Onboard camera stream changed in Jetpack 3.2?

Autonomous Machines Jetson & Embedded Systems Jetson TX2
1

Capturing image from the onboard Jetson camera worked just fine with previous version of Jetpack 3.1 on TX2 using following lines of c code.

const string gst = "nvcamerasrc ! video/x-raw(memory:NVMM), width=(int)1280, height=(int)720, format=(string)I420, framerate=(fraction)24/1 ! nvvidconv flip-method=6 ! video/x-raw, format=(string)I420 ! videoconvert ! video/x-raw, format=(string)BGR ! appsink";  
VideoCapture cap(gst); // open the default camera

However this same code fail to open camera with Jetpack 3.2 clean install.

When tried to run

gst-launch-1.0 nvcamerasrc sensor-id=0 ! 'video/x-raw(memory:NVMM),width=1280, height=720, framerate=30/1, format=NV12' ! nvoverlaysink -ev

The camera works in full screen mode and in terminal I get

Setting pipeline to PAUSED ...

Available Sensor modes : 
2592 x 1944 FR=30.000000 CF=0x1109208a10 SensorModeType=4 CSIPixelBitDepth=10 DynPixelBitDepth=10
2592 x 1458 FR=30.000000 CF=0x1109208a10 SensorModeType=4 CSIPixelBitDepth=10 DynPixelBitDepth=10
1280 x 720 FR=120.000000 CF=0x1109208a10 SensorModeType=4 CSIPixelBitDepth=10 DynPixelBitDepth=10
Pipeline is live and does not need PREROLL ...
Setting pipeline to PLAYING ...
New clock: GstSystemClock

NvCameraSrc: Trying To Set Default Camera Resolution. Selected sensorModeIndex = 1 WxH = 2592x1458 FrameRate = 30.000000 ...

/GstPipeline:pipeline0/GstNvCameraSrc:nvcamerasrc0.GstPad:src: caps = "video/x-raw\(memory:NVMM\)\,\ width\=\(int\)1280\,\ height\=\(int\)720\,\ format\=\(string\)NV12\,\ framerate\=\(fraction\)30/1"
/GstPipeline:pipeline0/GstCapsFilter:capsfilter0.GstPad:src: caps = "video/x-raw\(memory:NVMM\)\,\ width\=\(int\)1280\,\ height\=\(int\)720\,\ format\=\(string\)NV12\,\ framerate\=\(fraction\)30/1"
/GstPipeline:pipeline0/GstNvOverlaySink-nvoverlaysink:nvoverlaysink-nvoverlaysink0.GstPad:sink: caps = "video/x-raw\(memory:NVMM\)\,\ width\=\(int\)1280\,\ height\=\(int\)720\,\ format\=\(string\)NV12\,\ framerate\=\(fraction\)30/1"
/GstPipeline:pipeline0/GstCapsFilter:capsfilter0.GstPad:sink: caps = "video/x-raw\(memory:NVMM\)\,\ width\=\(int\)1280\,\ height\=\(int\)720\,\ format\=\(string\)NV12\,\ framerate\=\(fraction\)30/1"
^Chandling interrupt.
Interrupt: Stopping pipeline ...
EOS on shutdown enabled -- Forcing EOS on the pipeline
Waiting for EOS...
Got EOS from element "pipeline0".
EOS received - stopping pipeline...
Execution ended after 0:00:03.751757536

Then what string value should be entered to open the camera?
Thanks,

2

Hi Kyubot,
OpenCV in Jetpack 3.2 does not enable gstreamer. Please not install OpenCV via Jetpack 3.2 but build/install manually.
Here is a script for your reference:
https://github.com/AastaNV/JEP/blob/master/script/install_opencv3.4.0.sh

3

Thank you for your quick reply. Today I ran the script and successfully capture video with following keyword

const string gst = "nvcamerasrc ! video/x-raw(memory:NVMM), width=(int)1280, height=(int)720, format=(string)I420, framerate=(fraction)30/1 ! nvvidconv flip-method=4 ! video/x-raw, format=(string)BGRx ! videoconvert ! video/x-raw, format=(string)BGR ! appsink";

Now I can capture image from gstream however got following error message.

VIDEOIO ERROR: V4L: device nvcamerasrc ! video/x-raw(memory:NVMM), width=(int)1280, height=(int)720, format=(string)I420, framerate=(fraction)30/1 ! nvvidconv flip-method=4 ! video/x-raw, format=(string)BGRx ! videoconvert ! video/x-raw, format=(string)BGR ! appsink: Unable to query number of channels

What is the correct number of channels by the way?

4

Hi,
Not sure what’s wrong in your pipeline. Other users may share experience.

Also a relative post: [url]https://devtalk.nvidia.com/default/topic/1024245/jetson-tx2/opencv-3-3-and-integrated-camera-problems-/post/5210735/#5210735[/url]