Jetson Inference
DNN Vision Library
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Camera capture and streaming for MIPI CSI and V4L2 devices (deprecated). More...
Classes | |
class | gstCamera |
MIPI CSI and V4L2 camera capture using GStreamer and nvarguscamerasrc or v4l2src elements. More... | |
class | v4l2Camera |
Video4Linux2 (V4L2) camera capture streaming. More... | |
Camera capture and streaming for MIPI CSI and V4L2 devices (deprecated).
class gstCamera |
MIPI CSI and V4L2 camera capture using GStreamer and nvarguscamerasrc
or v4l2src
elements.
gstCamera supports both MIPI CSI cameras and V4L2-compliant devices like USB webcams.
Examples of MIPI CSI cameras that work out of the box are the OV5693 module from the Jetson TX1/TX2 devkits, and the IMX219 sensor from the Raspberry Pi Camera Module v2.
For MIPI CSI cameras, the GStreamer element nvarguscamerasrc
will be used for capture. For V4L2 devices, the GStreamer element v4l2src
will be used for camera capture.
gstCamera uses CUDA underneath for any necessary colorspace conversion, and provides the captured image frames in CUDA device memory, or zero-copy shared CPU/GPU memory.
Public Member Functions | |
~gstCamera () | |
Release the camera interface and resources. More... | |
virtual bool | Open () |
Begin streaming the camera. More... | |
virtual void | Close () |
Stop streaming the camera. More... | |
virtual bool | Capture (void **image, imageFormat format, uint64_t timeout=DEFAULT_TIMEOUT, int *status=NULL) |
Capture the next image frame from the camera. More... | |
bool | CaptureRGBA (float **image, uint64_t timeout=DEFAULT_TIMEOUT, bool zeroCopy=false) |
Capture the next image frame from the camera and convert it to float4 RGBA format, with pixel intensities ranging between 0.0 and 255.0. More... | |
void | SetZeroCopy (bool zeroCopy) |
Set whether converted RGB(A) images should use ZeroCopy buffer allocation. More... | |
virtual uint32_t | GetType () const |
Return the interface type (gstCamera::Type) More... | |
Public Member Functions inherited from videoSource | |
virtual | ~videoSource () |
Destroy interface and release all resources. More... | |
template<typename T > | |
bool | Capture (T **image, int *status) |
Capture the next image from the video stream, using the default timeout of 1000ms. More... | |
template<typename T > | |
bool | Capture (T **image, uint64_t timeout=DEFAULT_TIMEOUT, int *status=NULL) |
Capture the next image from the video stream. More... | |
bool | IsStreaming () const |
Check if the device is actively streaming or not. More... | |
uint32_t | GetWidth () const |
Return the width of the stream, in pixels. More... | |
uint32_t | GetHeight () const |
Return the height of the stream, in pixels. More... | |
uint32_t | GetFrameRate () const |
Return the framerate, in Hz or FPS. More... | |
uint64_t | GetFrameCount () const |
Return the number of frames captured. More... | |
uint64_t | GetLastTimestamp () const |
Get timestamp of the last captured frame, in nanoseconds. More... | |
imageFormat | GetRawFormat () const |
Get raw image format. More... | |
const URI & | GetResource () const |
Return the resource URI of the stream. More... | |
const videoOptions & | GetOptions () const |
Return the videoOptions of the stream. More... | |
bool | IsType (uint32_t type) const |
Check if this stream is of a particular type. More... | |
template<typename T > | |
bool | IsType () const |
Check if a this stream is of a particular type. More... | |
const char * | TypeToStr () const |
Convert this stream's class type to string. More... | |
Static Public Member Functions | |
static gstCamera * | Create (const videoOptions &options) |
Create a MIPI CSI or V4L2 camera device. More... | |
static gstCamera * | Create (const char *camera=NULL) |
Create a MIPI CSI or V4L2 camera device. More... | |
static gstCamera * | Create (uint32_t width, uint32_t height, const char *camera=NULL) |
Create a MIPI CSI or V4L2 camera device. More... | |
Static Public Member Functions inherited from videoSource | |
static videoSource * | Create (const videoOptions &options) |
Create videoSource interface from a videoOptions struct that's already been filled out. More... | |
static videoSource * | Create (const char *URI, const videoOptions &options=videoOptions()) |
Create videoSource interface from a resource URI string and optional videoOptions. More... | |
static videoSource * | Create (const char *URI, const commandLine &cmdLine) |
Create videoSource interface from a resource URI string and parsing command line arguments. More... | |
static videoSource * | Create (const char *URI, const int argc, char **argv) |
Create videoSource interface from a resource URI string and parsing command line arguments. More... | |
static videoSource * | Create (const int argc, char **argv, int positionArg=-1) |
Create videoSource interface by parsing command line arguments, including the resource URI. More... | |
static videoSource * | Create (const commandLine &cmdLine, int positionArg=-1) |
Create videoSource interface by parsing command line arguments, including the resource URI. More... | |
static const char * | Usage () |
Usage string for command line arguments to Create() More... | |
static const char * | TypeToStr (uint32_t type) |
Convert a class type to a string. More... | |
Static Public Attributes | |
static const uint32_t | Type = (1 << 0) |
Unique type identifier of gstCamera class. More... | |
static const uint32_t | DefaultWidth = 1280 |
Default camera width, unless otherwise specified during Create() More... | |
static const uint32_t | DefaultHeight = 720 |
Default camera height, unless otherwise specified during Create() More... | |
Static Public Attributes inherited from videoSource | |
static const uint64_t | DEFAULT_TIMEOUT =1000 |
The default Capture timeout (1000ms) More... | |
Additional Inherited Members | |
Public Types inherited from videoSource | |
enum | Status { ERROR = -2, EOS = -1, TIMEOUT = 0, OK = 1 } |
Stream status codes that are optionally returned from Capture() More... | |
Protected Member Functions inherited from videoSource | |
videoSource (const videoOptions &options) | |
Protected Attributes inherited from videoSource | |
bool | mStreaming |
videoOptions | mOptions |
uint64_t | mLastTimestamp |
imageFormat | mRawFormat |
gstCamera::~gstCamera | ( | ) |
Release the camera interface and resources.
Destroying the camera will also Close() the stream if it is still open.
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bool gstCamera::CaptureRGBA | ( | float ** | image, |
uint64_t | timeout = DEFAULT_TIMEOUT , |
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bool | zeroCopy = false |
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Capture the next image frame from the camera and convert it to float4 RGBA format, with pixel intensities ranging between 0.0 and 255.0.
Internally, CaptureRGBA() first calls Capture() and then ConvertRGBA(). The ConvertRGBA() function uses CUDA, so if you want to capture from a different thread than your CUDA device, use the Capture() and ConvertRGBA() functions.
[out] | image | Pointer that gets returned to the image in GPU address space, or if the zeroCopy parameter is true, then the pointer is valid in both CPU and GPU address spaces. Do not manually free the image memory, it is managed internally. The image is in float4 RGBA format. The size of the image is: GetWidth() * GetHeight() * sizeof(float) * 4 |
[in] | timeout | The time in milliseconds for the calling thread to wait to return if a new camera frame isn't recieved by that time. If timeout is 0, the calling thread will return immediately if a new frame isn't already available. If timeout is UINT64_MAX, the calling thread will wait indefinetly for a new frame to arrive. |
[in] | zeroCopy | If true , the image will reside in shared CPU/GPU memory. If false , the image will only be accessible from the GPU. You would need to set zeroCopy to true if you wanted to access the image pixels from the CPU. Since this isn't generally the case, the default is false (GPU only). |
true
if a frame was successfully captured, otherwise false
if a timeout or error occurred, or if timeout was 0 and a frame wasn't ready.
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virtual |
Stop streaming the camera.
Reimplemented from videoSource.
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static |
Create a MIPI CSI or V4L2 camera device.
gstCamera will use the nvarguscamerasrc
GStreamer element for MIPI CSI cameras, and the v4l2src
GStreamer element for capturing V4L2 cameras, like USB webcams.
The camera will be created with a resolution indicated by gstCamera::DefaultWidth and gstCamera::DefaultHeight (1280x720 by default).
camera | Camera device to use. If using MIPI CSI, this string can be NULL to default to CSI camera 0, otherwise the string should contain the device index of the CSI camera (e.g. "0" for CSI camera 0 or "1" for CSI camera 1, ect). If using V4L2, the string should contain the /dev/video node to use (e.g. "/dev/video0" for V4L2 camera 0). By default, camera parameter is NULL and MIPI CSI camera 0 is used. |
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static |
Create a MIPI CSI or V4L2 camera device.
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static |
Create a MIPI CSI or V4L2 camera device.
gstCamera will use the nvarguscamerasrc
GStreamer element for MIPI CSI cameras, and the v4l2src
GStreamer element for capturing V4L2 cameras, like USB webcams.
width | desired width (in pixels) of the camera resolution. This should be from a format that the camera supports. |
height | desired height (in pixels) of the camera resolution. This should be from a format that the camera supports. |
camera | Camera device to use. If using MIPI CSI, this string can be NULL to default to CSI camera 0, otherwise the string should contain the device index of the CSI camera (e.g. "0" for CSI camera 0 or "1" for CSI camera 1, ect). If using V4L2, the string should contain the /dev/video node to use (e.g. "/dev/video0" for V4L2 camera 0). By default, camera parameter is NULL and MIPI CSI camera 0 is used. |
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inlinevirtual |
Return the interface type (gstCamera::Type)
Reimplemented from videoSource.
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virtual |
Begin streaming the camera.
After Open() is called, frames from the camera will begin to be captured.
Open() is not stricly necessary to call, if you call one of the Capture() functions they will first check to make sure that the stream is opened, and if not they will open it automatically for you.
true
on success, false
if an error occurred opening the stream. Reimplemented from videoSource.
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inline |
Set whether converted RGB(A) images should use ZeroCopy buffer allocation.
Has no effect after the first image (in RGB(A) format) was captured.
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Default camera height, unless otherwise specified during Create()
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static |
Default camera width, unless otherwise specified during Create()
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Unique type identifier of gstCamera class.
class v4l2Camera |
Video4Linux2 (V4L2) camera capture streaming.
Public Member Functions | |
~v4l2Camera () | |
Destructor. More... | |
bool | Open () |
Start streaming. More... | |
bool | Close () |
Stop streaming. More... | |
void * | Capture (size_t timeout=0) |
Return the next image. More... | |
uint32_t | GetWidth () const |
Get width, in pixels, of camera image. More... | |
uint32_t | GetHeight () const |
Retrieve height, in pixels, of camera image. More... | |
uint32_t | GetPitch () const |
Return the size in bytes of one line of the image. More... | |
uint32_t | GetPixelDepth () const |
Return the bit depth per pixel. More... | |
Static Public Member Functions | |
static v4l2Camera * | Create (const char *device_path) |
Create V4L2 interface. More... | |
v4l2Camera::~v4l2Camera | ( | ) |
Destructor.
void* v4l2Camera::Capture | ( | size_t | timeout = 0 | ) |
Return the next image.
bool v4l2Camera::Close | ( | ) |
Stop streaming.
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static |
Create V4L2 interface.
path | Filename of the video device (e.g. /dev/video0) |
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inline |
Retrieve height, in pixels, of camera image.
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inline |
Return the size in bytes of one line of the image.
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inline |
Return the bit depth per pixel.
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inline |
Get width, in pixels, of camera image.
bool v4l2Camera::Open | ( | ) |
Start streaming.