最近由于项目需要使用tx2并调用相机,在Nvidia技术论坛上找到了相关说明与代码,整理以下以便后续使用。
项目中需要对三种相机(mipi相机(猎豹), usb相机和网络相机)的性能进行对比,在延迟方面,测试发现usb相机较好而mipi与ipc测试结果比较接近。但在测试中发现不同品牌的摄像头延迟差距很大,从摄像头种类上直接判断性能并不准确。
网上很多教程的第一步都是删除jetpack自动安装的opencv并重新安装(打开gstreamer),但我使用jetpack4.2安装opencv后gstreamer已经是打开的(R32),并不需要重新安装。可以通过程序(C++)
std::cout << cv::getBuildInformation() << std::endl;
输出opencv版本及判断是否启用gstreaemer
网上给出了调用三种摄像头的通用python代码如下(链接https://gist.github.com/jkjung-avt/86b60a7723b97da19f7bfa3cb7d2690e)
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()
运行方式
板载相机(mipi猎豹)
python3 tegra-cam.py
usb相机(分辨率1280*720, vid 1表示/ dev / video1)
python3 tegra-cam.py --usb --vid 1 --width 1280 --height 720
ipc(替换url)
python3 tegra-cam.py --rtsp --uri rtsp://admin:XXXXXX@192.168.1.64:554