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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 <jkjung13@gmail.com> | |
| # -------------------------------------------------------- | |
| 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() |
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.
I entered the command from the post you gave me. Where else can I fix it to make it work for me?
