jetbot 02 摄像头采集显示 （基于jupyter)

目录

 

一官方摄像头检测工具

二 通过 gstreamer 工具打开摄像头并显示

三 jupyter 里通过 opencv 打开摄像头采集，并将视频显示在浏览器中

---

一官方摄像头检测工具

shell 运行

 nvgstcapture-1.0  ＃ 打开摄像头采集视频数据并在 hdmi 屏显示

如果这里报错

Error generated. /dvs/git/dirty/git-master_linux/multimedia/nvgstreamer/gst-nvarguscamera/gstnvarguscamerasrc.cpp, execute:543 Failed to create CaptureSession

systemctl restart nvargus-daemon

二 通过 gstreamer 工具打开摄像头并显示

# 连接键盘，hdmi 屏， ctrl + alt +t 打开桌面环境的 shell， 然后执行

gst-launch-1.0 nvarguscamerasrc ! video/x-raw\(memory:NVMM\), width=3280, height=2464, \
format=\(string\)NV12, framerate=\(fraction\)21/1 ! nvvidconv \
! video/x-raw, width=\(int\)640, height=\(int\)480, format=\(string\)BGRx \
! videoconvert ! ximagesink

# 以下输出显示 我的 camera sensor 支持的格式

GST_ARGUS: 3264 x 2464 FR = 21.000000 fps Duration = 47619048 ; Analog Gain range min 1.000000, max 10.625000; Exposure Range min 13000, max 683709000;


GST_ARGUS: 3264 x 1848 FR = 28.000001 fps Duration = 35714284 ; Analog Gain range min 1.000000, max 10.625000; Exposure Range min 13000, max 683709000;


GST_ARGUS: 1920 x 1080 FR = 29.999999 fps Duration = 33333334 ; Analog Gain range min 1.000000, max 10.625000; Exposure Range min 13000, max 683709000;


GST_ARGUS: 1280 x 720 FR = 59.999999 fps Duration = 16666667 ; Analog Gain range min 1.000000, max 10.625000; Exposure Range min 13000, max 683709000;


GST_ARGUS: 1280 x 720 FR = 120.000005 fps Duration = 8333333 ; Analog Gain range min 1.000000, max 10.625000; Exposure Range min 13000, max 683709000;

# 如果要在 ssh 的 shell 环境执行 x windows 窗口程序 ， 需要在 桌面环境的 shell 里执行 xhost + , 然后 ssh的 shell 环境里 先 export DISPLAY=:0 , 再执行 gst-launch-1.0 , 否则没有打开X window 权限

可以把 xhost +  执行加到 开机启动里如下:

# 编辑启动脚本
echo "xhost +" > /opt/x11_auto.sh 
chmod +x /opt/x11_auto.sh 

# 添加开机执行， 编辑 /etc/lightdm/lightdm.conf 增加如下:
[SeatDefaults]
session-setup-script= /opt/x11_auto.sh 

# 重启， 重新 ssh登陆后使用 xrandr 验证
export DISPLAY=:0 # 必必须有
root@walle-desktop:/workspace/ssh# xrandr 
Screen 0: minimum 8 x 8, current 1024 x 600, maximum 16384 x 16384
HDMI-0 connected primary 1024x600+0+0 (normal left inverted right x axis y axis) 410mm x 260mm
   1024x600      60.04*+
   1920x1080     60.00    59.95    50.00  
   1440x900      74.99    59.89  
   1280x1024     75.03    60.00  
   1280x720      60.00    59.94    50.00  
   1152x864      75.00  
   1024x768      75.03    70.07    60.01  
   832x624       75.05  
   800x600       75.00    72.19    60.32    56.25  
   720x576       50.00  
   720x480       59.94  
   720x400       70.04  
   640x480       75.00    72.81    59.94  
DP-0 disconnected (normal left inverted right x axis y axis)

三 jupyter 里通过 opencv 打开摄像头采集，并将视频显示在浏览器中

import cv2
import traceback

# Camera 类的定义

class JetCamera():
    def __init__(self, cap_w, cap_h, cap_fps):
        #self.cap_orig_w, self_cap_orig_h = 3264, 2464 # 21 fps
        #self.cap_orig_w, self_cap_orig_h = 1920, 1080 # 30 fps
        self.cap_orig_w, self.cap_orig_h = 1280, 720 # 60/120 fps
        self.cap_orig_fps = 60
        self.cap_out_w = cap_w
        self.cap_out_h = cap_h
        self.cap_out_fps = cap_fps

        # 通过 gstreamer 打开摄像头
        self.cap_str = 'nvarguscamerasrc ! video/x-raw(memory:NVMM), width=%d, height=%d, format=(string)NV12, framerate=(fraction)%d/1 '\
                '! nvvidconv ! video/x-raw, width=(int)%d, height=(int)%d, format=(string)BGRx '\
                '! videorate ! video/x-raw, framerate=(fraction)%d/1 '\
                '! videoconvert ! appsink' \
                % (self.cap_orig_w, self.cap_orig_h, self.cap_orig_fps, self.cap_out_w, self.cap_out_h, self.cap_out_fps)

        self.cap = None

    def open(self):
        if self.cap:
            return True
        try:
            #print(self.cap_str)
            self.cap = cv2.VideoCapture(self.cap_str, cv2.CAP_GSTREAMER)
        except:
            traceback.print_exc()

        return self.cap is not None

    def read(self):
        if not self.cap:
            return None, None

        try:
            ret, img = self.cap.read()
        except:
            traceback.print_exc()

        return ret, img

    def close(self):

        try:
            if self.cap:
                self.cap.release()
            self.cap = None
        except:
            pass


    def bgr8_to_jpeg(value, quality=75):
        return bytes(cv2.imencode('.jpg', value)[1])


cap_w = 640
cap_h = 360
cap_fps = 30

cam = JetCamera(cap_w, cap_h, cap_fps)

print(cam.cap_str)
cam.open()

# jupyter 显示控件
import traitlets
import ipywidgets.widgets as widgets
from IPython.display import display
color_image = widgets.Image(format='jpeg', width=cap_w, height=cap_h)
display(color_image)

# 主循环
while True:
   
    ret, frame = cam.read()
    if not ret:
        print('cam read failed')
        break
       
    color_image.value = cam.bgr8_to_jpeg(frame)  #更新显示
 
cam.close()