>ls \/dev\/video*<\/p>\n<p>\u6bd4\u5982\u6211\u7684&#xff1a;<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"162\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/04\/20250421085604-68060824d1a75.png\" width=\"669\" \/><\/p>\n<h3>\u00a05\u3001\u4fdd\u5b58\u4ee3\u7801&#xff0c;\u7f16\u8bd1\u3001source\u3001\u8fd0\u884c<\/h3>\n<p>colcon build<br \/>\nsource install\/setup.bash<br \/>\nros2 run node node  <\/p>\n<p><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"360\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/04\/20250421085605-6806082509281.png\" width=\"1200\" \/><\/p>\n<p>\u8fd0\u884c\u6548\u679c\u5982\u4e0b &#xff1a;<\/p>\n<p class=\"img-center\"><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"525\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/04\/20250421085605-6806082551fd2.png\" width=\"649\" \/><\/p>\n<h3>\u00a0\u8865\u5145&#xff1a;\u4ec5\u4ec5\u8c03\u7528\u9999\u6a59\u6d3e\u6444\u50cf\u5934<\/h3>\n<p>\u5982\u679c\u4e0d\u662f ROS2 \u73af\u5883&#xff0c;\u4ec5\u4ec5\u8c03\u7528\u9999\u6a59\u6d3e\u6444\u50cf\u5934&#xff0c;\u4e5f\u53ef\u4ee5\u7528\u4e0b\u9762\u7684\u4ee3\u7801\u3002\u672a\u5b9e\u6d4b&#xff0c;\u52ff\u55b7\u3002<\/p>\n<p>import cv2<\/p>\n<p>def open_camera(device_id):<br \/>\n    # \u6253\u5f00\u6444\u50cf\u5934<br \/>\n    cap &#061; cv2.VideoCapture(device_id)<\/p>\n<p>    if not cap.isOpened():<br \/>\n        print(f&#034;Can not find camera at \/dev\/video{device_id}&#034;)<br \/>\n        return<\/p>\n<p>    print(f&#034;Camera \/dev\/video{device_id} is opened successfully.&#034;)<\/p>\n<p>    while True:<br \/>\n        # \u6355\u83b7\u5e27<br \/>\n        ret, frame &#061; cap.read()<\/p>\n<p>        if not ret:<br \/>\n            print(&#034;Failed to grab frame&#034;)<br \/>\n            break<\/p>\n<p>        # \u663e\u793a\u5e27<br \/>\n        cv2.imshow(f&#034;Camera \/dev\/video{device_id}&#034;, frame)<\/p>\n<p>        # \u6309\u4e0b &#039;q&#039; \u952e\u9000\u51fa<br \/>\n        if cv2.waitKey(1) &amp; 0xFF &#061;&#061; ord(&#039;q&#039;):<br \/>\n            break<\/p>\n<p>    # \u91ca\u653e\u6444\u50cf\u5934\u5e76\u5173\u95ed\u6240\u6709OpenCV\u7a97\u53e3<br \/>\n    cap.release()<br \/>\n    cv2.destroyAllWindows()<\/p>\n<p>if __name__ &#061;&#061; &#034;__main__&#034;:<br \/>\n    # \u5c1d\u8bd5\u6253\u5f00\u4e0d\u540c\u7684\u6444\u50cf\u5934\u8bbe\u5907<br \/>\n    for device in [11\u300116\u300118]:<br \/>\n        open_camera(device)<\/p>\n<h3>\u6700\u540e&#xff0c;\u6211\u6709\u8bdd\u8bf4&#xff1a;<\/h3>\n<p>\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u5982\u679c\u6587\u7ae0\u5bf9\u4f60\u6709\u5e2e\u52a9&#xff0c;\u6211\u5f88\u5f00\u5fc3\u3002\u6709\u7591\u95ee\u8bf7\u7559\u8a00&#xff0c;\u770b\u5230\u540e&#xff0c;\u6211\u4f1a\u56de\u590d\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u6587\u7ae0\u6d4f\u89c8\u9605\u8bfb1.1k\u6b21\uff0c\u70b9\u8d5e5\u6b21\uff0c\u6536\u85cf7\u6b21\u3002\u9999\u6a59\u6d3e 5 PLUS \u8c03\u7528\u6444\u50cf\u5934\uff08ROS2\uff09_\u9999\u6a59\u6d3e ov13850<\/p>\n","protected":false},"author":2,"featured_media":31549,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[58,1966,103,43,44,2548],"topic":[],"class_list":["post-31554","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-server","tag-linux","tag-ros","tag-ubuntu","tag-43","tag-44","tag-2548"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v20.3 - https:\/\/yoast.com\/wordpress\/plugins\/seo\/ -->\n<title>\u9999\u6a59\u6d3e 5 PLUS \u8c03\u7528\u6444\u50cf\u5934\uff08ROS2\uff09 - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/www.wsisp.com\/helps\/31554.html\" \/>\n<meta property=\"og:locale\" content=\"zh_CN\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"\u9999\u6a59\u6d3e 5 PLUS \u8c03\u7528\u6444\u50cf\u5934\uff08ROS2\uff09 - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3\" \/>\n<meta property=\"og:description\" content=\"\u6587\u7ae0\u6d4f\u89c8\u9605\u8bfb1.1k\u6b21\uff0c\u70b9\u8d5e5\u6b21\uff0c\u6536\u85cf7\u6b21\u3002\u9999\u6a59\u6d3e 5 PLUS \u8c03\u7528\u6444\u50cf\u5934\uff08ROS2\uff09_\u9999\u6a59\u6d3e ov13850\" \/>\n<meta property=\"og:url\" content=\"https:\/\/www.wsisp.com\/helps\/31554.html\" \/>\n<meta property=\"og:site_name\" content=\"\u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3\" \/>\n<meta property=\"article:published_time\" content=\"2025-04-21T08:56:06+00:00\" \/>\n<meta property=\"og:image\" content=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/04\/20250421085604-680608242b218.jpg\" \/>\n<meta name=\"author\" content=\"admin\" \/>\n<meta name=\"twitter:card\" content=\"summary_large_image\" \/>\n<meta name=\"twitter:label1\" 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