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Jetsonで動作したgst-launch-1.0 カメラパイプライン集

配線

デバイス名 ポート 種類
/dev/video0 cam0 IMX219 CSI Camera
/dev/video1 cam1 IMX219 CSI Camera
/dev/video2 USB Logicool 720p
/dev/video3 USB Logicool 720p
/dev/video4 USB Insta360
/dev/video5 USB Insta360

Jetapckのバージョン確認

cat /etc/nv_tegra_release
# R32 (release), REVISION: 5.1, GCID: 26202423, BOARD: t186ref, EABI: aarch64, DATE: Fri Feb 19 16:50:29 UTC 2021

取り込み

ライブラリ 処理
nvarguscamerasrc ARGUS APIを使用したカメラプラグイン
nvv4l2camerasrc V4L2 APIを使用したカメラプラグイン

CSIカメラ取り込み(nvarguscamerasrc)

ヘルプの表示

nvgstcapture-1.0 --help

nvarguscamerasrchは、L4T Multimedia APIのLibargus Camera APIがベースになっており、CSIカメラのRawデータをGPUメモリ空間(memory:NVMM)に高速に取り込む事が可能。

cam0を取り込む

gst-launch-1.0 \
nvarguscamerasrc sensor-id=0 ! \
nv3dsink

cam1を取り込む

gst-launch-1.0 \
nvarguscamerasrc sensor-id=1 ! \
nv3dsink

サイズ指定で取り込む

gst-launch-1.0 \
nvarguscamerasrc sensor-id=0 ! \
'video/x-raw(memory:NVMM), width=1280, height=720, framerate=60/1' ! \
nv3dsink
gst-launch-1.0 \
nvarguscamerasrc sensor-id=0 ! \
'video/x-raw(memory:NVMM), width=3264, height=2464, framerate=21/1' ! \
nv3dsink
gst-launch-1.0 \
nvarguscamerasrc sensor-id=0 ! \
nvinfer config-file-path=/opt/nvidia/deepstream/deepstream-6.0/samples/configs/deepstream-app/config_infer_primary.txt ! \
nvmultistreamtiler rows=1 columns=1 width=960 height=720 ! \
nvvideoconvert ! \
nvdsosd ! \
nvegltransform ! \
nveglglessink

USBカメラ

nvv4l2camerasrcを用いて取り込む。nvv4l2camerasrcで取り込んだ映像は、nvv4l2decoderやnvvideoconvert等で、GPUメモリ空間(memory:NVMM)に展開する。

USBカメラのMotionJpegを取り込む

gst-launch-1.0 \
v4l2src device="/dev/video2" ! \
'image/jpeg, width=1280, height=720, framerate=30/1' ! \
nvv4l2decoder mjpeg=1  ! \
nvvidconv ! \
nvegltransform ! \
nveglglessink sync=no

USBカメラのYUYVを取り込む

gst-launch-1.0 \
v4l2src device="/dev/video2" ! \
'video/x-raw, width=640, height=480, framerate=30/1' ! \
nvvideoconvert ! \
nv3dsink

USBカメラのH264を取り込む

gst-launch-1.0 \
v4l2src device="/dev/video4" ! \
'video/x-h264, width=1920, height=960, framerate=30/1' ! \
nvv4l2decoder !  \
nv3dsink sync=no

変換系API

ライブラリ 処理
nvvidconv フォーマット変換、スケーリング処理
nvvideoconvert データのメモリ空間移動(CPUメモリ空間, GPUメモリ空間) NVMMからNVMMへの移動, RAWからNVMMへの移動, NVMMからRAWへの移動, RAWからRAW bufferへの移動

VideoSkin API

ライブラリ 処理
nvoverlaysink (deprecated) OpenMAX ILを使用したVideoSkin
nveglglessink X11やWaylandで使えるEGL/GLESを使用したVideoSkin
nv3dsink EGL/GLESを使用したVideoSkin
nvdrmvideosink DRM(デジタル著作権管理)対応のVideoSkin

CSI Cameraテスト

gst-launch-1.0 \
nvarguscamerasrc sensor-id=0 ! \
nvoverlaysink
gst-launch-1.0 \
nvarguscamerasrc sensor-id=0 ! \
nvegltransform ! \
nveglglessink
gst-launch-1.0 \
nvarguscamerasrc sensor-id=0 ! \
nv3dsink

USBカメラ(MJPEG)テスト

gst-launch-1.0 \
v4l2src device="/dev/video2" ! \
'image/jpeg, width=1280, height=720, framerate=30/1' ! \
nvv4l2decoder mjpeg=1 ! \
nvvidconv ! \
nvegltransform ! \
nveglglessink sync=no

USBカメラ(YUYV)テスト

gst-launch-1.0 \
v4l2src device="/dev/video2" ! \
'video/x-raw, width=640, height=480, framerate=30/1' ! \
nvvideoconvert ! \
nveglglessink 
gst-launch-1.0 \
v4l2src device="/dev/video2" ! \
'video/x-raw, width=640, height=480, framerate=30/1' ! \
nvvideoconvert ! \
nv3dsink

USBカメラ(H264)テスト

gst-launch-1.0 \
v4l2src device="/dev/video4" ! \
'video/x-h264, width=1920, height=960, framerate=30/1' ! \
nvv4l2decoder !  \
nvoverlaysink sync=no
gst-launch-1.0 \
v4l2src device="/dev/video4" ! \
'video/x-h264, width=1920, height=960, framerate=30/1' ! \
nvv4l2decoder !  \
nvvidconv ! \
nvegltransform ! \
nveglglessink sync=no
gst-launch-1.0 \
v4l2src device="/dev/video4" ! \
'video/x-h264, width=1920, height=960, framerate=30/1' ! \
nvv4l2decoder !  \
nv3dsink sync=no

Docoder

ライブラリ 処理
omxh265dec OpenMAX IL H.265 Video decoder
omxh264dec OpenMAX IL H.264 Video decoder
omxmpeg4videodec OpenMAX IL MPEG4 Video decoder
omxmpeg2videodec OpenMAX IL MPEG2 Video decoder
omxvp8dec OpenMAX IL VP8 Video decoder
omxvp9dec OpenMAX IL VP9 video decoder
nvv4l2decoder V4L2 H.265, H.264, VP8, VP9, MPEG4, MPEG2 Video decoder

nvv4l2decoderでほぼ解決できる。

nvv4l2decoderで、MotionJpegを取り込みたい場合は、mjpeg=1オプションをつける

nvv4l2decoder mjpeg=1

Encoder

ライブラリ 処理
omxh265dec OpenMAX IL H.265 Video decoder
omxh264dec OpenMAX IL H.264 Video decoder
omxmpeg4videodec OpenMAX IL MPEG4 Video decoder
omxmpeg2videodec OpenMAX IL MPEG2 Video decoder
omxvp8dec OpenMAX IL VP8 Video decoder
omxvp9dec OpenMAX IL VP9 video decoder
nvv4l2decoder V4L2 H.265, H.264, VP8, VP9, MPEG4, MPEG2 Video decoder
nvjpegdec JPEG decoder element

nvcompositor

nvcompositorで複数カメラから取り込んだ画像の結合ができる

2個のUSBカメラ(JetPack4.6)

gst-launch-1.0 \
nvcompositor name=m \
sink_0::xpos=0 sink_0::ypos=0 \
sink_1::xpos=1280 sink_1::ypos=0 ! \
nvegltransform ! \
nveglglessink sync=no \
v4l2src device=/dev/video2 io-mode=2 ! \
'image/jpeg, width=1280, height=720, framerate=30/1' ! \
nvv4l2decoder mjpeg=1 ! \
queue ! \
nvvidconv ! \
"video/x-raw(memory:NVMM),format=RGBA" ! \
m.sink_0 \
v4l2src device=/dev/video3 io-mode=2 ! \
'image/jpeg, width=1280, height=720, framerate=30/1' ! \
nvv4l2decoder mjpeg=1 ! \
queue ! \
nvvidconv ! \
"video/x-raw(memory:NVMM),format=RGBA" ! \
m.sink_1

2個USBカメラ(JetPack4.5.1)

gst-launch-1.0 \
nvcompositor name=m \
sink_0::xpos=0 sink_0::ypos=0 \
sink_1::xpos=1280 sink_1::ypos=0 ! \
nvegltransform ! \
nveglglessink sync=no \
v4l2src device=/dev/video2 io-mode=2 ! \
'image/jpeg, width=1280, height=720, framerate=30/1' ! \
jpegdec ! \
nvvidconv ! \
"video/x-raw(memory:NVMM),format=RGBA" ! \
m.sink_0 \
v4l2src device=/dev/video3 io-mode=2 ! \
'image/jpeg, width=1280, height=720, framerate=30/1' ! \
jpegdec ! \
nvvidconv ! \
"video/x-raw(memory:NVMM),format=RGBA" ! \
m.sink_1

2個のCSIカメラ

gst-launch-1.0 \
nvcompositor name=m \
sink_0::xpos=0 sink_0::ypos=0 \
sink_1::xpos=1280 sink_1::ypos=0 ! \
nvegltransform ! \
nveglglessink sync=no \
nvarguscamerasrc sensor-id=0 ! \
'video/x-raw(memory:NVMM), width=1280, height=720, framerate=30/1' ! \
queue ! \
nvvidconv ! \
m.sink_0 \
nvarguscamerasrc sensor-id=1 ! \
'video/x-raw(memory:NVMM), width=1280, height=720, framerate=30/1' ! \
queue ! \
nvvidconv ! \
m.sink_1

1個CSIと1個USBカメラ

gst-launch-1.0 \
nvcompositor name=m \
sink_0::xpos=0 sink_0::ypos=0 \
sink_1::xpos=1280 sink_1::ypos=0 ! \
nvegltransform ! \
nveglglessink sync=no \
nvarguscamerasrc sensor-id=0 ! \
'video/x-raw(memory:NVMM), width=1280, height=720, framerate=30/1' ! \
queue ! \
nvvidconv ! \
"video/x-raw(memory:NVMM),format=RGBA" ! \
m.sink_0 \
nvarguscamerasrc sensor-id=1 ! \
'video/x-raw(memory:NVMM), width=1280, height=720, framerate=30/1' ! \
queue ! \
nvvidconv ! \
"video/x-raw(memory:NVMM),format=RGBA" ! \
m.sink_1

2個のCSIカメラと, 2個のUSBカメラ(JetPack4.6)

gst-launch-1.0 \
nvcompositor name=m \
sink_0::xpos=0 sink_0::ypos=0 \
sink_1::xpos=1280 sink_1::ypos=0 \
sink_2::xpos=0 sink_2::ypos=720 \
sink_3::xpos=1280 sink_3::ypos=720 ! \
nvegltransform ! \
nveglglessink sync=no \
nvarguscamerasrc sensor-id=0 ! \
'video/x-raw(memory:NVMM), width=1280, height=720, framerate=30/1' ! \
queue ! \
nvvidconv ! \
"video/x-raw(memory:NVMM),format=RGBA" ! \
m.sink_0 \
nvarguscamerasrc sensor-id=1 ! \
'video/x-raw(memory:NVMM), width=1280, height=720, framerate=30/1' ! \
queue ! \
nvvidconv ! \
"video/x-raw(memory:NVMM),format=RGBA" ! \
m.sink_1 \
v4l2src device=/dev/video2 io-mode=2 ! \
'image/jpeg, width=1280, height=720, framerate=30/1' ! \
nvv4l2decoder mjpeg=1 ! \
queue ! \
nvvidconv ! \
"video/x-raw(memory:NVMM),format=RGBA" ! \
m.sink_2 \
v4l2src device=/dev/video3 io-mode=2 ! \
'image/jpeg, width=1280, height=720, framerate=30/1' ! \
nvv4l2decoder mjpeg=1 ! \
queue ! \
nvvidconv ! \
"video/x-raw(memory:NVMM),format=RGBA" ! \
m.sink_3

2個のCSIカメラと, 2個のUSBカメラ(JetPack4.5.1)

gst-launch-1.0 \
nvcompositor name=m \
sink_0::xpos=0 sink_0::ypos=0 \
sink_1::xpos=1280 sink_1::ypos=0 \
sink_2::xpos=0 sink_2::ypos=720 \
sink_3::xpos=1280 sink_3::ypos=720 ! \
nvegltransform ! \
nveglglessink sync=no \
nvarguscamerasrc sensor-id=0 ! \
'video/x-raw(memory:NVMM), width=1280, height=720, framerate=30/1' ! \
queue ! \
nvvidconv ! \
"video/x-raw(memory:NVMM),format=RGBA" ! \
m.sink_0 \
nvarguscamerasrc sensor-id=1 ! \
'video/x-raw(memory:NVMM), width=1280, height=720, framerate=30/1' ! \
queue ! \
nvvidconv ! \
"video/x-raw(memory:NVMM),format=RGBA" ! \
m.sink_1 \
v4l2src device=/dev/video2 io-mode=2 ! \
'image/jpeg, width=1280, height=720, framerate=30/1' ! \
jpegdec ! \
nvvidconv ! \
"video/x-raw(memory:NVMM),format=RGBA" ! \
m.sink_2 \
v4l2src device=/dev/video3 io-mode=2 ! \
'image/jpeg, width=1280, height=720, framerate=30/1' ! \
jpegdec ! \
nvvidconv ! \
"video/x-raw(memory:NVMM),format=RGBA" ! \
m.sink_3

2個のCSIカメラと, 2個のUSBカメラ(MJPEG), 2個のUSBカメラ(H264) (JetPack4.6)

gst-launch-1.0 \
nvcompositor name=m \
sink_0::xpos=0 sink_0::ypos=0 \
sink_1::xpos=1280 sink_1::ypos=0 \
sink_2::xpos=0 sink_2::ypos=720 \
sink_3::xpos=1280 sink_3::ypos=720 \
sink_4::xpos=0 sink_4::ypos=1440 \
sink_5::xpos=1920 sink_5::ypos=1440 ! \
nvegltransform ! \
nveglglessink sync=no \
nvarguscamerasrc sensor-id=0 ! \
'video/x-raw(memory:NVMM), width=1280, height=720, framerate=30/1' ! \
queue ! \
nvvidconv ! \
"video/x-raw(memory:NVMM),format=RGBA" ! \
m.sink_0 \
nvarguscamerasrc sensor-id=1 ! \
'video/x-raw(memory:NVMM), width=1280, height=720, framerate=30/1' ! \
queue ! \
nvvidconv ! \
"video/x-raw(memory:NVMM),format=RGBA" ! \
m.sink_1 \
v4l2src device=/dev/video2 io-mode=2 ! \
'image/jpeg, width=1280, height=720, framerate=30/1' ! \
nvv4l2decoder mjpeg=1 ! \
queue ! \
nvvidconv ! \
"video/x-raw(memory:NVMM),format=RGBA" ! \
m.sink_2 \
v4l2src device=/dev/video3 io-mode=2 ! \
'image/jpeg, width=1280, height=720, framerate=30/1' ! \
nvv4l2decoder mjpeg=1 ! \
queue ! \
nvvidconv ! \
"video/x-raw(memory:NVMM),format=RGBA" ! \
m.sink_3 \
v4l2src device=/dev/video4 io-mode=2 ! \
'video/x-h264, width=1920, height=960, framerate=30/1' ! \
nvv4l2decoder ! \
queue ! \
nvvidconv ! \
"video/x-raw(memory:NVMM),format=RGBA" ! \
m.sink_4 \
v4l2src device=/dev/video5 io-mode=2 ! \
'video/x-h264, width=1920, height=960, framerate=30/1' ! \
nvv4l2decoder ! \
queue ! \
nvvidconv ! \
"video/x-raw(memory:NVMM),format=RGBA" ! \
m.sink_5

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