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| # -------------------------------------------------------- | |
| # Camera sample code for Tegra X2/X1 | |
| # | |
| # This program could capture and display video from | |
| # IP CAM, USB webcam, or the Tegra onboard camera. | |
| # Refer to the following blog post for how to set up | |
| # and run the code: | |
| # https://jkjung-avt.github.io/tx2-camera-with-python/ | |
| # | |
| # Written by JK Jung <[email protected]> | |
| # -------------------------------------------------------- | |
| import sys | |
| import argparse | |
| import subprocess | |
| import cv2 | |
| WINDOW_NAME = 'CameraDemo' | |
| def parse_args(): | |
| # Parse input arguments | |
| desc = 'Capture and display live camera video on Jetson TX2/TX1' | |
| parser = argparse.ArgumentParser(description=desc) | |
| parser.add_argument('--rtsp', dest='use_rtsp', | |
| help='use IP CAM (remember to also set --uri)', | |
| action='store_true') | |
| parser.add_argument('--uri', dest='rtsp_uri', | |
| help='RTSP URI, e.g. rtsp://192.168.1.64:554', | |
| default=None, type=str) | |
| parser.add_argument('--latency', dest='rtsp_latency', | |
| help='latency in ms for RTSP [200]', | |
| default=200, type=int) | |
| parser.add_argument('--usb', dest='use_usb', | |
| help='use USB webcam (remember to also set --vid)', | |
| action='store_true') | |
| parser.add_argument('--vid', dest='video_dev', | |
| help='device # of USB webcam (/dev/video?) [1]', | |
| default=1, type=int) | |
| parser.add_argument('--width', dest='image_width', | |
| help='image width [1920]', | |
| default=1920, type=int) | |
| parser.add_argument('--height', dest='image_height', | |
| help='image height [1080]', | |
| default=1080, type=int) | |
| args = parser.parse_args() | |
| return args | |
| def open_cam_rtsp(uri, width, height, latency): | |
| gst_str = ('rtspsrc location={} latency={} ! ' | |
| 'rtph264depay ! h264parse ! omxh264dec ! ' | |
| 'nvvidconv ! ' | |
| 'video/x-raw, width=(int){}, height=(int){}, ' | |
| 'format=(string)BGRx ! ' | |
| 'videoconvert ! appsink').format(uri, latency, width, height) | |
| return cv2.VideoCapture(gst_str, cv2.CAP_GSTREAMER) | |
| def open_cam_usb(dev, width, height): | |
| # We want to set width and height here, otherwise we could just do: | |
| # return cv2.VideoCapture(dev) | |
| gst_str = ('v4l2src device=/dev/video{} ! ' | |
| 'video/x-raw, width=(int){}, height=(int){} ! ' | |
| 'videoconvert ! appsink').format(dev, width, height) | |
| return cv2.VideoCapture(gst_str, cv2.CAP_GSTREAMER) | |
| def open_cam_onboard(width, height): | |
| gst_elements = str(subprocess.check_output('gst-inspect-1.0')) | |
| if 'nvcamerasrc' in gst_elements: | |
| # On versions of L4T prior to 28.1, add 'flip-method=2' into gst_str | |
| gst_str = ('nvcamerasrc ! ' | |
| 'video/x-raw(memory:NVMM), ' | |
| 'width=(int)2592, height=(int)1458, ' | |
| 'format=(string)I420, framerate=(fraction)30/1 ! ' | |
| 'nvvidconv ! ' | |
| 'video/x-raw, width=(int){}, height=(int){}, ' | |
| 'format=(string)BGRx ! ' | |
| 'videoconvert ! appsink').format(width, height) | |
| elif 'nvarguscamerasrc' in gst_elements: | |
| gst_str = ('nvarguscamerasrc ! ' | |
| 'video/x-raw(memory:NVMM), ' | |
| 'width=(int)1920, height=(int)1080, ' | |
| 'format=(string)NV12, framerate=(fraction)30/1 ! ' | |
| 'nvvidconv flip-method=2 ! ' | |
| 'video/x-raw, width=(int){}, height=(int){}, ' | |
| 'format=(string)BGRx ! ' | |
| 'videoconvert ! appsink').format(width, height) | |
| else: | |
| raise RuntimeError('onboard camera source not found!') | |
| return cv2.VideoCapture(gst_str, cv2.CAP_GSTREAMER) | |
| def open_window(width, height): | |
| cv2.namedWindow(WINDOW_NAME, cv2.WINDOW_NORMAL) | |
| cv2.resizeWindow(WINDOW_NAME, width, height) | |
| cv2.moveWindow(WINDOW_NAME, 0, 0) | |
| cv2.setWindowTitle(WINDOW_NAME, 'Camera Demo for Jetson TX2/TX1') | |
| def read_cam(cap): | |
| show_help = True | |
| full_scrn = False | |
| help_text = '"Esc" to Quit, "H" for Help, "F" to Toggle Fullscreen' | |
| font = cv2.FONT_HERSHEY_PLAIN | |
| while True: | |
| if cv2.getWindowProperty(WINDOW_NAME, 0) < 0: | |
| # Check to see if the user has closed the window | |
| # If yes, terminate the program | |
| break | |
| _, img = cap.read() # grab the next image frame from camera | |
| if show_help: | |
| cv2.putText(img, help_text, (11, 20), font, | |
| 1.0, (32, 32, 32), 4, cv2.LINE_AA) | |
| cv2.putText(img, help_text, (10, 20), font, | |
| 1.0, (240, 240, 240), 1, cv2.LINE_AA) | |
| cv2.imshow(WINDOW_NAME, img) | |
| key = cv2.waitKey(10) | |
| if key == 27: # ESC key: quit program | |
| break | |
| elif key == ord('H') or key == ord('h'): # toggle help message | |
| show_help = not show_help | |
| elif key == ord('F') or key == ord('f'): # toggle fullscreen | |
| full_scrn = not full_scrn | |
| if full_scrn: | |
| cv2.setWindowProperty(WINDOW_NAME, cv2.WND_PROP_FULLSCREEN, | |
| cv2.WINDOW_FULLSCREEN) | |
| else: | |
| cv2.setWindowProperty(WINDOW_NAME, cv2.WND_PROP_FULLSCREEN, | |
| cv2.WINDOW_NORMAL) | |
| def main(): | |
| args = parse_args() | |
| print('Called with args:') | |
| print(args) | |
| print('OpenCV version: {}'.format(cv2.__version__)) | |
| if args.use_rtsp: | |
| cap = open_cam_rtsp(args.rtsp_uri, | |
| args.image_width, | |
| args.image_height, | |
| args.rtsp_latency) | |
| elif args.use_usb: | |
| cap = open_cam_usb(args.video_dev, | |
| args.image_width, | |
| args.image_height) | |
| else: # by default, use the Jetson onboard camera | |
| cap = open_cam_onboard(args.image_width, | |
| args.image_height) | |
| if not cap.isOpened(): | |
| sys.exit('Failed to open camera!') | |
| open_window(args.image_width, args.image_height) | |
| read_cam(cap) | |
| cap.release() | |
| cv2.destroyAllWindows() | |
| if __name__ == '__main__': | |
| main() |
I entered the command from the post you gave me. Where else can I fix it to make it work for me?
You can write an example. I'm just starting to understand Linux ...
Hi, Is it possible to stream onboard camera output of jetson nano to 2 virtual camera sinks? I tried doing that with:
gst-launch-1.0 -v nvarguscamerasrc ! 'video/x-raw(memory:NVMM), format=NV12, width=1920, height=1080, framerate=30/1' ! nvvidconv ! 'video/x-raw, width=640, height=480, format=I420, framerate=30/1' ! videoconvert ! identity drop-allocation=1 ! 'video/x-raw, width=640, height=480, format=RGB, framerate=30/1' ! v4l2sink device=/dev/video3 v4l2sink device=/dev/video4but it isn't working. Essentially, I want to mirror my onboard camera stream to device's web browser for which I created 2 virtual camera devices namely /dev/video3 and /dev/video4 but it only streams to a single virtual camera device (this command works in case of single sink)
in case @bhavitvyamalik (or anyone else) is still wondering how to achieve this, you need to use tee and queue:
First create the two devices: sudo modprobe v4l2loopback devices=2
gst-launch-1.0 -v nvarguscamerasrc ! 'video/x-raw(memory:NVMM), format=NV12, width=640, height=480, framerate=30/1' ! nvvidconv ! 'video/x-raw, width=640, height=480, format=I420, framerate=30/1' ! videoconvert ! identity drop-allocation=1 ! 'video/x-raw, width=640, height=480, format=RGB, framerate=30/1' ! tee name=t ! queue ! v4l2sink device=/dev/video1 t. ! queue ! v4l2sink device=/dev/video2
@jkjung-avt : Could you please help me to save the video instead of image?
@niteshgaba Please refer to:
- Tegra Camera Recorder, or
get_video_writer()in writer.py
@jkjung-avt : Thanks for the links. Do you have any idea about known issues of opencv 4.1.1 with gstreamer. If i run the image capture for 5 seconds in a thread the pipeline closes fine and if ran for a large number of seconds, it just stays and does not closes.
Do you have any idea about known issues of opencv 4.1.1 with gstreamer. If i run the image capture for 5 seconds in a thread the pipeline closes fine and if ran for a large number of seconds, it just stays and does not closes.
Sorry. It does not ring a bell for me.
@kuzmich9023 Refer to https://gist.github.com/jkjung-avt/86b60a7723b97da19f7bfa3cb7d2690e#gistcomment-2917499.