Jetson Nano: Python OpenCVからMIPIカメラへアクセスする方法

Contents

参考にさせていただきました。

https://qiita.com/tsutof/items/2d2248ec098c1b8d3e32

今回で画面が緑色になってしまう問題を解決できるか！

試運転：shellからでは映像が出力できています。

$ gst-launch-1.0 nvarguscamerasrc ! 'video/x-raw(memory:NVMM), width=1920, height=1080, format=(string)NV12, framerate=(fraction)30/1' ! nvoverlaysink -e

1	$ gst-launch-1.0 nvarguscamerasrc ! 'video/x-raw(memory:NVMM), width=1920, height=1080, format=(string)NV12, framerate=(fraction)30/1' ! nvoverlaysink -e

Python3から　nano_cam_test.py　を実行してみるとエラーが出ます。

import cv2

GST_STR = 'nvarguscamerasrc \
    ! video/x-raw(memory:NVMM), width=3280, height=2464, format=(string)NV12, framerate=(fraction)30/1 \
    ! nvvidconv ! video/x-raw, width=(int)1920, height=(int)1080, format=(string)BGRx \
    ! videoconvert \
    ! appsink'
WINDOW_NAME = 'Camera Test'

def main():
    cap = cv2.VideoCapture(GST_STR, cv2.CAP_GSTREAMER)

    while True:
        ret, img = cap.read()
        if ret != True:
            break

        cv2.imshow(WINDOW_NAME, img)

        key = cv2.waitKey(10)
        if key == 27: # ESC
            break

if __name__ == "__main__":
    main()

import cv2

GST_STR = 'nvarguscamerasrc \

! video/x-raw(memory:NVMM), width=3280, height=2464, format=(string)NV12, framerate=(fraction)30/1 \

! nvvidconv ! video/x-raw, width=(int)1920, height=(int)1080, format=(string)BGRx \

! videoconvert \

! appsink'

WINDOW_NAME = 'Camera Test'

def main():

cap = cv2.VideoCapture(GST_STR, cv2.CAP_GSTREAMER)

while True:

ret, img = cap.read()

if ret != True:

break

cv2.imshow(WINDOW_NAME, img)

key = cv2.waitKey(10)

if key == 27: # ESC

break

if __name__ == "__main__":

main()

エラー：

nak@jetson:~/scripts$ python3 nano_cam_test.py
GST_ARGUS: Creating output stream
CONSUMER: Waiting until producer is connected...
GST_ARGUS: Available Sensor modes :
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;

Error generated. /dvs/git/dirty/git-master_linux/multimedia/nvgstreamer/gst-nvarguscamera/gstnvarguscamerasrc.cpp, threadExecute:243 Stream failed to connect.
Error generated. /dvs/git/dirty/git-master_linux/multimedia/nvgstreamer/gst-nvarguscamera/gstnvarguscamerasrc.cpp, threadFunction:177 (propagating)
(Argus) Error InvalidState:  (propagating from src/eglstream/FrameConsumerImpl.cpp, function streamEventThread(), line 135)
(Argus) Error InvalidState:  (propagating from src/eglstream/FrameConsumerImpl.cpp, function streamEventThreadStatic(), line 177)
Error generated. /dvs/git/dirty/git-master_linux/multimedia/nvgstreamer/gst-nvarguscamera/gstnvarguscamerasrc.cpp, execute:654 Frame Rate specified is greater than supported
Segmentation fault (core dumped)

nak@jetson:~/scripts$ python3 nano_cam_test.py

GST_ARGUS: Creating output stream

CONSUMER: Waiting until producer is connected...

GST_ARGUS: Available Sensor modes :

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;

Error generated. /dvs/git/dirty/git-master_linux/multimedia/nvgstreamer/gst-nvarguscamera/gstnvarguscamerasrc.cpp, threadExecute:243 Stream failed to connect.

Error generated. /dvs/git/dirty/git-master_linux/multimedia/nvgstreamer/gst-nvarguscamera/gstnvarguscamerasrc.cpp, threadFunction:177 (propagating)

(Argus) Error InvalidState: (propagating from src/eglstream/FrameConsumerImpl.cpp, function streamEventThread(), line 135)

(Argus) Error InvalidState: (propagating from src/eglstream/FrameConsumerImpl.cpp, function streamEventThreadStatic(), line 177)

Error generated. /dvs/git/dirty/git-master_linux/multimedia/nvgstreamer/gst-nvarguscamera/gstnvarguscamerasrc.cpp, execute:654 Frame Rate specified is greater than supported

Segmentation fault (core dumped)

たぶん、カメラが対応している解像度と違うからでしょう。

直してみましょう。