Device and Setup
Device: Jetson Nano Developer Kit (flashed in headless mode)
Jetpack version:
Version: 4.6.2-b5
Depends: nvidia-cuda (= 4.6.2-b5), nvidia-opencv (= 4.6.2-b5), nvidia-cudnn8 (= 4.6.2-b5), nvidia-tensorrt (= 4.6.2-b5), nvidia-visionworks (= 4.6.2-b5), nvidia-container (= 4.6.2-b5), nvidia-vpi (= 4.6.2-b5), nvidia-l4t-jetson-multimedia-api (>> 32.7-0), nvidia-l4t-jetson-multimedia-api (<< 32.8-0)`
L4T: R32 (release), REVISION: 7.1, GCID: 29818004, BOARD: t210ref
Csi camera connected to the Nano device: https://www.amazon.com/dp/B07T43K7LC/ref=redir_mobile_desktop?_encoding=UTF8&psc=1&ref_=ya_aw_od_pi
The Nano device is sshed into from my Ubuntu PC by ssh -X Nano@NanoIP.
I followed this link to build jetson-inference from Source: https://github.com/dusty-nv/jetson-inference/blob/master/docs/building-repo-2.md
Issues
After the build, running the video-viewer with video-viewer csi://0 rtp://192.168.1.159:1234 produced error as follows:
nvbuf_utils: Could not get EGL display connection
[gstreamer] initialized gstreamer, version 1.14.5.0
[gstreamer] gstCamera -- attempting to create device csi://0
[gstreamer] gstCamera pipeline string:
[gstreamer] nvarguscamerasrc sensor-id=0 ! video/x-raw(memory:NVMM), width=(int)1280, height=(int)720, framerate=30/1, format=(string)NV12 ! nvvidconv flip-method=2 ! video/x-raw(memory:NVMM) ! appsink name=mysink
[gstreamer] gstCamera successfully created device csi://0
[video] created gstCamera from csi://0
------------------------------------------------
gstCamera video options:
------------------------------------------------
-- URI: csi://0
- protocol: csi
- location: 0
-- deviceType: csi
-- ioType: input
-- codec: raw
-- width: 1280
-- height: 720
-- frameRate: 30.000000
-- bitRate: 0
-- numBuffers: 4
-- zeroCopy: true
-- flipMethod: rotate-180
-- loop: 0
-- rtspLatency 2000
------------------------------------------------
[gstreamer] gstEncoder -- codec not specified, defaulting to H.264
[gstreamer] gstEncoder -- pipeline launch string:
[gstreamer] appsrc name=mysource is-live=true do-timestamp=true format=3 ! omxh264enc bitrate=4000000 ! video/x-h264 ! rtph264pay config-interval=1 ! udpsink host=192.168.1.159 port=1234 auto-multicast=true
[video] created gstEncoder from rtp://192.168.1.159:1234
------------------------------------------------
gstEncoder video options:
------------------------------------------------
-- URI: rtp://192.168.1.159:1234
- protocol: rtp
- location: 192.168.1.159
- port: 1234
-- deviceType: ip
-- ioType: output
-- codec: h264
-- width: 0
-- height: 0
-- frameRate: 30.000000
-- bitRate: 4000000
-- numBuffers: 4
-- zeroCopy: true
-- flipMethod: none
-- loop: 0
-- rtspLatency 2000
------------------------------------------------
[OpenGL] glDisplay -- X screen 0 resolution: 1366x768
[OpenGL] glDisplay -- X window resolution: 1366x768
[OpenGL] glDisplay -- display device initialized (1366x768)
[video] created glDisplay from display://0
------------------------------------------------
glDisplay video options:
------------------------------------------------
-- URI: display://0
- protocol: display
- location: 0
-- deviceType: display
-- ioType: output
-- codec: raw
-- width: 1366
-- height: 768
-- frameRate: 0.000000
-- bitRate: 0
-- numBuffers: 4
-- zeroCopy: true
-- flipMethod: none
-- loop: 0
-- rtspLatency 2000
------------------------------------------------
[gstreamer] opening gstCamera for streaming, transitioning pipeline to GST_STATE_PLAYING
[gstreamer] gstreamer changed state from NULL to READY ==> mysink
[gstreamer] gstreamer changed state from NULL to READY ==> capsfilter1
[gstreamer] gstreamer changed state from NULL to READY ==> nvvconv0
[gstreamer] gstreamer changed state from NULL to READY ==> capsfilter0
[gstreamer] gstreamer changed state from NULL to READY ==> nvarguscamerasrc0
[gstreamer] gstreamer changed state from NULL to READY ==> pipeline0
[gstreamer] gstreamer changed state from READY to PAUSED ==> capsfilter1
[gstreamer] gstreamer changed state from READY to PAUSED ==> nvvconv0
[gstreamer] gstreamer changed state from READY to PAUSED ==> capsfilter0
[gstreamer] gstreamer stream status CREATE ==> src
[gstreamer] gstreamer changed state from READY to PAUSED ==> nvarguscamerasrc0
[gstreamer] gstreamer changed state from READY to PAUSED ==> pipeline0
[gstreamer] gstreamer stream status ENTER ==> src
[gstreamer] gstreamer message new-clock ==> pipeline0
[gstreamer] gstreamer changed state from PAUSED to PLAYING ==> capsfilter1
[gstreamer] gstreamer message stream-start ==> pipeline0
[gstreamer] gstreamer changed state from PAUSED to PLAYING ==> nvvconv0
[gstreamer] gstreamer changed state from PAUSED to PLAYING ==> capsfilter0
[gstreamer] gstreamer changed state from PAUSED to PLAYING ==> nvarguscamerasrc0
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: 1640 x 1232 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;
GST_ARGUS: Running with following settings:
Camera index = 0
Camera mode = 5
Output Stream W = 1280 H = 720
seconds to Run = 0
Frame Rate = 120.000005
GST_ARGUS: Setup Complete, Starting captures for 0 seconds
GST_ARGUS: Starting repeat capture requests.
CONSUMER: Producer has connected; continuing.
[gstreamer] gstCamera -- onPreroll
[gstreamer] gstBufferManager recieve caps: video/x-raw(memory:NVMM), width=(int)1280, height=(int)720, format=(string)NV12, framerate=(fraction)30/1
[gstreamer] gstBufferManager -- recieved first frame, codec=raw format=nv12 width=1280 height=720 size=1008
[gstreamer] gstBufferManager -- recieved NVMM memory
NvEGLImageFromFd: No EGLDisplay to create EGLImage
[gstreamer] gstBufferManager -- failed to map EGLImage from NVMM buffer
[gstreamer] gstCamera -- failed to handle incoming buffer
[gstreamer] gstreamer changed state from READY to PAUSED ==> mysink
[gstreamer] gstreamer message async-done ==> pipeline0
Python code for video-viewer is:
import jetson.utils
import argparse
import sys
# parse command line
parser = argparse.ArgumentParser(description="View various types of video streams",
formatter_class=argparse.RawTextHelpFormatter,
epilog=jetson.utils.videoSource.Usage() + jetson.utils.videoOutput.Usage() + jetson.utils.logUsage())
parser.add_argument("input_URI", type=str, help="URI of the input stream")
parser.add_argument("output_URI", type=str, default="", nargs='?', help="URI of the output stream")
try:
opt = parser.parse_known_args()[0]
except:
print("")
parser.print_help()
sys.exit(0)
# create video sources & outputs
input = jetson.utils.videoSource(opt.input_URI, argv=sys.argv)
output = jetson.utils.videoOutput(opt.output_URI, argv=sys.argv)
# capture frames until user exits
while output.IsStreaming():
After running detectnet with detectnet csi://0 rtp://192.168.1.159:1234, it produced error as well:
emma_dev22@Jetson-Nano:/home/jetson-inference/build/aarch64/bin$ detectnet csi://0 rtp://192.168.1.159:1234
nvbuf_utils: Could not get EGL display connection
[gstreamer] initialized gstreamer, version 1.14.5.0
[gstreamer] gstCamera -- attempting to create device csi://0
[gstreamer] gstCamera pipeline string:
[gstreamer] nvarguscamerasrc sensor-id=0 ! video/x-raw(memory:NVMM), width=(int)1280, height=(int)720, framerate=30/1, format=(string)NV12 ! nvvidconv flip-method=2 ! video/x-raw(memory:NVMM) ! appsink name=mysink
[gstreamer] gstCamera successfully created device csi://0
[video] created gstCamera from csi://0
------------------------------------------------
gstCamera video options:
------------------------------------------------
-- URI: csi://0
- protocol: csi
- location: 0
-- deviceType: csi
-- ioType: input
-- codec: raw
-- width: 1280
-- height: 720
-- frameRate: 30.000000
-- bitRate: 0
-- numBuffers: 4
-- zeroCopy: true
-- flipMethod: rotate-180
-- loop: 0
-- rtspLatency 2000
------------------------------------------------
[gstreamer] gstEncoder -- codec not specified, defaulting to H.264
[gstreamer] gstEncoder -- pipeline launch string:
[gstreamer] appsrc name=mysource is-live=true do-timestamp=true format=3 ! omxh264enc bitrate=4000000 ! video/x-h264 ! rtph264pay config-interval=1 ! udpsink host=192.168.1.159 port=1234 auto-multicast=true
[video] created gstEncoder from rtp://192.168.1.159:1234
------------------------------------------------
gstEncoder video options:
------------------------------------------------
-- URI: rtp://192.168.1.159:1234
- protocol: rtp
- location: 192.168.1.159
- port: 1234
-- deviceType: ip
-- ioType: output
-- codec: h264
-- width: 0
-- height: 0
-- frameRate: 30.000000
-- bitRate: 4000000
-- numBuffers: 4
-- zeroCopy: true
-- flipMethod: none
-- loop: 0
-- rtspLatency 2000
------------------------------------------------
[OpenGL] glDisplay -- X screen 0 resolution: 1366x768
[OpenGL] glDisplay -- X window resolution: 1366x768
[OpenGL] glDisplay -- display device initialized (1366x768)
[video] created glDisplay from display://0
------------------------------------------------
glDisplay video options:
------------------------------------------------
-- URI: display://0
- protocol: display
- location: 0
-- deviceType: display
-- ioType: output
-- codec: raw
-- width: 1366
-- height: 768
-- frameRate: 0.000000
-- bitRate: 0
-- numBuffers: 4
-- zeroCopy: true
-- flipMethod: none
-- loop: 0
-- rtspLatency 2000
------------------------------------------------
detectNet -- loading detection network model from:
-- model networks/SSD-Mobilenet-v2/ssd_mobilenet_v2_coco.uff
-- input_blob 'Input'
-- output_blob 'NMS'
-- output_count 'NMS_1'
-- class_labels networks/SSD-Mobilenet-v2/ssd_coco_labels.txt
-- threshold 0.500000
-- batch_size 1
[TRT] TensorRT version 8.2.1
[TRT] loading NVIDIA plugins...
[TRT] Registered plugin creator - ::GridAnchor_TRT version 1
[TRT] Registered plugin creator - ::GridAnchorRect_TRT version 1
[TRT] Registered plugin creator - ::NMS_TRT version 1
[TRT] Registered plugin creator - ::Reorg_TRT version 1
[TRT] Registered plugin creator - ::Region_TRT version 1
[TRT] Registered plugin creator - ::Clip_TRT version 1
[TRT] Registered plugin creator - ::LReLU_TRT version 1
[TRT] Registered plugin creator - ::PriorBox_TRT version 1
[TRT] Registered plugin creator - ::Normalize_TRT version 1
[TRT] Registered plugin creator - ::ScatterND version 1
[TRT] Registered plugin creator - ::RPROI_TRT version 1
[TRT] Registered plugin creator - ::BatchedNMS_TRT version 1
[TRT] Registered plugin creator - ::BatchedNMSDynamic_TRT version 1
[TRT] Could not register plugin creator - ::FlattenConcat_TRT version 1
[TRT] Registered plugin creator - ::CropAndResize version 1
[TRT] Registered plugin creator - ::DetectionLayer_TRT version 1
[TRT] Registered plugin creator - ::EfficientNMS_TRT version 1
[TRT] Registered plugin creator - ::EfficientNMS_ONNX_TRT version 1
[TRT] Registered plugin creator - ::EfficientNMS_TFTRT_TRT version 1
[TRT] Registered plugin creator - ::Proposal version 1
[TRT] Registered plugin creator - ::ProposalLayer_TRT version 1
[TRT] Registered plugin creator - ::PyramidROIAlign_TRT version 1
[TRT] Registered plugin creator - ::ResizeNearest_TRT version 1
[TRT] Registered plugin creator - ::Split version 1
[TRT] Registered plugin creator - ::SpecialSlice_TRT version 1
[TRT] Registered plugin creator - ::InstanceNormalization_TRT version 1
[TRT] detected model format - UFF (extension '.uff')
[TRT] desired precision specified for GPU: FASTEST
[TRT] requested fasted precision for device GPU without providing valid calibrator, disabling INT8
[TRT] [MemUsageChange] Init CUDA: CPU +229, GPU +0, now: CPU 263, GPU 2002 (MiB)
[TRT] [MemUsageSnapshot] Begin constructing builder kernel library: CPU 263 MiB, GPU 2031 MiB
[TRT] [MemUsageSnapshot] End constructing builder kernel library: CPU 293 MiB, GPU 2061 MiB
[TRT] native precisions detected for GPU: FP32, FP16
[TRT] selecting fastest native precision for GPU: FP16
[TRT] attempting to open engine cache file networks/SSD-Mobilenet-v2/ssd_mobilenet_v2_coco.uff.1.1.8201.GPU.FP16.engine
[TRT] loading network plan from engine cache... networks/SSD-Mobilenet-v2/ssd_mobilenet_v2_coco.uff.1.1.8201.GPU.FP16.engine
[TRT] device GPU, loaded networks/SSD-Mobilenet-v2/ssd_mobilenet_v2_coco.uff
[TRT] [MemUsageChange] Init CUDA: CPU +0, GPU +0, now: CPU 298, GPU 2130 (MiB)
[TRT] Loaded engine size: 34 MiB
[TRT] Using cublas as a tactic source
[TRT] [MemUsageChange] Init cuBLAS/cuBLASLt: CPU +158, GPU +262, now: CPU 474, GPU 2444 (MiB)
[TRT] Using cuDNN as a tactic source
[TRT] [MemUsageChange] Init cuDNN: CPU +241, GPU +412, now: CPU 715, GPU 2856 (MiB)
[TRT] Deserialization required 5933988 microseconds.
[TRT] [MemUsageChange] TensorRT-managed allocation in engine deserialization: CPU +0, GPU +33, now: CPU 0, GPU 33 (MiB)
[TRT] Using cublas as a tactic source
[TRT] [MemUsageChange] Init cuBLAS/cuBLASLt: CPU +0, GPU +0, now: CPU 715, GPU 2856 (MiB)
[TRT] Using cuDNN as a tactic source
[TRT] [MemUsageChange] Init cuDNN: CPU +0, GPU +0, now: CPU 715, GPU 2856 (MiB)
[TRT] Total per-runner device persistent memory is 22661632
[TRT] Total per-runner host persistent memory is 139936
[TRT] Allocated activation device memory of size 13360640
[TRT] [MemUsageChange] TensorRT-managed allocation in IExecutionContext creation: CPU +0, GPU +35, now: CPU 0, GPU 68 (MiB)
[TRT]
[TRT] CUDA engine context initialized on device GPU:
[TRT] -- layers 120
[TRT] -- maxBatchSize 1
[TRT] -- deviceMemory 13360640
[TRT] -- bindings 3
[TRT] binding 0
-- index 0
-- name 'Input'
-- type FP32
-- in/out INPUT
-- # dims 3
-- dim #0 3
-- dim #1 300
-- dim #2 300
[TRT] binding 1
-- index 1
-- name 'NMS'
-- type FP32
-- in/out OUTPUT
-- # dims 3
-- dim #0 1
-- dim #1 100
-- dim #2 7
[TRT] binding 2
-- index 2
-- name 'NMS_1'
-- type FP32
-- in/out OUTPUT
-- # dims 3
-- dim #0 1
-- dim #1 1
-- dim #2 1
[TRT]
[TRT] binding to input 0 Input binding index: 0
[TRT] binding to input 0 Input dims (b=1 c=3 h=300 w=300) size=1080000
[TRT] binding to output 0 NMS binding index: 1
[TRT] binding to output 0 NMS dims (b=1 c=1 h=100 w=7) size=2800
[TRT] binding to output 1 NMS_1 binding index: 2
[TRT] binding to output 1 NMS_1 dims (b=1 c=1 h=1 w=1) size=4
[TRT]
[TRT] device GPU, networks/SSD-Mobilenet-v2/ssd_mobilenet_v2_coco.uff initialized.
[TRT] W = 7 H = 100 C = 1
[TRT] detectNet -- maximum bounding boxes: 100
[TRT] detectNet -- loaded 91 class info entries
[TRT] detectNet -- number of object classes: 91
[gstreamer] opening gstCamera for streaming, transitioning pipeline to GST_STATE_PLAYING
[gstreamer] gstreamer changed state from NULL to READY ==> mysink
[gstreamer] gstreamer changed state from NULL to READY ==> capsfilter1
[gstreamer] gstreamer changed state from NULL to READY ==> nvvconv0
[gstreamer] gstreamer changed state from NULL to READY ==> capsfilter0
[gstreamer] gstreamer changed state from NULL to READY ==> nvarguscamerasrc0
[gstreamer] gstreamer changed state from NULL to READY ==> pipeline0
[gstreamer] gstreamer changed state from READY to PAUSED ==> capsfilter1
[gstreamer] gstreamer changed state from READY to PAUSED ==> nvvconv0
[gstreamer] gstreamer changed state from READY to PAUSED ==> capsfilter0
[gstreamer] gstreamer stream status CREATE ==> src
[gstreamer] gstreamer changed state from READY to PAUSED ==> nvarguscamerasrc0
[gstreamer] gstreamer changed state from READY to PAUSED ==> pipeline0
[gstreamer] gstreamer stream status ENTER ==> src
[gstreamer] gstreamer message new-clock ==> pipeline0
[gstreamer] gstreamer message stream-start ==> pipeline0
[gstreamer] gstreamer changed state from PAUSED to PLAYING ==> capsfilter1
[gstreamer] gstreamer changed state from PAUSED to PLAYING ==> nvvconv0
[gstreamer] gstreamer changed state from PAUSED to PLAYING ==> capsfilter0
[gstreamer] gstreamer changed state from PAUSED to PLAYING ==> nvarguscamerasrc0
Error generated. /dvs/git/dirty/git-master_linux/multimedia/nvgstreamer/gst-nvarguscamera/gstnvarguscamerasrc.cpp, execute:751 Failed to create CaptureSession
[gstreamer] gstCamera -- end of stream (EOS)
[gstreamer] gstreamer changed state from READY to PAUSED ==> mysink
[gstreamer] gstreamer message async-done ==> pipeline0
[gstreamer] gstreamer changed state from PAUSED to PLAYING ==> mysink
[gstreamer] gstreamer changed state from PAUSED to PLAYING ==> pipeline0
[gstreamer] gstreamer pipeline0 recieved EOS signal...
[gstreamer] gstDecoder -- failed to retrieve next image buffer
detectnet: failed to capture video frame
[gstreamer] gstDecoder -- failed to retrieve next image buffer
detectnet: failed to capture video frame
^Z
[2]+ Stopped detectnet csi://0 rtp://192.168.1.159:1234
Python code for detectnet is:
import jetson.inference
import jetson.utils
import argparse
import sys
# parse the command line
parser = argparse.ArgumentParser(description="Locate objects in a live camera stream using an object detection DNN.",
formatter_class=argparse.RawTextHelpFormatter, epilog=jetson.inference.detectNet.Usage() +
jetson.utils.videoSource.Usage() + jetson.utils.videoOutput.Usage() + jetson.utils.logUsage())
parser.add_argument("input_URI", type=str, default="", nargs='?', help="URI of the input stream")
parser.add_argument("output_URI", type=str, default="", nargs='?', help="URI of the output stream")
parser.add_argument("--network", type=str, default="ssd-mobilenet-v2", help="pre-trained model to load (see below for options)")
parser.add_argument("--overlay", type=str, default="box,labels,conf", help="detection overlay flags (e.g. --overlay=box,labels,conf)\nvalid c$
parser.add_argument("--threshold", type=float, default=0.5, help="minimum detection threshold to use")
is_headless = ["--headless"] if sys.argv[0].find('console.py') != -1 else [""]
try:
opt = parser.parse_known_args()[0]
except:
print("")
parser.print_help()
sys.exit(0)
# create video output object
output = jetson.utils.videoOutput(opt.output_URI, argv=sys.argv+is_headless)
# load the object detection network
net = jetson.inference.detectNet(opt.network, sys.argv, opt.threshold)
# create video sources
input = jetson.utils.videoSource(opt.input_URI, argv=sys.argv)
# process frames until the user exits
while True:
# capture the next image
img = input.Capture()
# detect objects in the image (with overlay)
detections = net.Detect(img, overlay=opt.overlay)
# print the detections
print("detected {:d} objects in image".format(len(detections)))
for detection in detections:
print(detection)
# render the image
output.Render(img)
# update the title bar
output.SetStatus("{:s} | Network {:.0f} FPS".format(opt.network, net.GetNetworkFPS()))
# print out performance info
net.PrintProfilerTimes()
# exit on input/output EOS
if not input.IsStreaming() or not output.IsStreaming():
print("detected {:d} objects in image".format(len(detections)))
for detection in detections:
print(detection)
# render the image
output.Render(img)
# update the title bar
output.SetStatus("{:s} | Network {:.0f} FPS".format(opt.network, net.GetNetworkFPS()))
# print out performance info
net.PrintProfilerTimes()
# exit on input/output EOS
if not input.IsStreaming() or not output.IsStreaming():
break
Any insights or guidance would be greatly appreciated. I’ve been spending hours trying to understand and solve this issue, but in vain :(