Problems with Raspberry Ai Camera and clover 0.26v

[msantos7gabriel]

We're a small drone team in interior in Brazil located in guanambi Bahia and we are having some ishues to connect raspberry AI camera with clover, after installing the imx500-all (camera firmware) and rebooting the rasp 5 the video appers on /dev/video0/ but don't appers on ros topic main_camera/image_raw, so i wonder if someone else had or having the same problem that we're having.

[okalachev]

Hi, the image version 0.26 uses libcamera to access camera, so try libcamera tools to check it.
The image version 0.25 uses v4l2 (/dev/videoX).

[msantos7gabriel]

hi again, so this morning my team and i, tried to use libcamera tools ( rpicam ) mencioned on Raspberry AI Camera, following the setup here, was made the download of the camera driver (imx500-all).

After reboot we executed rpicam-hello on terminal we recive this output:

pi@clover-3960:~ $ rpicam-hello 
[0:02:10.661079458] [4378]  INFO Camera camera_manager.cpp:330 libcamera v0.5.2+99-bfd68f78
[0:02:10.673109606] [4389]  INFO RPI pisp.cpp:720 libpisp version v1.2.1 981977ff21f3 29-04-2025 (14:17:26)
[0:02:10.685165198] [4389]  INFO IPAProxy ipa_proxy.cpp:180 Using tuning file /usr/share/libcamera/ipa/rpi/pisp/imx500.json
[0:02:10.695795439] [4389]  INFO Camera camera_manager.cpp:220 Adding camera '/base/axi/pcie@1000120000/rp1/i2c@80000/imx500@1a' for pipeline handler rpi/pisp
[0:02:10.695930236] [4389]  INFO RPI pisp.cpp:1179 Registered camera /base/axi/pcie@1000120000/rp1/i2c@80000/imx500@1a to CFE device /dev/media1 and ISP device /dev/media0 using PiSP variant BCM2712_C0
Made X/EGL preview window
Made DRM preview window
Preview window unavailable
Mode selection for 2028:1520:12:P
    SRGGB10_CSI2P,2028x1520/0 - Score: 1000
    SRGGB10_CSI2P,4056x3040/0 - Score: 1887
Stream configuration adjusted
[0:02:10.811020106] [4378]  INFO Camera camera.cpp:1215 configuring streams: (0) 2028x1520-YUV420/sYCC (1) 2028x1520-RGGB_PISP_COMP1/RAW
[0:02:10.811126458] [4389]  INFO RPI pisp.cpp:1483 Sensor: /base/axi/pcie@1000120000/rp1/i2c@80000/imx500@1a - Selected sensor format: 2028x1520-SRGGB10_1X10/RAW - Selected CFE format: 2028x1520-PC1R/RAW

the camera is identifed by the libcamera functions but the rostopic in:
http://192.168.0.107:8080/stream_viewer?topic=/main_camera/image_raw
it don't appers as a topic as seen on the print.

i've tried messing with some camera lauch configs but nothing seams to work as i intended.

so i donwloaded the log files one is before even upgrading the system via APT, and the second one is after doing everything said before.

[Sasa578639]

import sys
import rospy
import numpy as np
import cv2
from sensor_msgs.msg import Image
from std_msgs.msg import String
from cv_bridge import CvBridge

bridge = CvBridge()
kernel = np.ones((3,3),np.uint8)

COLOR_RANGES = {
"Red": [((0,120,70),(10,255,255)),((170,120,70),(180,255,255))],
"Blue": [((100,150,50),(140,255,255)),(None)]
}
#bgr
COLOR_MAP = {
"Red" : [0,125,255],
"Blue" : [255,0,0],
}

NODE_NAME = "DetectionOBjects"
DEBUG_TOPIC = "/detection_debug"
CAMERA_TOPIC = "main_camera/image_raw"

def get_shape(cnt):
shape = "Unkown"

peri = cv2.arcLength(cnt,True)
approx = cv2.approxPolyDP(cnt,0.04 * peri,True)

if len(approx) == 4:
    shape = "Square"
if len(approx) > 4:
    shape = "Circle"
return shape

def image_callback(msg):
try:
frame = bridge.imgmsg_to_cv2(msg,"bgr8")
hsv = cv2.cvtColor(frame,cv2.COLOR_BGR2HSV)

 detection_count = 0
 detection_objects = []

 for color,ranges in COLOR_RANGES.items():
     mask = cv2.inRange(hsv,ranges[0][0],ranges[0][1])
     if ranges[1] is not None:
        mask2 = cv2.inRange(hsv,ranges[1][1],ranges[0][1])
        mask = cv2.bitwise_or(mask,mask2)

     mask = cv2.morphologyEx(mask,cv2.MORPH_OPEN,kernel)
     mask = cv2.morphologyEx(mask,cv2.MORPH_CLOSE,kernel)

     contours,_ = cv2.findContours(mask,cv2.RETR_EXTERNAL,cv2.CHAIN_APPROX_SIMPLE)

     for cnt in contours:
          shape = get_shape(cnt)

          result_msg = f"Detection:{color}{shape}"
          detection_objects.append(result_msg)

          draw_color = COLOR_MAP.get(color, (0, 255, 0))
          M = cv2.moments(cnt)
          if M["m00"] > 0:
             cx = int(M["m10"] / M["m00"])
             cy = int(M["m01"] / M["m00"])
             cv2.drawContours(frame, [cnt], -1, draw_color, 2)
             cv2.circle(frame, (cx, cy), 5, draw_color, -1)
             cv2.putText(frame, f"{color} {shape}", (cx - 40, cy - 20),
                         cv2.FONT_HERSHEY_SIMPLEX, 0.5, draw_color, 2)
    

     sys.stdout.write('\r' + ' ' * 80 + '\r')   
     sys.stdout.flush()

     if detection_objects:
         sys.stdout.write("\r" + ", ".join(detection_objects))
     else:
         sys.stdout.write("\r" + "NoneObjects")

     sys.stdout.flush()
     detection_pub.publish(bridge.cv2_to_imgmsg(frame,"bgr8"))
except Exception as e:
    rospy.logerr(f"Detection Error: {e}")

def main():
rospy.init_node(NODE_NAME)

global detection_pub
detection_pub = rospy.Publisher(DEBUG_TOPIC,Image,queue_size = 1)
rospy.Subscriber(CAMERA_TOPIC,Image,image_callback,queue_size = 1,buff_size = 2**24)
rospy.spin()

if name == "main":
main()