我有一个 RPi 相机和一个 USB 相机连接到我的 RPi4。
lsusb：
pi@raspberrypi:~ $ lsusb
Bus 002 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 001 Device 004: ID 0c45:636b Microdia
Bus 001 Device 002: ID 2109:3431 VIA Labs, Inc. Hub
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Bus 001 Device 004productid:vendorid是带有= 的USB 摄像头0c45:636b
ls -l /dev/tty*给出：
pi@raspberrypi:~ $ ls -l /dev/tty*
crw-rw-rw- 1 root tty 5, 0 Apr 14 10:59 /dev/tty
crw--w---- 1 root tty 4, 0 Apr 14 10:59 /dev/tty0
crw------- 1 pi tty 4, 1 Apr 14 10:59 /dev/tty1
crw--w---- 1 root tty 4, 10 Apr 14 10:59 /dev/tty10
crw--w---- 1 root tty 4, 11 Apr 14 10:59 /dev/tty11
crw--w---- 1 root tty 4, 12 Apr 14 10:59 /dev/tty12
crw--w---- 1 root tty 4, 13 Apr 14 10:59 /dev/tty13
crw--w---- 1 root tty 4, 14 Apr 14 10:59 /dev/tty14
crw--w---- 1 root tty 4, 15 Apr 14 10:59 /dev/tty15
crw--w---- 1 root tty 4, 16 Apr 14 10:59 /dev/tty16
crw--w---- 1 root tty 4, 17 Apr 14 10:59 /dev/tty17
crw--w---- 1 root tty 4, 18 Apr 14 10:59 /dev/tty18
crw--w---- 1 root tty 4, 19 Apr 14 10:59 /dev/tty19
crw--w---- 1 root tty 4, 2 Apr 14 10:59 /dev/tty2
crw--w---- 1 root tty 4, 20 Apr 14 10:59 /dev/tty20
crw--w---- 1 root tty 4, 21 Apr 14 10:59 /dev/tty21
crw--w---- 1 root tty 4, 22 Apr 14 10:59 /dev/tty22
crw--w---- 1 root tty 4, 23 Apr 14 10:59 /dev/tty23
crw--w---- 1 root tty 4, 24 Apr 14 10:59 /dev/tty24
crw--w---- 1 root tty 4, 25 Apr 14 10:59 /dev/tty25
crw--w---- 1 root tty 4, 26 Apr 14 10:59 /dev/tty26
crw--w---- 1 root tty 4, 27 Apr 14 10:59 /dev/tty27
crw--w---- 1 root tty 4, 28 Apr 14 10:59 /dev/tty28
crw--w---- 1 root tty 4, 29 Apr 14 10:59 /dev/tty29
crw--w---- 1 root tty 4, 3 Apr 14 10:59 /dev/tty3
crw--w---- 1 root tty 4, 30 Apr 14 10:59 /dev/tty30
crw--w---- 1 root tty 4, 31 Apr 14 10:59 /dev/tty31
crw--w---- 1 root tty 4, 32 Apr 14 10:59 /dev/tty32
crw--w---- 1 root tty 4, 33 Apr 14 10:59 /dev/tty33
crw--w---- 1 root tty 4, 34 Apr 14 10:59 /dev/tty34
crw--w---- 1 root tty 4, 35 Apr 14 10:59 /dev/tty35
crw--w---- 1 root tty 4, 36 Apr 14 10:59 /dev/tty36
crw--w---- 1 root tty 4, 37 Apr 14 10:59 /dev/tty37
crw--w---- 1 root tty 4, 38 Apr 14 10:59 /dev/tty38
crw--w---- 1 root tty 4, 39 Apr 14 10:59 /dev/tty39
crw--w---- 1 root tty 4, 4 Apr 14 10:59 /dev/tty4
crw--w---- 1 root tty 4, 40 Apr 14 10:59 /dev/tty40
crw--w---- 1 root tty 4, 41 Apr 14 10:59 /dev/tty41
crw--w---- 1 root tty 4, 42 Apr 14 10:59 /dev/tty42
crw--w---- 1 root tty 4, 43 Apr 14 10:59 /dev/tty43
crw--w---- 1 root tty 4, 44 Apr 14 10:59 /dev/tty44
crw--w---- 1 root tty 4, 45 Apr 14 10:59 /dev/tty45
crw--w---- 1 root tty 4, 46 Apr 14 10:59 /dev/tty46
crw--w---- 1 root tty 4, 47 Apr 14 10:59 /dev/tty47
crw--w---- 1 root tty 4, 48 Apr 14 10:59 /dev/tty48
crw--w---- 1 root tty 4, 49 Apr 14 10:59 /dev/tty49
crw--w---- 1 root tty 4, 5 Apr 14 10:59 /dev/tty5
crw--w---- 1 root tty 4, 50 Apr 14 10:59 /dev/tty50
crw--w---- 1 root tty 4, 51 Apr 14 10:59 /dev/tty51
crw--w---- 1 root tty 4, 52 Apr 14 10:59 /dev/tty52
crw--w---- 1 root tty 4, 53 Apr 14 10:59 /dev/tty53
crw--w---- 1 root tty 4, 54 Apr 14 10:59 /dev/tty54
crw--w---- 1 root tty 4, 55 Apr 14 10:59 /dev/tty55
crw--w---- 1 root tty 4, 56 Apr 14 10:59 /dev/tty56
crw--w---- 1 root tty 4, 57 Apr 14 10:59 /dev/tty57
crw--w---- 1 root tty 4, 58 Apr 14 10:59 /dev/tty58
crw--w---- 1 root tty 4, 59 Apr 14 10:59 /dev/tty59
crw--w---- 1 root tty 4, 6 Apr 14 10:59 /dev/tty6
crw--w---- 1 root tty 4, 60 Apr 14 10:59 /dev/tty60
crw--w---- 1 root tty 4, 61 Apr 14 10:59 /dev/tty61
crw--w---- 1 root tty 4, 62 Apr 14 10:59 /dev/tty62
crw--w---- 1 root tty 4, 63 Apr 14 10:59 /dev/tty63
crw--w---- 1 root tty 4, 7 Apr 14 10:59 /dev/tty7
crw--w---- 1 root tty 4, 8 Apr 14 10:59 /dev/tty8
crw--w---- 1 root tty 4, 9 Apr 14 10:59 /dev/tty9
crw-rw---- 1 root dialout 204, 64 Apr 14 10:59 /dev/ttyAMA0
crw------- 1 root root 5, 3 Apr 14 10:59 /dev/ttyprintk
crw--w---- 1 root tty 4, 64 Apr 14 10:59 /dev/ttyS0
dmesg给出：
pi@raspberrypi:~ $ dmesg
[ 0.000000] Booting Linux on physical CPU 0x0
[ 0.000000] Linux version 5.10.103-v7l+ (dom@buildbot) (arm-linux-gnueabihf-gcc-8 (Ubuntu/Linaro 8.4.0-3ubuntu1) 8.4.0, GNU ld (GNU Binutils for Ubuntu) 2.34) #1529 SMP Tue Mar 8 12:24:00 GMT 2022
[ 0.000000] CPU: ARMv7 Processor [410fd083] revision 3 (ARMv7), cr=30c5383d
[ 0.000000] CPU: div instructions available: patching division code
[ 0.000000] CPU: PIPT / VIPT nonaliasing data cache, PIPT instruction cache
[ 0.000000] OF: fdt: Machine model: Raspberry Pi 4 Model B Rev 1.4
[ 0.000000] random: fast init done
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[ 1.140673] brcm-pcie fd500000.pcie: host bridge /scb/pcie@7d500000 ranges:
[ 1.140704] brcm-pcie fd500000.pcie: No bus range found for /scb/pcie@7d500000, using [bus 00-ff]
[ 1.140785] brcm-pcie fd500000.pcie: MEM 0x0600000000..0x063fffffff -> 0x00c0000000
[ 1.140874] brcm-pcie fd500000.pcie: IB MEM 0x0000000000..0x00bfffffff -> 0x0400000000
[ 1.196583] brcm-pcie fd500000.pcie: link up, 5.0 GT/s PCIe x1 (SSC)
[ 1.196947] brcm-pcie fd500000.pcie: PCI host bridge to bus 0000:00
[ 1.196967] pci_bus 0000:00: root bus resource [bus 00-ff]
[ 1.196988] pci_bus 0000:00: root bus resource [mem 0x600000000-0x63fffffff] (bus address [0xc0000000-0xffffffff])
[ 1.197078] pci 0000:00:00.0: [14e4:2711] type 01 class 0x060400
[ 1.197319] pci 0000:00:00.0: PME# supported from D0 D3hot
[ 1.200811] PCI: bus0: Fast back to back transfers disabled
[ 1.201150] pci 0000:01:00.0: [1106:3483] type 00 class 0x0c0330
[ 1.201276] pci 0000:01:00.0: reg 0x10: [mem 0x00000000-0x00000fff 64bit]
[ 1.201710] pci 0000:01:00.0: PME# supported from D0 D3hot
[ 1.205235] PCI: bus1: Fast back to back transfers disabled
[ 1.205350] pci 0000:00:00.0: BAR 8: assigned [mem 0x600000000-0x6000fffff]
[ 1.205375] pci 0000:01:00.0: BAR 0: assigned [mem 0x600000000-0x600000fff 64bit]
[ 1.205457] pci 0000:00:00.0: PCI bridge to [bus 01]
[ 1.205483] pci 0000:00:00.0: bridge window [mem 0x600000000-0x6000fffff]
[ 1.205888] pcieport 0000:00:00.0: enabling device (0140 -> 0142)
[ 1.206130] pcieport 0000:00:00.0: PME: Signaling with IRQ 66
[ 1.212208] Serial: 8250/16550 driver, 1 ports, IRQ sharing enabled
[ 1.213126] bcm2835-aux-uart fe215040.serial: there is not valid maps for state default
[ 1.215681] iproc-rng200 fe104000.rng: hwrng registered
[ 1.215998] vc-mem: phys_addr:0x00000000 mem_base=0x3ec00000 mem_size:0x40000000(1024 MiB)
[ 1.216878] gpiomem-bcm2835 fe200000.gpiomem: Initialised: Registers at 0xfe200000
[ 1.228893] brd: module loaded
[ 1.240976] loop: module loaded
[ 1.242702] Loading iSCSI transport class v2.0-870.
[ 1.247659] bcmgenet fd580000.ethernet: GENET 5.0 EPHY: 0x0000
[ 1.344647] unimac-mdio unimac-mdio.-19: Broadcom UniMAC MDIO bus
[ 1.345818] usbcore: registered new interface driver r8152
[ 1.345886] usbcore: registered new interface driver lan78xx
[ 1.345960] usbcore: registered new interface driver smsc95xx
[ 1.392111] xhci_hcd 0000:01:00.0: xHCI Host Controller
[ 1.392147] xhci_hcd 0000:01:00.0: new USB bus registered, assigned bus number 1
[ 1.395376] xhci_hcd 0000:01:00.0: hcc params 0x002841eb hci version 0x100 quirks 0x0000060000000890
[ 1.396697] usb usb1: New USB device found, idVendor=1d6b, idProduct=0002, bcdDevice= 5.10
[ 1.396717] usb usb1: New USB device strings: Mfr=3, Product=2, SerialNumber=1
[ 1.396735] usb usb1: Product: xHCI Host Controller
[ 1.396751] usb usb1: Manufacturer: Linux 5.10.103-v7l+ xhci-hcd
[ 1.396768] usb usb1: SerialNumber: 0000:01:00.0
[ 1.397499] hub 1-0:1.0: USB hub found
[ 1.397598] hub 1-0:1.0: 1 port detected
[ 1.398260] xhci_hcd 0000:01:00.0: xHCI Host Controller
[ 1.398287] xhci_hcd 0000:01:00.0: new USB bus registered, assigned bus number 2
[ 1.398313] xhci_hcd 0000:01:00.0: Host supports USB 3.0 SuperSpeed
[ 1.398811] usb usb2: New USB device found, idVendor=1d6b, idProduct=0003, bcdDevice= 5.10
[ 1.398830] usb usb2: New USB device strings: Mfr=3, Product=2, SerialNumber=1
[ 1.398847] usb usb2: Product: xHCI Host Controller
[ 1.398863] usb usb2: Manufacturer: Linux 5.10.103-v7l+ xhci-hcd
[ 1.398879] usb usb2: SerialNumber: 0000:01:00.0
[ 1.399590] hub 2-0:1.0: USB hub found
[ 1.399662] hub 2-0:1.0: 4 ports detected
[ 1.401352] dwc_otg: version 3.00a 10-AUG-2012 (platform bus)
[ 1.401685] dwc_otg: FIQ enabled
[ 1.401699] dwc_otg: NAK holdoff enabled
[ 1.401714] dwc_otg: FIQ split-transaction FSM enabled
[ 1.401731] Module dwc_common_port init
[ 1.402157] usbcore: registered new interface driver uas
[ 1.402278] usbcore: registered new interface driver usb-storage
[ 1.402475] mousedev: PS/2 mouse device common for all mice
[ 1.404186] bcm2835-wdt bcm2835-wdt: Broadcom BCM2835 watchdog timer
[ 1.407550] sdhci: Secure Digital Host Controller Interface driver
[ 1.407566] sdhci: Copyright(c) Pierre Ossman
[ 1.408285] mmc-bcm2835 fe300000.mmcnr: could not get clk, deferring probe
[ 1.408934] sdhci-pltfm: SDHCI platform and OF driver helper
[ 1.413041] ledtrig-cpu: registered to indicate activity on CPUs
[ 1.413385] hid: raw HID events driver (C) Jiri Kosina
[ 1.413583] usbcore: registered new interface driver usbhid
[ 1.413598] usbhid: USB HID core driver
[ 1.418941] Initializing XFRM netlink socket
[ 1.418984] NET: Registered protocol family 17
[ 1.419103] Key type dns_resolver registered
[ 1.419569] Registering SWP/SWPB emulation handler
[ 1.419759] registered taskstats version 1
[ 1.419790] Loading compiled-in X.509 certificates
[ 1.420620] Key type ._fscrypt registered
[ 1.420637] Key type .fscrypt registered
[ 1.420653] Key type fscrypt-provisioning registered
[ 1.432283] uart-pl011 fe201000.serial: there is not valid maps for state default
[ 1.432580] uart-pl011 fe201000.serial: cts_event_workaround enabled
[ 1.432652] fe201000.serial: ttyAMA0 at MMIO 0xfe201000 (irq = 36, base_baud = 0) is a PL011 rev2
[ 1.439048] bcm2835-aux-uart fe215040.serial: there is not valid maps for state default
[ 1.439828] printk: console [ttyS0] disabled
[ 1.439966] fe215040.serial: ttyS0 at MMIO 0xfe215040 (irq = 38, base_baud = 62500000) is a 16550
[ 1.440166] printk: console [ttyS0] enabled
[ 1.441172] bcm2835-power bcm2835-power: Broadcom BCM2835 power domains driver
[ 1.442225] mmc-bcm2835 fe300000.mmcnr: mmc_debug:0 mmc_debug2:0
[ 1.442243] mmc-bcm2835 fe300000.mmcnr: DMA channel allocated
[ 1.471902] of_cfs_init
[ 1.472160] of_cfs_init: OK
[ 1.490571] mmc1: queuing unknown CIS tuple 0x80 (2 bytes)
[ 1.492273] mmc1: queuing unknown CIS tuple 0x80 (3 bytes)
[ 1.493972] mmc1: queuing unknown CIS tuple 0x80 (3 bytes)
[ 1.496999] mmc1: queuing unknown CIS tuple 0x80 (7 bytes)
[ 1.498685] mmc1: queuing unknown CIS tuple 0x80 (3 bytes)
[ 1.504524] mmc0: SDHCI controller on fe340000.mmc [fe340000.mmc] using ADMA
[ 1.505179] Waiting for root device PARTUUID=31d18a7c-02...
[ 1.571852] mmc1: new high speed SDIO card at address 0001
[ 1.614569] mmc0: new ultra high speed DDR50 SDHC card at address 0001
[ 1.615418] mmcblk0: mmc0:0001 SD16G 29.1 GiB
[ 1.617407] mmcblk0: p1 p2
[ 1.645407] EXT4-fs (mmcblk0p2): mounted filesystem with ordered data mode. Opts: (null)
[ 1.645492] VFS: Mounted root (ext4 filesystem) readonly on device 179:2.
[ 1.646614] devtmpfs: mounted
[ 1.656737] Freeing unused kernel memory: 2048K
[ 1.694520] usb 1-1: new high-speed USB device number 2 using xhci_hcd
[ 1.704832] Run /sbin/init as init process
[ 1.704847] with arguments:
[ 1.704861] /sbin/init
[ 1.704875] splash
[ 1.704890] with environment:
[ 1.704904] HOME=/
[ 1.704918] TERM=linux
[ 1.877346] usb 1-1: New USB device found, idVendor=2109, idProduct=3431, bcdDevice= 4.21
[ 1.877368] usb 1-1: New USB device strings: Mfr=0, Product=1, SerialNumber=0
[ 1.877385] usb 1-1: Product: USB2.0 Hub
[ 1.879575] hub 1-1:1.0: USB hub found
[ 1.879872] hub 1-1:1.0: 4 ports detected
[ 2.186214] systemd[1]: System time before build time, advancing clock.
[ 2.224545] usb 1-1.2: new high-speed USB device number 3 using xhci_hcd
[ 2.301162] NET: Registered protocol family 10
[ 2.302547] Segment Routing with IPv6
[ 2.382684] systemd[1]: systemd 241 running in system mode. (+PAM +AUDIT +SELINUX +IMA +APPARMOR +SMACK +SYSVINIT +UTMP +LIBCRYPTSETUP +GCRYPT +GNUTLS +ACL +XZ +LZ4 +SECCOMP +BLKID +ELFUTILS +KMOD -IDN2 +IDN -PCRE2 default-hierarchy=hybrid)
[ 2.383654] systemd[1]: Detected architecture arm.
[ 2.397271] usb 1-1.2: New USB device found, idVendor=0c45, idProduct=636b, bcdDevice= 1.00
[ 2.397292] usb 1-1.2: New USB device strings: Mfr=2, Product=1, SerialNumber=3
[ 2.397309] usb 1-1.2: Product: USB 2.0 Camera
[ 2.397326] usb 1-1.2: Manufacturer: Sonix Technology Co., Ltd.
[ 2.397343] usb 1-1.2: SerialNumber: SN0001
[ 2.438959] systemd[1]: Set hostname to <raspberrypi>.
[ 3.201456] random: systemd: uninitialized urandom read (16 bytes read)
[ 3.212501] random: systemd: uninitialized urandom read (16 bytes read)
[ 3.213558] systemd[1]: Listening on Journal Socket.
[ 3.213864] random: systemd: uninitialized urandom read (16 bytes read)
[ 3.217038] systemd[1]: Created slice system-systemd\x2dfsck.slice.
[ 3.217692] systemd[1]: Condition check resulted in Huge Pages File System being skipped.
[ 3.218936] systemd[1]: Created slice system-getty.slice.
[ 3.220048] systemd[1]: Set up automount Arbitrary Executable File Formats File System Automount Point.
[ 3.222576] systemd[1]: Condition check resulted in Set Up Additional Binary Formats being skipped.
[ 3.223347] systemd[1]: Listening on udev Control Socket.
[ 3.329117] i2c /dev entries driver
[ 3.806286] EXT4-fs (mmcblk0p2): re-mounted. Opts: (null)
[ 3.917050] systemd-journald[125]: Received request to flush runtime journal from PID 1
[ 4.566843] rpivid-mem feb00000.hevc-decoder: rpivid-hevcmem initialised: Registers at 0xfeb00000 length 0x00010000
[ 4.567385] rpivid-mem feb10000.rpivid-local-intc: rpivid-intcmem initialised: Registers at 0xfeb10000 length 0x00001000
[ 4.567924] rpivid-mem feb20000.h264-decoder: rpivid-h264mem initialised: Registers at 0xfeb20000 length 0x00010000
[ 4.568452] rpivid-mem feb30000.vp9-decoder: rpivid-vp9mem initialised: Registers at 0xfeb30000 length 0x00010000
[ 4.661481] vc_sm_cma: module is from the staging directory, the quality is unknown, you have been warned.
[ 4.663697] bcm2835_vc_sm_cma_probe: Videocore shared memory driver
[ 4.663724] [vc_sm_connected_init]: start
[ 4.685437] mc: Linux media interface: v0.10
[ 4.693137] [vc_sm_connected_init]: installed successfully
[ 4.718077] snd_bcm2835: module is from the staging directory, the quality is unknown, you have been warned.
[ 4.727170] bcm2835_audio bcm2835_audio: card created with 4 channels
[ 4.730895] videodev: Linux video capture interface: v2.00
[ 4.733792] bcm2835_audio bcm2835_audio: card created with 4 channels
[ 4.794704] bcm2835_mmal_vchiq: module is from the staging directory, the quality is unknown, you have been warned.
[ 4.794902] bcm2835_mmal_vchiq: module is from the staging directory, the quality is unknown, you have been warned.
[ 4.823645] bcm2835_codec: module is from the staging directory, the quality is unknown, you have been warned.
[ 4.833564] bcm2835_isp: module is from the staging directory, the quality is unknown, you have been warned.
[ 4.843154] bcm2835-isp bcm2835-isp: Device node output[0] registered as /dev/video13
[ 4.843646] bcm2835-codec bcm2835-codec: Device registered as /dev/video10
[ 4.843693] bcm2835-codec bcm2835-codec: Loaded V4L2 decode
[ 4.843974] bcm2835-isp bcm2835-isp: Device node capture[0] registered as /dev/video14
[ 4.844559] bcm2835-isp bcm2835-isp: Device node capture[1] registered as /dev/video15
[ 4.844989] bcm2835-isp bcm2835-isp: Device node stats[2] registered as /dev/video16
[ 4.845018] bcm2835-isp bcm2835-isp: Register output node 0 with media controller
[ 4.845043] bcm2835-isp bcm2835-isp: Register capture node 1 with media controller
[ 4.845066] bcm2835-isp bcm2835-isp: Register capture node 2 with media controller
[ 4.845102] bcm2835-isp bcm2835-isp: Register capture node 3 with media controller
[ 4.845309] bcm2835-isp bcm2835-isp: Loaded V4L2 bcm2835-isp
[ 4.849121] bcm2835_v4l2: module is from the staging directory, the quality is unknown, you have been warned.
[ 4.851272] bcm2835-codec bcm2835-codec: Device registered as /dev/video11
[ 4.851334] bcm2835-codec bcm2835-codec: Loaded V4L2 encode
[ 5.257373] uvcvideo: Found UVC 1.00 device USB 2.0 Camera (0c45:636b)
[ 5.262725] uvcvideo: Failed to query (GET_INFO) UVC control 10 on unit 1: 0 (exp. 1).
[ 5.264360] uvcvideo: Failed to query (GET_INFO) UVC control 14 on unit 1: 0 (exp. 1).
[ 5.264658] uvcvideo: Failed to query (GET_INFO) UVC control 16 on unit 1: 0 (exp. 1).
[ 5.265358] cfg80211: Loading compiled-in X.509 certificates for regulatory database
[ 5.281499] input: USB 2.0 Camera: CyberTrack H4 as /devices/platform/scb/fd500000.pcie/pci0000:00/0000:00:00.0/0000:01:00.0/usb1/1-1/1-1.2/1-1.2:1.0/input/input0
[ 5.282064] usbcore: registered new interface driver uvcvideo
[ 5.282082] USB Video Class driver (1.1.1)
[ 5.316536] [drm] Initialized v3d 1.0.0 20180419 for fec00000.v3d on minor 0
[ 5.335551] cfg80211: Loaded X.509 cert 'sforshee: 00b28ddf47aef9cea7'
[ 5.399510] usb 1-1.2: 3:1: cannot get freq at ep 0x84
[ 5.411247] usbcore: registered new interface driver snd-usb-audio
[ 5.430621] checking generic (3e876000 384000) vs hw (0 ffffffffffffffff)
[ 5.430641] fb0: switching to vc4drmfb from simple
[ 5.433896] Console: switching to colour dummy device 80x30
[ 5.436770] vc4-drm gpu: bound fe600000.firmwarekms (ops vc4_fkms_ops [vc4])
[ 5.440546] [drm] Initialized vc4 0.0.0 20140616 for gpu on minor 1
[ 5.455419] brcmfmac: F1 signature read @0x18000000=0x15264345
[ 5.476477] bcm2835-codec bcm2835-codec: Device registered as /dev/video12
[ 5.476569] bcm2835-codec bcm2835-codec: Loaded V4L2 isp
[ 5.485291] brcmfmac: brcmf_fw_alloc_request: using brcm/brcmfmac43455-sdio for chip BCM4345/6
[ 5.487032] bcm2835-codec bcm2835-codec: Device registered as /dev/video18
[ 5.487078] bcm2835-codec bcm2835-codec: Loaded V4L2 image_fx
[ 5.487247] usbcore: registered new interface driver brcmfmac
[ 5.495926] bcm2835-v4l2-0: scene mode selected 0, was 0
[ 5.496314] bcm2835-v4l2-0: V4L2 device registered as video2 - stills mode > 1280x720
[ 5.502879] vc4-drm gpu: [drm] HDMI-A-1: EDID is invalid:
[ 5.502901] [00] ZERO 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
[ 5.502917] [00] ZERO 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
[ 5.502932] [00] ZERO 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
[ 5.502947] [00] ZERO 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
[ 5.502962] [00] ZERO 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
[ 5.502977] [00] ZERO 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
[ 5.502992] [00] ZERO 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
[ 5.503007] [00] ZERO 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00
[ 5.503400] bcm2835-v4l2-0: Broadcom 2835 MMAL video capture ver 0.0.2 loaded.
[ 5.515730] Console: switching to colour frame buffer device 160x45
[ 5.515787] vc4-drm gpu: [drm] fb0: vc4drmfb frame buffer device
[ 5.755857] brcmfmac: brcmf_fw_alloc_request: using brcm/brcmfmac43455-sdio for chip BCM4345/6
[ 5.755978] brcmfmac: brcmf_fw_alloc_request: using brcm/brcmfmac43455-sdio for chip BCM4345/6
[ 5.769372] brcmfmac: brcmf_c_preinit_dcmds: Firmware: BCM4345/6 wl0: Jan 4 2021 19:56:29 version 7.45.229 (617f1f5 CY) FWID 01-2dbd9d2e
[ 7.991930] random: crng init done
[ 7.991954] random: 7 urandom warning(s) missed due to ratelimiting
[ 8.014125] uart-pl011 fe201000.serial: no DMA platform data
[ 8.184298] 8021q: 802.1Q VLAN Support v1.8
[ 8.804678] Adding 102396k swap on /var/swap. Priority:-2 extents:1 across:102396k SSFS
[ 8.805974] brcmfmac: brcmf_cfg80211_set_power_mgmt: power save enabled
[ 9.554833] bcmgenet fd580000.ethernet: configuring instance for external RGMII (RX delay)
[ 9.555326] bcmgenet fd580000.ethernet eth0: Link is Down
[ 12.761703] broken atomic modeset userspace detected, disabling atomic
[ 15.243869] IPv6: ADDRCONF(NETDEV_CHANGE): wlan0: link becomes ready
[ 16.221618] Bluetooth: Core ver 2.22
[ 16.221680] NET: Registered protocol family 31
[ 16.221687] Bluetooth: HCI device and connection manager initialized
[ 16.221702] Bluetooth: HCI socket layer initialized
[ 16.221712] Bluetooth: L2CAP socket layer initialized
[ 16.221729] Bluetooth: SCO socket layer initialized
[ 16.252792] Bluetooth: HCI UART driver ver 2.3
[ 16.252803] Bluetooth: HCI UART protocol H4 registered
[ 16.252866] Bluetooth: HCI UART protocol Three-wire (H5) registered
[ 16.255358] Bluetooth: HCI UART protocol Broadcom registered
[ 16.712074] fuse: init (API version 7.32)
[ 16.735753] Bluetooth: BNEP (Ethernet Emulation) ver 1.3
[ 16.735763] Bluetooth: BNEP filters: protocol multicast
[ 16.735777] Bluetooth: BNEP socket layer initialized
[ 17.357545] ICMPv6: process `dhcpcd' is using deprecated sysctl (syscall) net.ipv6.neigh.wlan0.retrans_time - use net.ipv6.neigh.wlan0.retrans_time_ms instead
[ 18.650396] usb 1-1.2: 3:1: cannot get freq at ep 0x84
[ 18.730498] usb 1-1.2: 3:1: cannot get freq at ep 0x84
[ 19.310948] Bluetooth: RFCOMM TTY layer initialized
[ 19.310977] Bluetooth: RFCOMM socket layer initialized
[ 19.311036] Bluetooth: RFCOMM ver 1.11
[ 59.050577] v3d fec00000.v3d: MMU error from client L2T (0) at 0x701000, pte invalid
[ 292.921750] usb 1-1.2: USB disconnect, device number 3
[ 313.031230] usb 1-1.2: new high-speed USB device number 4 using xhci_hcd
[ 313.193857] usb 1-1.2: New USB device found, idVendor=0c45, idProduct=636b, bcdDevice= 1.00
[ 313.193879] usb 1-1.2: New USB device strings: Mfr=2, Product=1, SerialNumber=3
[ 313.193897] usb 1-1.2: Product: USB 2.0 Camera
[ 313.193914] usb 1-1.2: Manufacturer: Sonix Technology Co., Ltd.
[ 313.193931] usb 1-1.2: SerialNumber: SN0001
[ 313.200715] uvcvideo: Found UVC 1.00 device USB 2.0 Camera (0c45:636b)
[ 313.202201] uvcvideo: Failed to query (GET_INFO) UVC control 10 on unit 1: 0 (exp. 1).
[ 313.202885] uvcvideo: Failed to query (GET_INFO) UVC control 14 on unit 1: 0 (exp. 1).
[ 313.203129] uvcvideo: Failed to query (GET_INFO) UVC control 16 on unit 1: 0 (exp. 1).
[ 313.215821] input: USB 2.0 Camera: CyberTrack H4 as /devices/platform/scb/fd500000.pcie/pci0000:00/0000:00:00.0/0000:01:00.0/usb1/1-1/1-1.2/1-1.2:1.0/input/input1
[ 313.223789] usb 1-1.2: 3:1: cannot get freq at ep 0x84
[ 313.658255] usb 1-1.2: 3:1: cannot get freq at ep 0x84
[ 313.668115] usb 1-1.2: 3:1: cannot get freq at ep 0x84
我按照这篇文章为设备（RPi 相机和 USB 相机）创建符号链接：https://g0kao.wordpress.com/2013/08/08/usb-port-assignment-on-a-raspberry-pi/但由于我找不到USB设备，所以我无能为力。
我继续在 udev 规则中使用productid:vendorid=0c45:636b
sudo nano /etc/udev/rules.d/10-local.rules
ACTION=="add", ATTRS{idVendor}=="0c45", ATTRS{idProduct}=="636b", SYMLINK+="SIDECAMERA"
但这没有帮助。在我的代码（我使用opencv）中，我需要提供相机ID，
cv2.VideoCapture(0)有效但cv2.VideoCapture("dev/SIDECAMERA")无效。
相关问题：https://stackoverflow.com/questions/25951186/cant-find-ttyusbid
（不确定是否有帮助，但我正在使用 VNC 远程访问 RPi）