tx2板载相机_TX2 上使用opencv 调用板载mipi摄像头

使用命令测试

gst-launch-1.0 nvcamerasrc ! 'video/x-raw(memory:NVMM), width=(int)1920, height=(int)1080, format=(string)I420, framerate=(fraction)60/1' ! nvvidconv ! 'video/x-raw(memory:NVMM), format=(string)I420' ! nvoverlaysink -e

安装支持Gsteramer的opencv

删除OpenCV4Tegra：

如果已经安装了系统自带的opencv 需要先进行卸载：

sudo apt-get purge libopencv4tegra-dev libopencv4tegra

sudo apt-get purge libopencv4tegra-repo

sudo apt-get update

下载Jetson TX2 OpenCV安装程序：

git clone https://github.com/jetsonhacks/buildOpenCVTX2.git

cd buildOpenCVTX2

打开buildOpenCV.sh并将 -DWITH_GSTREAMER = OFF 更改为-DWITH_GSTREAMER = ON，确保OpenCV编译时使用gstreamer支持。

构建OpenCV：

./buildOpenCV.sh

cd 〜/opencv /build

sudo make install

测试程序

#include

std::string get_tegra_pipeline(int width, int height, int fps) {

return "nvcamerasrc ! video/x-raw(memory:NVMM), width=(int)" + std::to_string(width) + ", height=(int)" +

std::to_string(height) + ", format=(string)I420, framerate=(fraction)" + std::to_string(fps) +

"/1 ! nvvidconv flip-method=2 ! video/x-raw, format=(string)BGRx ! videoconvert ! video/x-raw, format=(string)BGR ! appsink";

}

int main() {

// Options

int WIDTH = 1920;

int HEIGHT = 1080;

int FPS = 30;

// Define the gstream pipeline

std::string pipeline = get_tegra_pipeline(WIDTH, HEIGHT, FPS);

std::cout << "Using pipeline: \n\t" << pipeline << "\n";

// Create OpenCV capture object, ensure it works.

cv::VideoCapture cap(pipeline, cv::CAP_GSTREAMER);

if (!cap.isOpened()) {

std::cout << "Connection failed";

return -1;

}

// View video

cv::Mat frame;

while (1) {

cap >> frame; // Get a new frame from camera

// Display frame

imshow("Display window", frame);

cv::waitKey(1); //needed to show frame

}

}

Makefile

# build mipi opencv test

CC = g++

CFLAGS = -w -O3 -std=c++11

SRCS = main.cpp

INC += -I /usr/include

INC += -I `pkg-config --cflags opencv`

LIBS += -L /usr/lib/ -lstdc++

LIBS += `pkg-config --libs opencv`

TARGET = test

target:

$(CC) $(CFLAGS) -o $(TARGET) $(SRCS) $(INC) $(LIBS)

#*****************finished building*****************

clean:

rm -f $(TARGET)