FCOS目标检测算法示例，使用USB摄像头发布图片测试成功
# 配置TogetherROS环境-
source /opt/tros/setup.bash-
# 配置USB摄像头-
export CAM_TYPE=usb-
# 启动launch文件-
ros2 launch dnn_node_example hobot_dnn_node_example.launch.py config_file:=config/fcosworkconfig.json image_width:=480 image_height:=272
Boxs应用算法使用USB摄像头发布图片测试报错
root@ubuntu:~# source /opt/tros/setup.bash
root@ubuntu:~# cp -r /opt/tros/lib/mono2d_body_detection/config/ .
root@ubuntu:~# export CAM_TYPE=usb
root@ubuntu:~# ros2 launch mono2d_body_detection hobot_mono2d_body_detection.launch.py
[INFO] [launch]: All log files can be found below /root/.ros/log/2022-09-02-13-37-24-648726-ubuntu-9997
[INFO] [launch]: Default logging verbosity is set to INFO
webserver has launch
[INFO] [mipi_cam-1]: process started with pid [10015]
[INFO] [hobot_codec_republish-2]: process started with pid [10017]
[INFO] [mono2d_body_detection-3]: process started with pid [10019]
[INFO] [websocket-4]: process started with pid [10021]
[mono2d_body_detection-3] [WARN] [1662097045.096223122] [example]: This is mono2d body det example!
[mono2d_body_detection-3] [WARN] [1662097045.287891603] [mono2d_body_det]: Parameter:
[mono2d_body_detection-3] is_sync_mode_: 0
[mono2d_body_detection-3] model_file_name_: config/multitask_body_head_face_hand_kps_960x544.hbm
[mono2d_body_detection-3] is_shared_mem_sub: 1
[mono2d_body_detection-3] ai_msg_pub_topic_name: hobot_mono2d_body_detection
[mono2d_body_detection-3] [INFO] [1662097045.294851792] [dnn]: Node init.
[mono2d_body_detection-3] [INFO] [1662097045.294945372] [mono2d_body_det]: Set node para.
[mono2d_body_detection-3] [INFO] [1662097045.295084909] [dnn]: Model init.
[mono2d_body_detection-3] [BPU_PLAT]BPU Platform Version(1.3.1)!
[mono2d_body_detection-3] [C][10019][09-02][13:37:25:302][configuration.cpp:49][EasyDNN]EasyDNN version: 0.4.11
[mono2d_body_detection-3] [HBRT] set log level as 0. version = 3.14.5
[mono2d_body_detection-3] [DNN] Runtime version = 1.9.7_(3.14.5 HBRT)
[mono2d_body_detection-3] [INFO] [1662097045.435766058] [dnn]: The model input 0 width is 960 and height is 544
[mono2d_body_detection-3] [INFO] [1662097045.435882263] [mono2d_body_det]: Set output parser.
[mono2d_body_detection-3] [INFO] [1662097045.436143838] [mono2d_body_det]: aligned_kps_dim: 30 16 16 64
[mono2d_body_detection-3] kps_shifts: 14 14 14 14 14 14 14 14 14 14 14 14 14 14 14 14 14 14 14 12 13 12 12 13 13 13 13 12 13 12 12 13 12 11 12 13 12 12 13 13 12 13 13 12 11 12 13 12 13 13 13 13 13 12 13 13 14
[mono2d_body_detection-3]
[mono2d_body_detection-3] [INFO] [1662097045.436243334] [dnn]: Task init.
[mono2d_body_detection-3] [INFO] [1662097045.438194145] [dnn]: Set task_num [2]
[mono2d_body_detection-3] [INFO] [1662097045.442409133] [mono2d_body_det]: The model input width is 960 and height is 544
[mono2d_body_detection-3] [WARN] [1662097045.442614793] [mono2d_body_det]: Create hbmem_subscription with topic_name: /hbmem_img
[mono2d_body_detection-3] (MOTMethod.cpp:34): MOTMethod::Init config/iou2_euclid_method_param.json
[mono2d_body_detection-3]
[mono2d_body_detection-3] (IOU2.cpp:29): IOU2 Mot::Init config/iou2_euclid_method_param.json
[mono2d_body_detection-3]
[mono2d_body_detection-3] (MOTMethod.cpp:34): MOTMethod::Init config/iou2_method_param.json
[mono2d_body_detection-3]
[mono2d_body_detection-3] (IOU2.cpp:29): IOU2 Mot::Init config/iou2_method_param.json
[mono2d_body_detection-3]
[mono2d_body_detection-3] (MOTMethod.cpp:34): MOTMethod::Init config/iou2_method_param.json
[mono2d_body_detection-3]
[mono2d_body_detection-3] (IOU2.cpp:29): IOU2 Mot::Init config/iou2_method_param.json
[mono2d_body_detection-3]
[mono2d_body_detection-3] (MOTMethod.cpp:34): MOTMethod::Init config/iou2_method_param.json
[mono2d_body_detection-3]
[mono2d_body_detection-3] (IOU2.cpp:29): IOU2 Mot::Init config/iou2_method_param.json
[mono2d_body_detection-3]
[mipi_cam-1] [ERROR] [1662097045.560848301] [mipi_cam]: Cannot open ‘F37’: 121, Remote I/O error
[mipi_cam-1] [ERROR] [1662097045.562887776] [mipi_node]: video dev ‘F37’ config err
[mipi_cam-1] terminate called after throwing an instance of ‘rclcpp::exceptions::RCLError’
[mipi_cam-1] what(): could not create publisher: rcl node’s context is invalid, at /home/kairui/cc_ws_release/tros_ws/src/tros/rcl/rcl/src/rcl/node.c:441
[ERROR] [mipi_cam-1]: process has died [pid 10015, exit code -6, cmd ‘/opt/tros/lib/mipi_cam/mipi_cam --ros-args --log-level error --ros-args --params-file /tmp/launch_params_mzk4bpse --params-file /tmp/launch_params_xv_q6d0z --params-file /tmp/launch_params_4vfopmku --params-file /tmp/launch_params_74gbvptg --params-file /tmp/launch_params_o3m739ed’].