IMX477-160 12.3MP Camera在jetson nano上配置调用

 

sudo /opt/nvidia/jetson-io/jetson-io.py


DISPLAY=:0.0 gst-launch-1.0 nvarguscamerasrc ! 'video/x-raw(memory:NVMM), width=1920, height=1080, format=(string)NV12, framerate=(fraction)20/1' ! nvoverlaysink -e

SENSOR_ID=0 # 0 for CAM0 and 1 for CAM1 ports
FRAMERATE=30 # Framerate can go from 2 to 30 for 4032x3040 mode
gst-launch-1.0 nvarguscamerasrc sensor-id=$SENSOR_ID ! "video/x-raw(memory:NVMM),width=4032,height=3040,framerate=$FRAMERATE/1" ! nvvidconv ! "video/x-raw(memory:NVMM),width=1920,height=1080,framerate=$FRAMERATE/1" ! nvoverlaysink

SENSOR_ID=0 # 0 for CAM0 and 1 for CAM1 ports
FRAMERATE=60 # Framerate can go from 2 to 60 for 1920x1080 mode
gst-launch-1.0 nvarguscamerasrc sensor-id=$SENSOR_ID ! "video/x-raw(memory:NVMM),width=1920,height=1080,framerate=$FRAMERATE/1" ! nvvidconv ! nvoverlaysink

DISPLAY=:0.0 gst-launch-1.0 nvarguscamerasrc ! 'video/x-raw(memory:NVMM), width=1920, height=1080, format=(string)NV12, framerate=(fraction)20/1' ! nvoverlaysink -e

TIMEOUT 30
DEFAULT primary

MENU TITLE L4T boot options

LABEL primary
    MENU LABEL primary kernel
    LINUX /boot/Image
    INITRD /boot/initrd
    APPEND ${cbootargs} quiet root=/dev/mmcblk0p1 rw rootwait rootfstype=ext4 console=ttyS0,115200n8 console=tty0 fbcon=map:0 net.ifnames=0
    FDT /boot/tegra210-p3448-0000-p3449-0000-b00.dtb













sudo apt-get install --reinstall ./nvidia-l4t-kernel_4.9.201-tegra-32.5.0-20210115145440_arm64.deb
sudo apt-get install --reinstall ./nvidia-l4t-kernel-dtbs_4.9.201-tegra-32.5.0-20210115145440_arm64.deb






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




cd ~wget https://github.com/ArduCAM/MIPI_Camera/releases/download/v0.0.3/install_full.sh



chmod +x install_full.sh./install_full.sh -m imx477



ysy@ysy-desktop:~$ gst-launch-1.0 nvarguscamerasrc ! nvoverlaysink
Setting pipeline to PAUSED ...
Pipeline is live and does not need PREROLL ...
Setting pipeline to PLAYING ...
New clock: GstSystemClock
GST_ARGUS: Creating output stream
CONSUMER: Waiting until producer is connected...
GST_ARGUS: Available Sensor modes :
GST_ARGUS: 4032 x 3040 FR = 29.999999 fps Duration = 33333334 ; Analog Gain range min 1.000000, max 22.250000; Exposure Range min 13000, max 683709000;

GST_ARGUS: 3840 x 2160 FR = 29.999999 fps Duration = 33333334 ; Analog Gain range min 1.000000, max 22.250000; Exposure Range min 13000, max 683709000;

GST_ARGUS: 1920 x 1080 FR = 59.999999 fps Duration = 16666667 ; Analog Gain range min 1.000000, max 22.250000; Exposure Range min 13000, max 683709000;

GST_ARGUS: Running with following settings:
   Camera index = 0 
   Camera mode  = 2 
   Output Stream W = 1920 H = 1080 
   seconds to Run    = 0 
   Frame Rate = 59.999999 
GST_ARGUS: Setup Complete, Starting captures for 0 seconds
GST_ARGUS: Starting repeat capture requests.
CONSUMER: Producer has connected; continuing.
nvbuf_utils: dmabuf_fd -1 mapped entry NOT found
nvbuf_utils: Can not get HW buffer from FD... Exiting...
CONSUMER: ERROR OCCURRED
ERROR: from element /GstPipeline:pipeline0/GstNvArgusCameraSrc:nvarguscamerasrc0: CANCELLED
Additional debug info:
Argus Error Status
Execution ended after 0:00:02.183529453
Setting pipeline to PAUSED ...
Setting pipeline to READY ...
GST_ARGUS: Cleaning up
(Argus) Error EndOfFile: Unexpected error in reading socket (in src/rpc/socket/client/ClientSocketManager.cpp, function recvThreadCore(), line 266)
(Argus) Error EndOfFile: Receive worker failure, notifying 2 waiting threads (in src/rpc/socket/client/ClientSocketManager.cpp, function recvThreadCore(), line 340)
(Argus) Error InvalidState: Argus client is exiting with 2 outstanding client threads (in src/rpc/socket/client/ClientSocketManager.cpp, function recvThreadCore(), line 357)
(Argus) Error EndOfFile: Receiving thread terminated with error (in src/rpc/socket/client/ClientSocketManager.cpp, function recvThreadWrapper(), line 368)
(Argus) Error EndOfFile: Client thread received an error from socket (in src/rpc/socket/client/ClientSocketManager.cpp, function send(), line 145)
(Argus) Error EndOfFile:  (propagating from src/rpc/socket/client/SocketClientDispatch.cpp, function dispatch(), line 91)
(Argus) Error EndOfFile: Client thread received an error from socket (in src/rpc/socket/client/ClientSocketManager.cpp, function send(), line 145)
(Argus) Error EndOfFile:  (propagating from src/rpc/socket/client/SocketClientDispatch.cpp, function dispatch(), line 91)
(Argus) Error InvalidState: Receive thread is not running cannot send. (in src/rpc/socket/client/ClientSocketManager.cpp, function send(), line 96)
(Argus) Error InvalidState:  (propagating from src/rpc/socket/client/SocketClientDispatch.cpp, function dispatch(), line 91)
(Argus) Error InvalidState: Receive thread is not running cannot send. (in src/rpc/socket/client/ClientSocketManager.cpp, function send(), line 96)
(Argus) Error InvalidState:  (propagating from src/rpc/socket/client/SocketClientDispatch.cpp, function dispatch(), line 91)
(Argus) Error InvalidState: Receive thread is not running cannot send. (in src/rpc/socket/client/ClientSocketManager.cpp, function send(), line 96)
(Argus) Error InvalidState:  (propagating from src/rpc/socket/client/SocketClientDispatch.cpp, function dispatch(), line 91)
(Argus) Error InvalidState: Receive thread is not running cannot send. (in src/rpc/socket/client/ClientSocketManager.cpp, function send(), line 96)
(Argus) Error InvalidState:  (propagating from src/rpc/socket/client/SocketClientDispatch.cpp, function dispatch(), line 91)
(Argus) Error InvalidState: Receive thread is not running cannot send. (in src/rpc/socket/client/ClientSocketManager.cpp, function send(), line 96)
(Argus) Error InvalidState:  (propagating from src/rpc/socket/client/SocketClientDispatch.cpp, function dispatch(), line 91)
Setting pipeline to NULL ...
Freeing pipeline ...
(Argus) Error InvalidState: Receive thread is not running cannot send. (in src/rpc/socket/client/ClientSocketManager.cpp, function send(), line 96)
(Argus) Error InvalidState:  (propagating from src/rpc/socket/client/SocketClientDispatch.cpp, function dispatch(), line 91)

TIMEOUT 30
DEFAULT primary

MENU TITLE L4T boot options

LABEL primary
    MENU LABEL primary kernel
    LINUX /boot/Image
    INITRD /boot/initrd
    APPEND ${cbootargs} quiet root=/dev/mmcblk0p1 rw rootwait rootfstype=ext4 console=ttyS0,115200n8 console=tty0 fbcon=map:0 net.ifnames=0
    FDT /boot/tegra210-p3448-0000-p3449-0000-b00.dtb

要在Jetson Nano上使用IMX477-160 12.3MP相机，您需要执行以下步骤：

1. 将相机连接到Jetson Nano的CSI接口。确保连接正确，电源也已连接。

2.  确保您的Jetson Nano系统已更新到最新版本。您可以使用以下命令检查并更新系统：

$ sudo apt-get update
$ sudo apt-get upgrade

     3. 安装适当的驱动程序和软件包。要使用IMX477-160相机，您需要安装GStreamer和v4l-utils软件包。您可以使用以下命令安装它们：

$ sudo apt-get install gstreamer1.0-tools gstreamer1.0-plugins-base \
  gstreamer1.0-plugins-good gstreamer1.0-plugins-bad v4l-utils

   4.检查相机是否被识别。您可以使用以下命令检查相机是否已正确识别：

$ v4l2-ctl --list-devices

  如果相机已正确识别，您应该能够看到类似以下内容的输出：

vi-output, imx477  (platform:54080000.vi:0):
    /dev/video0

 5.配置相机参数。您可以使用以下命令查看相机支持的参数：

$ v4l2-ctl --list-ctrls

  您可以使用以下命令设置相机参数：

$ v4l2-ctl -c =

例如，要设置帧速率为30fps：

$ v4l2-ctl -c frame_rate=30

6.使用GStreamer捕获相机图像。您可以使用以下命令捕获相机图像并在屏幕上显示：

$ gst-launch-1.0 nvarguscamerasrc ! 'video/x-raw(memory:NVMM), width=(int)1920, height=(int)1080, format=(string)NV12, framerate=(fraction)30/1' ! nvvidconv ! 'video/x-raw, width=(int)640, height=(int)480' ! nvvidconv ! nvegltransform ! nveglglessink -e

这将启动GStreamer管道，捕获相机图像并在屏幕上显示。您可以根据需要更改图像的分辨率和帧速率。

cd ~wget https://github.com/ArduCAM/MIPI_Camera/releases/download/v0.0.3/install_full.sh




chmod +x install_full.sh./install_full.sh -m imx477


输入 y 重新启动电路板。使用以下命令检查相机是否被正确识别。




ls /dev/video0

https://github.com/JetsonHacksNano/CSI-Camera/blob/master/simple_camera.py



git clone https://github.com/amirhosseinh77/JetsonYolo.git


cd weightswget https://github.com/ultralytics/yolov5/releases/download/v5.0/yolov5s.pt




python3 JetsonYolo.py

gst-launch-1.0 nvarguscamerasrc ! 'video/x-raw(memory:NVMM),width=1280, height=720, framerate=120/1, format=NV12' ! nvvidconv flip-method=0 ! 'video/x-raw,width=1280, height=720' ! videoconvert ! 'video/x-raw,format=(string)BGR' ! videoconvert ! 'video/x-raw,format=(string)RGB' ! ximagesink



请确保已安装ximagesink，如果没有，请使用以下命令进行安装：


sudo apt-get install -y x11-apps

import cv2

cap = cv2.VideoCapture(0) # 0表示第一个摄像头，可以尝试其他数字来使用不同的摄像头
cap.set(cv2.CAP_PROP_FRAME_WIDTH, 640) # 设置摄像头图像宽度
cap.set(cv2.CAP_PROP_FRAME_HEIGHT, 480) # 设置摄像头图像高度

while(True):
    # 逐帧读取摄像头图像
    ret, frame = cap.read()

    # 显示摄像头图像
    cv2.imshow('USB Camera',frame)

    # 按'q'键退出循环
    if cv2.waitKey(1) & 0xFF == ord('q'):
        break

# 释放摄像头并关闭窗口
cap.release()
cv2.destroyAllWindows()

ysy@ysy-desktop:~$ nvgstcapture-1.0 --orientation=2
Encoder null, cannot set bitrate!
Encoder Profile = High
Supported resolutions in case of ARGUS Camera
  (2) : 640x480
  (3) : 1280x720
  (4) : 1920x1080
  (5) : 2104x1560
  (6) : 2592x1944
  (7) : 2616x1472
  (8) : 3840x2160
  (9) : 3896x2192
  (10): 4208x3120
  (11): 5632x3168
  (12): 5632x4224

Runtime ARGUS Camera Commands:

  Help : 'h'
  Quit : 'q'
  Set Capture Mode:
      mo:
          (1): image
          (2): video
  Get Capture Mode:
      gmo
  Set sensor orientation:
      so:
          (0): none
          (1): Rotate counter-clockwise 90 degrees
          (2): Rotate 180 degrees
          (3): Rotate clockwise 90 degrees
  Get sensor orientation:
      gso
  Set sensor mode:
      smo: e.g., smo:1
  Get sensor mode:
      gsmo
  Set Whitebalance Mode:
      wb:
          (0): off
          (1): auto
          (2): incandescent
          (3): fluorescent
          (4): warm-fluorescent
          (5): daylight
          (6): cloudy-daylight
          (7): twilight
          (8): shade
          (9): manual
  Get Whitebalance Mode:
      gwb
  Set Saturation (0 to 2):
      st: e.g., st:1.25
  Get Saturation:
      gst
  Set Exposure Compensation (-2 to 2):
      ec: e.g., ec:-2
  Get Exposure Compensation:
      gec
  Set Auto Whitebalance Lock:
      awbl: e.g., awbl:0
  Get Auto Whitebalance Lock:
      awbl
  Set Auto Exposure Lock:
      ael: e.g., ael:0
  Get Auto Exposure Lock:
      gael
  Set TNR Mode:
      tnrm: e.g., tnrm:1
          (0): OFF
          (1): FAST
          (2): HIGH QUALITY
  Get TNR Mode:
      gtnrm
  Set TNR Strength (-1 to 1):
      tnrs: e.g., tnrs:0.5
  Get TNR Strength:
      gtnrs
  Set EE Mode:
      eem: e.g., eem:1
          (0): OFF
          (1): FAST
          (2): HIGH QUALITY
  Get EE Mode:
      geem
  Set EE Strength (-1 to 1):
      ees: e.g., ees:0.5
  Get EE Strength:
      gees
  Set Auto Exposure Anti-Banding (0 to 3):
      aeab: e.g., aeab:2
          (0): OFF
          (1): MODE AUTO
          (2): MODE 50HZ
          (3): MODE 60HZ
  Get Auto Exposure Anti-Banding:
      gaeab
  Set Gain Range:
      gr: e.g., gr:1 16
  Get Gain Range:
      ggr
  Set Exposure Time Range:
      etr: e.g., etr:34000 35000
  Get Exposure Time Range:
      getr
  Set ISP Digital Gain Range:
      dgr: e.g., dgr:2 152
  Get ISP Digital Gain Range:
      gdgr
  Capture: enter 'j' OR
           followed by a timer (e.g., jx5000, capture after 5 seconds) OR
           followed by multishot count (e.g., j:6, capture 6 images)
           timer/multihot values are optional, capture defaults to single shot with timer=0s
  Start Recording : enter '1'
  Stop Recording  : enter '0'
  Video snapshot  : enter '2' (While recording video)
  Get Preview Resolution:
      gpcr
  Get Image Capture Resolution:
      gicr
  Get Video Capture Resolution:
      gvcr


Runtime encoder configuration options:

  Set Encoding Bit-rate(in bytes):
      br: e.g., br:4000000
  Get Encoding Bit-rate(in bytes):
      gbr
  Set Encoding Profile(only for H.264):
      ep: e.g., ep:1
          (0): Baseline
          (1): Main
          (2): High
  Get Encoding Profile(only for H.264):
      gep
  Force IDR Frame on video Encoder(only for H.264):
      Enter 'f' 


bitrate = 4000000
Encoder Profile = High
Encoder control-rate = 1
Encoder EnableTwopassCBR = 0
Opening in BLOCKING MODE 
** Message: 00:22:07.568:  iterating capture loop ....
NvMMLiteOpen : Block : BlockType = 4 
===== NVMEDIA: NVENC =====
NvMMLiteBlockCreate : Block : BlockType = 4 
GST_ARGUS: Creating output stream
CONSUMER: Waiting until producer is connected...
GST_ARGUS: Available Sensor modes :
GST_ARGUS: 4032 x 3040 FR = 29.999999 fps Duration = 33333334 ; Analog Gain range min 1.000000, max 22.250000; Exposure Range min 13000, max 683709000;

GST_ARGUS: 1920 x 1080 FR = 59.999999 fps Duration = 16666667 ; Analog Gain range min 1.000000, max 22.250000; Exposure Range min 13000, max 683709000;

GST_ARGUS: 2592 x 1944 FR = 29.999999 fps Duration = 33333334 ; Analog Gain range min 1.000000, max 22.250000; Exposure Range min 13000, max 683709000;

GST_ARGUS: 2560 x 1440 FR = 40.000000 fps Duration = 25000000 ; Analog Gain range min 1.000000, max 22.250000; Exposure Range min 13000, max 683709000;

GST_ARGUS: Running with following settings:
   Camera index = 0 
   Camera mode  = 1 
   Output Stream W = 1920 H = 1080 
   seconds to Run    = 0 
   Frame Rate = 59.999999 
GST_ARGUS: Setup Complete, Starting captures for 0 seconds
GST_ARGUS: Starting repeat capture requests.
CONSUMER: Producer has connected; continuing.