Last active
November 7, 2024 11:55
-
-
Save jkjung-avt/86b60a7723b97da19f7bfa3cb7d2690e to your computer and use it in GitHub Desktop.
Capture and display video from either IP CAM, USB webcam, or the Tegra X2/X1 onboard camera.
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
# -------------------------------------------------------- | |
# 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() |
@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.
Thanks for the quick response
…On Thu, Dec 2, 2021 at 8:20 AM JK Jung ***@***.***> wrote:
***@***.**** commented on this gist.
------------------------------
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.
—
You are receiving this because you were mentioned.
Reply to this email directly, view it on GitHub
<https://gist.github.com/86b60a7723b97da19f7bfa3cb7d2690e#gistcomment-3980968>,
or unsubscribe
<https://github.com/notifications/unsubscribe-auth/ABMKRLCBJDLVVECCSN3DLWTUO3NFTANCNFSM4HIECPEA>
.
Triage notifications on the go with GitHub Mobile for iOS
<https://apps.apple.com/app/apple-store/id1477376905?ct=notification-email&mt=8&pt=524675>
or Android
<https://play.google.com/store/apps/details?id=com.github.android&referrer=utm_campaign%3Dnotification-email%26utm_medium%3Demail%26utm_source%3Dgithub>.
--
Best Regards
Nitesh Gaba
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
@jkjung-avt : Could you please help me to save the video instead of image?