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This commit is contained in:
Tobias Eidelpes 2023-02-13 17:54:13 +01:00
parent 0f0e3c414a
commit c0b9022bfc
1 changed files with 49 additions and 36 deletions
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45
jetson-deployment/Autofocus.py
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@ -1,25 +1,20 @@
# MIT License
# Copyright (c) 2019 JetsonHacks
# See license
# Using a CSI camera (such as the Raspberry Pi Version 2) connected to a
# NVIDIA Jetson Nano Developer Kit using OpenCV
# Drivers for the camera and OpenCV are included in the base image
import cv2 import cv2
import numpy as py
import os import os
def focusing(val): def focusing(val):
value = (val << 4) & 0x3ff0 value = (val << 4) & 0x3ff0
data1 = (value >> 8) & 0x3f data1 = (value >> 8) & 0x3f
data2 = value & 0xf0 data2 = value & 0xf0
os.system("i2cset -y 6 0x0c %d %d" % (data1, data2)) os.system("i2cset -y 6 0x0c %d %d" % (data1, data2))
def sobel(img): def sobel(img):
img_gray = cv2.cvtColor(img, cv2.COLOR_RGB2GRAY) img_gray = cv2.cvtColor(img, cv2.COLOR_RGB2GRAY)
img_sobel = cv2.Sobel(img_gray, cv2.CV_16U, 1, 1) img_sobel = cv2.Sobel(img_gray, cv2.CV_16U, 1, 1)
return cv2.mean(img_sobel)[0] return cv2.mean(img_sobel)[0]
def laplacian(img): def laplacian(img):
img_gray = cv2.cvtColor(img, cv2.COLOR_RGB2GRAY) img_gray = cv2.cvtColor(img, cv2.COLOR_RGB2GRAY)
img_sobel = cv2.Laplacian(img_gray, cv2.CV_16U) img_sobel = cv2.Laplacian(img_gray, cv2.CV_16U)
@ -31,15 +26,32 @@ def laplacian(img):
# Flip the image by setting the flip_method (most common values: 0 and 2) # Flip the image by setting the flip_method (most common values: 0 and 2)
# display_width and display_height determine the size of the window on the screen # display_width and display_height determine the size of the window on the screen
def gstreamer_pipeline (capture_width=1920, capture_height=1080, display_width=1280, display_height=720, framerate=29.99999, flip_method=2) :
return ('nvarguscamerasrc ! ' def gstreamer_pipeline(capture_width=3264,
capture_height=2464,
framerate=21,
quality=95):
return ('nvarguscamerasrc num-buffers=1 ! '
'video/x-raw(memory:NVMM), ' 'video/x-raw(memory:NVMM), '
'width=(int)%d, height=(int)%d, ' 'width=(int)%d, height=(int)%d, '
'format=(string)NV12, framerate=(fraction)%d/1 ! ' 'framerate=(fraction)%d/1 ! '
'nvvidconv flip-method=%d ! ' 'nvjpegenc quality=%d ! '
'video/x-raw, width=(int)%d, height=(int)%d, format=(string)BGRx ! ' 'appsink' % (capture_width, capture_height, framerate, quality))
'videoconvert ! '
'video/x-raw, format=(string)BGR ! appsink' % (capture_width,capture_height,framerate,flip_method,display_width,display_height))
# def gstreamer_pipeline(capture_width=3264,
# capture_height=2464,
# framerate=21):
# return ('nvarguscamerasrc ! '
# 'video/x-raw(memory:NVMM), '
# 'width=(int)%d,height=(int)%d, '
# 'framerate=(fraction)%d/1 ! '
# 'nvvidconv flip-method=2 ! '
# 'video/x-raw,format=(string)BGRx ! '
# 'videoconvert ! '
# 'video/x-raw,format=(string)BGR ! '
# 'appsink' % (capture_width, capture_height, framerate))
def show_camera(): def show_camera():
max_index = 10 max_index = 10
@ -50,7 +62,8 @@ def show_camera():
focus_finished = False focus_finished = False
# To flip the image, modify the flip_method parameter (0 and 2 are the most common) # To flip the image, modify the flip_method parameter (0 and 2 are the most common)
print(gstreamer_pipeline(flip_method=2)) print(gstreamer_pipeline(flip_method=2))
cap = cv2.VideoCapture(gstreamer_pipeline(flip_method=2), cv2.CAP_GSTREAMER) cap = cv2.VideoCapture(gstreamer_pipeline(flip_method=2),
cv2.CAP_GSTREAMER)
if cap.isOpened(): if cap.isOpened():
window_handle = cv2.namedWindow('CSI Camera', cv2.WINDOW_AUTOSIZE) window_handle = cv2.namedWindow('CSI Camera', cv2.WINDOW_AUTOSIZE)
# Window # Window