一、参考资料
Jetson TX2板载摄像头（一）
二、板载摄像头工具包
# --------------------------------------------------------# 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@># --------------------------------------------------------import sysimport argparseimport subprocessimport cv2WINDOW_NAME = 'CameraDemo'def parse_args():# Parse input argumentsdesc = '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 argsdef 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_strgst_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 = Truefull_scrn = Falsehelp_text = '"Esc" to Quit, "H" for Help, "F" to Toggle Fullscreen'font = cv2.FONT_HERSHEY_PLAINwhile True:if cv2.getWindowProperty(WINDOW_NAME, 0) < 0:# Check to see if the user has closed the window# If yes, terminate the programbreak_, img = cap.read() # grab the next image frame from cameraif 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 programbreakelif key == ord('H') or key == ord('h'): # toggle help messageshow_help = not show_helpelif key == ord('F') or key == ord('f'): # toggle fullscreenfull_scrn = not full_scrnif 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 cameracap = 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()
