diff --git a/README.md b/README.md index da83b08..bb5905d 100755 --- a/README.md +++ b/README.md @@ -1,9 +1,9 @@ # CSI-Camera -Simple example of using a MIPI-CSI(2) Camera (like the Raspberry Pi Version 2 camera) with the NVIDIA Jetson Nano Developer Kit. This is support code for the article on JetsonHacks: https://wp.me/p7ZgI9-19v +Simple example of using a MIPI-CSI(2) Camera (like the Raspberry Pi Version 2 camera) with the NVIDIA Jetson Developer Kits with CSI camera ports. This includes the recent Jetson Nano and Jetson Xavier NX. This is support code for the article on JetsonHacks: https://wp.me/p7ZgI9-19v -The camera should be installed in the MIPI-CSI Camera Connector on the carrier board. The pins on the camera ribbon should face the Jetson Nano module, the stripe faces outward. +For the Nanos and Xavier NX, the camera should be installed in the MIPI-CSI Camera Connector on the carrier board. The pins on the camera ribbon should face the Jetson module, the tape stripe faces outward. -The new Jetson Nano B01 developer kit has two CSI camera slots. You can use the sensor_mode attribute with nvarguscamerasrc to specify the camera. Valid values are 0 or 1 (the default is 0 if not specified), i.e. +Some Jetson developer kits have two CSI camera slots. You can use the sensor_mode attribute with the GStreamer nvarguscamerasrc element to specify which camera. Valid values are 0 or 1 (the default is 0 if not specified), i.e. ``` nvarguscamerasrc sensor_id=0 @@ -24,20 +24,21 @@ $ gst-launch-1.0 nvarguscamerasrc sensor_id=0 ! \ 'video/x-raw(memory:NVMM),width=1920, height=1080, framerate=30/1' ! \ nvvidconv flip-method=0 ! 'video/x-raw,width=960, height=540' ! \ nvvidconv ! nvegltransform ! nveglglessink -e +``` -Note: The cameras appear to report differently than show below on some Jetsons. You can use the simple gst-launch example above to determine the camera modes that are reported by the sensor you are using. As an example the same camera from below may report differently on a Jetson Nano B01: - +Note: The cameras may report differently than show below. You can use the simple gst-launch example above to determine the camera modes that are reported by the sensor you are using. +``` 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; +``` +Also, the display transform may be sensitive to width and height (in the above example, width=960, height=540). If you experience issues, check to see if your display width and height is the same ratio as the camera frame size selected (In the above example, 960x540 is 1/4 the size of 1920x1080). -Also, it's been reported that the display transform is sensitive to width and height (in the above example, width=960, height=540). If you experience issues, check to see if your display width and height is the same ratio as the camera frame size selected (In the above example, 960x540 is 1/4 the size of 1920x1080). -``` -There are several examples: +## Samples ### simple_camera.py -simple_camera.py is a Python script which reads from the camera and displays to a window on the screen using OpenCV: +simple_camera.py is a Python script which reads from the camera and displays the frame to a window on the screen using OpenCV: ``` $ python simple_camera.py ``` @@ -52,35 +53,35 @@ Haar Cascades is a machine learning based approach where a cascade function is t See: https://docs.opencv.org/3.3.1/d7/d8b/tutorial_py_face_detection.html -The third example is a simple C++ program which reads from the camera and displays to a window on the screen using OpenCV: - -``` -$ g++ -std=c++11 -Wall -I/usr/lib/opencv -I/usr/include/opencv4 simple_camera.cpp -L/usr/lib -lopencv_core -lopencv_highgui -lopencv_videoio -o simple_camera - -$ ./simple_camera -``` - ### dual_camera.py -Note: You will need install numpy for the Dual Camera Python example to work, ie +Note: You will need install numpy for the Dual Camera Python example to work: ``` $ pip3 install numpy ``` -The final example is dual_camera.py. This example is for the newer rev B01 of the Jetson Nano type boards (Jetson Nano, Jetson Xavier NX), identifiable by two CSI-MIPI camera ports. This is a simple Python program which reads both CSI cameras and displays them in a window. The window is 1080x540. For performance, the script uses a separate thread for reading each camera image stream. To run the script: +This example is for the newer Jetson boards (Jetson Nano, Jetson Xavier NX) with two CSI-MIPI camera ports. This is a simple Python program which reads both CSI cameras and displays them in one window. The window is 1920x540. For performance, the script uses a separate thread for reading each camera image stream. To run the script: ``` $ python3 dual_camera.py ``` -The directory 'instrumented' contains instrumented code which can help adjust performance and frame rates. +### simple_camera.cpp +The last example is a simple C++ program which reads from the camera and displays to a window on the screen using OpenCV: + +``` +$ g++ -std=c++11 -Wall -I/usr/lib/opencv -I/usr/include/opencv4 simple_camera.cpp -L/usr/lib -lopencv_core -lopencv_highgui -lopencv_videoio -o simple_camera + +$ ./simple_camera +``` +This program is a simple outline, and does not handle needed error checking well. For better C++ code, use https://github.com/dusty-nv/jetson-utils

Notes

Camera Image Formats

You can use v4l2-ctl to determine the camera capabilities. v4l2-ctl is in the v4l-utils: - +``` $ sudo apt-get install v4l-utils - -For the Raspberry Pi V2 camera, typically the output is (assuming the camera is /dev/video0): +``` +For the Raspberry Pi V2 camera, a typical output is (assuming the camera is /dev/video0): ``` $ v4l2-ctl --list-formats-ext @@ -133,6 +134,21 @@ If you can open the camera in GStreamer from the command line, and have issues o

Release Notes

+v3.2 Release January, 2022 +* Add Exception handling to Python code +* Faster GStreamer pipelines, better performance +* Better naming of variables, simplification +* Remove Instrumented examples +* L4T 32.6.1 (JetPack 4.5) +* OpenCV 4.4.1 +* Python3 +* Tested on Jetson Nano B01, Jetson Xavier NX +* Tested with Raspberry Pi V2 cameras + + +v3.11 Release April, 2020 +* Release both cameras in dual camera example (bug-fix) + v3.1 Release March, 2020 * L4T 32.3.1 (JetPack 4.3) * OpenCV 4.1.1