TX2 上使用opencv 调用板载mipi摄像头

使用命令测试

gst-launch-1.0 nvcamerasrc ! 'video/x-raw(memory:NVMM), width=(int)1920, height=(int)1080, format=(string)I420, framerate=(fraction)60/1' ! nvvidconv ! 'video/x-raw(memory:NVMM), format=(string)I420' ! nvoverlaysink -e

安装支持Gsteramer的opencv

删除OpenCV4Tegra：
如果已经安装了系统自带的opencv 需要先进行卸载：

sudo apt-get purge libopencv4tegra-dev libopencv4tegra
sudo apt-get purge libopencv4tegra-repo
sudo apt-get update

下载Jetson TX2 OpenCV安装程序：

git clone https://github.com/jetsonhacks/buildOpenCVTX2.git
cd buildOpenCVTX2

打开buildOpenCV.sh并将 -DWITH_GSTREAMER = OFF 更改为-DWITH_GSTREAMER = ON，确保OpenCV编译时使用gstreamer支持。
构建OpenCV：

./buildOpenCV.sh
cd 〜/opencv /build
sudo make install

测试程序

#include <opencv2/opencv.hpp>

std::string get_tegra_pipeline(int width, int height, int fps) {
    return "nvcamerasrc ! video/x-raw(memory:NVMM), width=(int)" + std::to_string(width) + ", height=(int)" +
            std::to_string(height) + ", format=(string)I420, framerate=(fraction)" + std::to_string(fps) +
            "/1 ! nvvidconv flip-method=2 ! video/x-raw, format=(string)BGRx ! videoconvert ! video/x-raw, format=(string)BGR ! appsink";
}

int main() {
    // Options
    int  WIDTH = 1920;
    int  HEIGHT = 1080;
    int FPS = 30;

    // Define the gstream pipeline
    std::string pipeline = get_tegra_pipeline(WIDTH, HEIGHT, FPS);
    std::cout << "Using pipeline: \n\t" << pipeline << "\n";

    // Create OpenCV capture object, ensure it works.
    cv::VideoCapture cap(pipeline, cv::CAP_GSTREAMER);
    if (!cap.isOpened()) {
        std::cout << "Connection failed";
        return -1;
    }

    // View video
    cv::Mat frame;
    while (1) {
        cap >> frame;  // Get a new frame from camera

        // Display frame
        imshow("Display window", frame);
        cv::waitKey(1); //needed to show frame
    }
}

Makefile

# build mipi opencv test
 
CC = g++


CFLAGS = -w -O3 -std=c++11

SRCS = main.cpp 

INC += -I /usr/include
INC += -I `pkg-config --cflags opencv`


LIBS += -L /usr/lib/ -lstdc++ 
LIBS += `pkg-config --libs opencv`


TARGET = test

target:
	$(CC) $(CFLAGS) -o  $(TARGET)   $(SRCS) $(INC) $(LIBS) 
	#*****************finished building*****************

clean:
	rm -f $(TARGET)