Hi! I have a question about camera in docker on Jetson Nano
I use the this simple docker container
# Container with pre-installed PyTorch 1.9.0 and python 3.6.9
FROM nvcr.io/nvidia/l4t-pytorch:r32.6.1-pth1.9-py3
WORKDIR /car
ADD . /car
RUN apt-get update
RUN apt-get install -y python3-opencv
RUN apt-get install -y v4l-utils
I run the container using docker run -it --runtime nvidia --volume /dev/video0:/dev/video0 --device /dev/video0 --volume /home/vovinsa/Documents/SelfDrivingCar/car/:/car/ c5 command
Then I run this script
from utils.camera import Camera
cam = Camera(framerate=1)
while True:
frame = cam.capture()
print(frame.shape)
P.S. The camera class
import cv2
class Camera:
"""
Control CSI Camera Jetson Nano
"""
def __init__(self,
sensor_id=0,
capture_width=1280,
capture_height=720,
display_width=1280,
display_height=720,
framerate=30,
flip_method=0, ):
self.running = True
self.gstreamer = self.gstreamer_pipeline(sensor_id=sensor_id,
capture_width=capture_width,
capture_height=capture_height,
display_width=display_width,
display_height=display_height,
framerate=framerate,
flip_method=flip_method)
self.cap = cv2.VideoCapture(self.gstreamer, cv2.CAP_GSTREAMER)
assert self.cap.isOpened(), "Unable to open camera"
def capture(self):
if self.running:
ret, frame = self.cap.read()
if ret is None:
raise RuntimeError("Unable to get a frame")
frame = cv2.cvtColor(frame, cv2.COLOR_BGR2RGB)
return frame
# TODO: implement the function
def stop_capture(self):
self.running = False
self.cap.release()
@staticmethod
def gstreamer_pipeline(
sensor_id,
capture_width,
capture_height,
display_width,
display_height,
framerate,
flip_method,
):
return (
"nvarguscamerasrc sensor-id=%d !"
"video/x-raw(memory:NVMM), width=(int)%d, height=(int)%d, 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"
% (
sensor_id,
capture_width,
capture_height,
framerate,
flip_method,
display_width,
display_height,
)
)
After running I have this
Traceback (most recent call last):
File "main.py", line 3, in <module>
cam = Camera(framerate=1)
File "/car/utils/camera.py", line 27, in __init__
assert self.cap.isOpened(), "Unable to open camera"
AssertionError: Unable to open camera
The opencv version is 3.2