必要なソフトウェア
- DeepStreamSDK 5.1
-
https://github.com/NVIDIA-AI-IOT/Deepstream-Dewarper-App の
libnvdgst_dewarper.soとnvds_dewarper_meta.h
必要なハードウェア
| 画像 | 型番 |
|---|---|
 |
OCAM-VRU01BK |
| USB TypeCメス->USB TypeAオス変換ケーブル |
DeepStreamSDK用のDockerを展開
xhost +
sudo docker run -it --ipc=host --net=host --runtime nvidia --device /dev/video0:/dev/video0:mwr -e DISPLAY=$DISPLAY -w /opt/nvidia/deepstream/deepstream-5.1 -v /tmp/argus_socket:/tmp/argus_socket -v /tmp/.X11-unix/:/tmp/.X11-unix nvcr.io/nvidia/deepstream-l4t:5.1-21.02-samples
必要なパッケージをインストール
apt update
apt install v4l-utils vim -y
動作テスト
gst-launch-1.0 v4l2src device="/dev/video0" ! \
'image/jpeg, width=1472, height=736, framerate=30/1' ! \
nvv4l2decoder mjpeg=1 ! \
nvvideoconvert ! \
nvegltransform ! \
nveglglessink sync=0
nvdewarperの最新ライブラリに更新
cd /opt/nvidia/deepstream/deepstream-5.1/lib/gst-plugins/
mv libnvdsgst_dewarper.so libnvdsgst_dewarper_backup.so
wget https://github.com/NVIDIA-AI-IOT/Deepstream-Dewarper-App/raw/main/plugin_libraries/jetson_bin/libnvdsgst_dewarper.so
chmod 755 libnvdsgst_dewarper.so
cd /opt/nvidia/deepstream/deepstream-5.1/sources/includes/
mv nvds_dewarper_meta.h nvds_dewarper_meta_backup.h
wget https://raw.githubusercontent.com/NVIDIA-AI-IOT/Deepstream-Dewarper-App/main/nvds_dewarper_meta.h
nvdewarperで歪み補正
dewarp_config.txt
[property]
[surface0]
# 1=PushBroom, 2=VertRadCyl 3= Perspective_Perspective FISH_PERSPECTIVE=4, FISH_FISH=5, FISH_CYL=6, FISH_EQUIRECT=7,
# FISH_PANINI=8, PERSPECTIVE_EQUIRECT=9, PERSPECTIVE_PANINI=10, EQUIRECT_CYLINDER=11, EQUIRECT_EQUIRECT=12 EQUIRECT_FISHEYE=13,
# EQUIRECT_PANINI=14, EQUIRECT_PERSPECTIVE=15, EQUIRECT_PUSHBROOM=16, EQUIRECT_STEREOGRAPHIC=17, EQUIRECT_VERTCYLINDER=18
projection-type=15
surface-index=0
#dewarped surface parameters
width=600
height=480
top-angle=15
bottom-angle=-15
pitch=0
yaw=0
roll=0
src-x0=380
src-y0=368
focal-length=850
[surface1]
# 1=PushBroom, 2=VertRadCyl 3= Perspective_Perspective FISH_PERSPECTIVE=4, FISH_FISH=5, FISH_CYL=6, FISH_EQUIRECT=7,
# FISH_PANINI=8, PERSPECTIVE_EQUIRECT=9, PERSPECTIVE_PANINI=10, EQUIRECT_CYLINDER=11, EQUIRECT_EQUIRECT=12 EQUIRECT_FISHEYE=13,
# EQUIRECT_PANINI=14, EQUIRECT_PERSPECTIVE=15, EQUIRECT_PUSHBROOM=16, EQUIRECT_STEREOGRAPHIC=17, EQUIRECT_VERTCYLINDER=18
projection-type=15
surface-index=1
#dewarped surface parameters
width=600
height=480
top-angle=15
bottom-angle=-15
pitch=0
yaw=0
roll=0
src-x0=1080
src-y0=368
focal-length=850
gst-launch-1.0 v4l2src device="/dev/video0" ! 'image/jpeg, width=1472, height=736, framerate=30/1' ! nvv4l2decoder mjpeg=1 ! nvvideoconvert ! nvdewarper config-file=dewarp_config.txt ! m.sink_0 nvstreammux name=m width=600 height=480 batch-size=2 num-surfaces-per-frame=2 ! nvmultistreamtiler width=600 height=480 ! nvegltransform ! nveglglessink sync=0
参考