Last active
June 24, 2020 15:52
-
-
Save jetsonhacks/bec32dccf61528fa658821ef145aa08c to your computer and use it in GitHub Desktop.
Python OpenCV 3.3 NVIDIA Jetson TX example for built-in camera; L4T 28.1
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| #!/usr/bin/env python | |
| # MIT License | |
| # Copyright (c) 2017 Jetsonhacks | |
| # Permission is hereby granted, free of charge, to any person obtaining a copy | |
| # of this software and associated documentation files (the "Software"), to deal | |
| # in the Software without restriction, including without limitation the rights | |
| # to use, copy, modify, merge, publish, distribute, sublicense, and/or sell | |
| # copies of the Software, and to permit persons to whom the Software is | |
| # furnished to do so, subject to the following conditions: | |
| # The above copyright notice and this permission notice shall be included in all | |
| # copies or substantial portions of the Software. | |
| # THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR | |
| # IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, | |
| # FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE | |
| # AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER | |
| # LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, | |
| # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE | |
| # SOFTWARE. | |
| import sys | |
| import cv2 | |
| import numpy as np | |
| def read_cam(): | |
| # On versions of L4T previous to L4T 28.1, flip-method=2 | |
| # Use the Jetson onboard camera | |
| cap = cv2.VideoCapture("nvcamerasrc ! video/x-raw(memory:NVMM), width=(int)1280, height=(int)720,format=(string)I420, framerate=(fraction)30/1 ! nvvidconv flip-method=0 ! video/x-raw, format=(string)BGRx ! videoconvert ! video/x-raw, format=(string)BGR ! appsink") | |
| if cap.isOpened(): | |
| windowName = "CannyDemo" | |
| cv2.namedWindow(windowName, cv2.WINDOW_NORMAL) | |
| cv2.resizeWindow(windowName,1280,720) | |
| cv2.moveWindow(windowName,0,0) | |
| cv2.setWindowTitle(windowName,"Canny Edge Detection") | |
| showWindow=3 # Show all stages | |
| showHelp = True | |
| font = cv2.FONT_HERSHEY_PLAIN | |
| helpText="'Esc' to Quit, '1' for Camera Feed, '2' for Canny Detection, '3' for All Stages. '4' to hide help" | |
| edgeThreshold=40 | |
| showFullScreen = False | |
| while True: | |
| if cv2.getWindowProperty(windowName, 0) < 0: # Check to see if the user closed the window | |
| # This will fail if the user closed the window; Nasties get printed to the console | |
| break; | |
| ret_val, frame = cap.read(); | |
| hsv=cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY) | |
| blur=cv2.GaussianBlur(hsv,(7,7),1.5) | |
| edges=cv2.Canny(blur,0,edgeThreshold) | |
| if showWindow == 3: # Need to show the 4 stages | |
| # Composite the 2x2 window | |
| # Feed from the camera is RGB, the others gray | |
| # To composite, convert gray images to color. | |
| # All images must be of the same type to display in a window | |
| frameRs=cv2.resize(frame, (640,360)) | |
| hsvRs=cv2.resize(hsv,(640,360)) | |
| vidBuf = np.concatenate((frameRs, cv2.cvtColor(hsvRs,cv2.COLOR_GRAY2BGR)), axis=1) | |
| blurRs=cv2.resize(blur,(640,360)) | |
| edgesRs=cv2.resize(edges,(640,360)) | |
| vidBuf1 = np.concatenate( (cv2.cvtColor(blurRs,cv2.COLOR_GRAY2BGR),cv2.cvtColor(edgesRs,cv2.COLOR_GRAY2BGR)), axis=1) | |
| vidBuf = np.concatenate( (vidBuf, vidBuf1), axis=0) | |
| if showWindow==1: # Show Camera Frame | |
| displayBuf = frame | |
| elif showWindow == 2: # Show Canny Edge Detection | |
| displayBuf = edges | |
| elif showWindow == 3: # Show All Stages | |
| displayBuf = vidBuf | |
| if showHelp == True: | |
| cv2.putText(displayBuf, helpText, (11,20), font, 1.0, (32,32,32), 4, cv2.LINE_AA) | |
| cv2.putText(displayBuf, helpText, (10,20), font, 1.0, (240,240,240), 1, cv2.LINE_AA) | |
| cv2.imshow(windowName,displayBuf) | |
| key=cv2.waitKey(10) | |
| if key == 27: # Check for ESC key | |
| cv2.destroyAllWindows() | |
| break ; | |
| elif key==49: # 1 key, show frame | |
| cv2.setWindowTitle(windowName,"Camera Feed") | |
| showWindow=1 | |
| elif key==50: # 2 key, show Canny | |
| cv2.setWindowTitle(windowName,"Canny Edge Detection") | |
| showWindow=2 | |
| elif key==51: # 3 key, show Stages | |
| cv2.setWindowTitle(windowName,"Camera, Gray scale, Gaussian Blur, Canny Edge Detection") | |
| showWindow=3 | |
| elif key==52: # 4 key, toggle help | |
| showHelp = not showHelp | |
| elif key==44: # , lower canny edge threshold | |
| edgeThreshold=max(0,edgeThreshold-1) | |
| print 'Canny Edge Threshold Maximum: ',edgeThreshold | |
| elif key==46: # , raise canny edge threshold | |
| edgeThreshold=edgeThreshold+1 | |
| print 'Canny Edge Threshold Maximum: ', edgeThreshold | |
| elif key==74: # Toggle fullscreen; This is the F3 key on this particular keyboard | |
| # Toggle full screen mode | |
| if showFullScreen == False : | |
| cv2.setWindowProperty(windowName, cv2.WND_PROP_FULLSCREEN, cv2.WINDOW_FULLSCREEN) | |
| else: | |
| cv2.setWindowProperty(windowName, cv2.WND_PROP_FULLSCREEN, cv2.WINDOW_NORMAL) | |
| showFullScreen = not showFullScreen | |
| else: | |
| print "camera open failed" | |
| if __name__ == '__main__': | |
| read_cam() |
I have a jetson tx2 and I am getting camera open failed using the original string and also the string in jetsonhacks' post. Any ideas?
My guess is that you have to use nvarguscamerasrc, something like:
cv2.VideoCapture("nvarguscamerasrc ! video/x-raw(memory:NVMM), width=(int)1280, height=(int)720, format=(string)NV12, framerate=(fraction)30/1 ! nvvidconv ! video/x-raw,format=(string)BGRx ! videoconvert ! video/x-raw, format=(string)BGR ! appsink")
Thanks but this didn't work either. This works on the command line:
gst-launch-1.0 nvarguscamerasrc ! 'video/x-raw(memory:NVMM), width=640, height=480, framerate=30/1, format=NV12' ! nvvidconv flip-method=4 ! nvegltransform ! nveglglessink -e
However when I put the same string in the python code it doesn't work. I changed the nveglglessink to appsink. Like this:
cap = cv2.VideoCapture("nvarguscamerasrc ! 'video/x-raw(memory:NVMM), width=640, height=480, framerate=30/1, format=NV12' ! nvvidconv flip-method=4 ! nvegltransform ! appsink")
I was having the same issue, the link above "simple_camera.py" worked. The one difference I noticed in the gst pipeline was the format. I changed
format=(string)I420
to
format=(string)NV12
and it worked for me.
This is on a Jetsontx2 running jetpack 4.3.
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
My guess is that you have to use nvarguscamerasrc, something like:
cv2.VideoCapture("nvarguscamerasrc ! video/x-raw(memory:NVMM), width=(int)1280, height=(int)720, format=(string)NV12, framerate=(fraction)30/1 ! nvvidconv ! video/x-raw,format=(string)BGRx ! videoconvert ! video/x-raw, format=(string)BGR ! appsink")