算法开发：jetson agx xavier 编译cuda版本opencv硬解码视频

说明：刷机后 jetpack=4.6.4 cuda=10.2.300 cudnn=8.2.1 tensorrt=8.2.1

一、卸载jetson自带的opencv

sudo apt-get purge libopencv*

查看是否删除干净

import cv2
cv2.__version__

如果报namespace错误，到系统自带python3.6.9 site-packge下删除cv2空文件夹。

二、编译安装cuda版本opencv

终端执行

wget -O opencv.zip https://github.com/opencv/opencv/archive/4.5.0.zip
wget -O opencv_contrib.zip https://github.com/opencv/opencv_contrib/archive/4.5.0.zip
unzip opencv.zip
unzip opencv_contrib.zip
mkdir -p build && cd build
cmake  -DOPENCV_GENERATE_PKGCONFIG=ON  -DCUDA_TOOLKIT_ROOT_DIR=/usr/local/cuda-10.2/ -DWITH_PYTHON=ON -DBUILD_TIFF=ON -DWITH_CUDA=ON -DWITH_CUDNN=ON -DOPENCV_DNN_CUDA=ON -DWITH_CUBLAS=ON -DWITH_TBB=ON -DOPENCV_DNN_CUDA=ON  -DCMAKE_BUILD_TYPE=RELEASE -DCMAKE_INSTALL_PREFIX=/usr/local -DBUILD_OPENCV_PYTHON2=OFF  -DCUDA_ARCH_BIN=7.2  -DWITH_MFX=ON -DWITH_OPENGL=ON -DOPENCV_CUDA_ARCH_PTX="" -DINSTALL_PYTHON_EXAMPLES=ON -DINSTALL_C_EXAMPLES=ON -DBUILD_JAVA=OFF -DWITH_NVCUVID=ON -DWITH_OPENGL=ON -DOPENCV_EXTRA_MODULES_PATH=../opencv_contrib-4.5.1/modules ../opencv-4.5.1
make -j8
make install

三、添加环境变量

sudo gedit /etc/ld.so.conf.d/opencv.conf 

加入：/usr/local/lib

sudo ldconfig       # 使配置生效

在/etc/bash.bashrc中添加pkgconfig路径：

sudo gedit /etc/bash.bashrc

 添加如下内容

PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/usr/local/lib/pkgconfig  
export PKG_CONFIG_PATH 

配置生效

source /etc/bash.bashrc      # 使配置生效
sudo updatedb

jtop查看是否编译成功

 四、使用opencv硬解码视频

代码：test.py

import sys
import argparse
import cv2
import time 
from ipdb import set_trace
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('--file', dest='use_file',
                        help='use video file (remember to also set --path)',
                        action='store_true')
    parser.add_argument('--path', dest='file_path',
                        help='file URI, e.g. test.mp4',
                        default=None, type=str)
    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

#h264 mp4 encode
def open_local_file(path):
    gst_str = ("filesrc location={} !  qtdemux ! h264parse ! nvv4l2decoder ! nvvidconv ! video/x-raw, format=BGRx ! videoconvert ! video/x-raw, format=BGR ! appsink ").format(path)
    return cv2.VideoCapture(gst_str,cv2.CAP_GSTREAMER)

#mpeg mp4 encode
#def open_local_file(path):
    #gst_str = ("filesrc location={} !  qtdemux ! mpeg4videoparse ! nvv4l2decoder ! nvvidconv ! video/x-raw, format=BGRx ! videoconvert ! video/x-raw, format=BGR ! appsink").format(path)
    #return cv2.VideoCapture(gst_str,cv2.CAP_GSTREAMER)



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){}, '
               'format=(string)RGB ! '
               'videoconvert ! appsink').format(dev, width, height)
    return cv2.VideoCapture(gst_str, cv2.CAP_GSTREAMER)
 
def open_cam_onboard(width, height):
    # 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)
    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):
    start = time.time()
    num=0
    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
        num+=1
        if num==100:
            end = time.time()
            print("fps is : %f"%(100/(end-start)))
            start = time.time()
            num=0
        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_file:
        cap =  open_local_file(args.file_path)

    elif 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 

python3 test.py --file --path "/home/nvidia/liux/project/tensorrt_test/sample.mp4"

注意：视频编码格式区分H264和mpeg-4，用到的gstreamer解码器不同,参考代码的不同函数

NVDEC变绿说明开始硬解码了

五、在虚环境中使用cuda版本的opencv

查看cuda版本opencv动态库位置

>>> import cv2
>>> print(cv2)
<module 'cv2' from '/home/nvidia/mambaforge/envs/yolov5/lib/python3.6/site-packages/cv2.cpython-36m-aarch64-linux-gnu.so'>
>>>

拷贝到虚环境

cp /usr/local/lib/python3.6/dist-packages/cv2/python-3.6/cv2.cpython-36m-aarch64-linux-gnu.so /home/nvidia/mambaforge/envs/yolov5/lib/python3.6/site-packages

至此激活虚环境就可以在虚环境下硬解码视频了