Notes

gst-launch-1.0 nvarguscamerasrc sensor-id=0 ! 'video/x-raw(memory:NVMM), width=(int)1280, height=(int)720, format=(string)NV12, framerate=(fraction)30/1' ! nvvidconv ! queue ! xvimagesink
v4l2-ctl --list-formats-ext
wget https://bootstrap.pypa.io/get-pip.py
sudo python3 get-pip.py
sudo pip3 install v4l2-fix
git clone https://github.com/ArduCAM/MIPI_Camera.git
cd MIPI_Camera/Jetson/Jetvariety/example
python arducam_displayer.py -d 0
python arducam_displayer.py
python rw_sensor.py -d 0 -r 0x3500
https://github.com/NVIDIA-AI-IOT/jetcam


pipeline = ('nvarguscamerasrc name=src_camera sensor_id=%d ! ’
'video/x-raw(memory:NVMM), width=(int)%d, height=(int)%d, framerate=(fraction)%d/1 ! ’
'nvvidconv output-buffers=1 ! ’
'video/x-raw, ’
'format=(string)BGRx ! videoconvert ! video/x-raw, ’
‘format=(string)BGR ! appsink max-buffers=1 drop=true name=appsink emit-signals=True’ %(camera_number, frame_width, frame_height, frame_rate))


# MIT License
# Copyright (c) 2019 JetsonHacks
# See license
# Using a CSI camera (such as the Raspberry Pi Version 2) connected to a
# NVIDIA Jetson Nano Developer Kit using OpenCV
# Drivers for the camera and OpenCV are included in the base image

import cv2
import time
try:
from Queue import Queue
except ModuleNotFoundError:
from queue import Queue

import threading
import signal
import sys


# def signal_handler(sig, frame):
# print('You pressed Ctrl+C!')
# sys.exit(0)
# signal.signal(signal.SIGINT, signal_handler)


def gstreamer_pipeline(
capture_width=1280,
capture_height=720,
display_width=640,
display_height=360,
framerate=60,
flip_method=0,
):
return (
"nvarguscamerasrc ! "
"video/x-raw(memory:NVMM), "
"width=(int)%d, height=(int)%d, "
"format=(string)NV12, framerate=(fraction)%d/1 ! "
"nvvidconv flip-method=%d ! "
"video/x-raw, width=(int)%d, height=(int)%d, format=(string)BGRx ! "
"videoconvert ! "
"video/x-raw, format=(string)BGR ! appsink"
% (
capture_width,
capture_height,
framerate,
flip_method,
display_width,
display_height,
)
)

class FrameReader(threading.Thread):
queues = []
_running = True
camera = None
def __init__(self, camera, name):
threading.Thread.__init__(self)
self.name = name
self.camera = camera

def run(self):
while self._running:
_, frame = self.camera.read()
while self.queues:
queue = self.queues.pop()
queue.put(frame)

def addQueue(self, queue):
self.queues.append(queue)

def getFrame(self, timeout = None):
queue = Queue(1)
self.addQueue(queue)
return queue.get(timeout = timeout)

def stop(self):
self._running = False

class Previewer(threading.Thread):
window_name = "Arducam"
_running = True
camera = None
def __init__(self, camera, name):
threading.Thread.__init__(self)
self.name = name
self.camera = camera

def run(self):
self._running = True
while self._running:
cv2.imshow(self.window_name, self.camera.getFrame(2000))
keyCode = cv2.waitKey(16) & 0xFF
cv2.destroyWindow(self.window_name)

def start_preview(self):
self.start()
def stop_preview(self):
self._running = False

class Camera(object):
frame_reader = None
cap = None
previewer = None

def __init__(self):
self.open_camera()

def open_camera(self):
self.cap = cv2.VideoCapture(gstreamer_pipeline(flip_method=0), cv2.CAP_GSTREAMER)
if not self.cap.isOpened():
raise RuntimeError("Failed to open camera!")
if self.frame_reader == None:
self.frame_reader = FrameReader(self.cap, "")
self.frame_reader.daemon = True
self.frame_reader.start()
self.previewer = Previewer(self.frame_reader, "")

def getFrame(self):
return self.frame_reader.getFrame()

def start_preview(self):
self.previewer.daemon = True
self.previewer.start_preview()

def stop_preview(self):
self.previewer.stop_preview()
self.previewer.join()

def close(self):
self.frame_reader.stop()
self.cap.release()

if __name__ == "__main__":
camera = Camera()
camera.start_preview()
time.sleep(10)
camera.stop_preview()
camera.close()