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‎README.md

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### base on
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```
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https://github.com/jetsonhacks/buildOpenCVXavier.git
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commit ca885938823640505cfdca6d6a82f7949c161717 (HEAD -> master, tag: v1.0, origin/master, origin/HEAD)
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Author: jetsonhacks <jim@jetsonhacks.com>
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Date: Wed Nov 7 14:21:18 2018 -0800
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remove libjasper-dev install
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```
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### 编译so
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```
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# cd buildOpenCVXavier/
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# ./buildAndPackageOpenCV.sh
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```
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### 打包 whl
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```
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# cd opencv-python
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# cp /root/opencv/build/lib/python3/cv2.cpython-36m-aarch64-linux-gnu.so cv2/cv2.cpython-36m-aarch64-linux-gnu.so
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# python3 setup.py bdist_wheel
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# ls dist/ -lh
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total 1.6M
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-rw-r--r-- 1 root root 1.6M Jun 13 01:20 opencv_python-3.4.3-cp36-cp36m-linux_aarch64.whl
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```

‎buildOpenCVXavier/Examples/README.md

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There are two example programs here. Both programs require OpenCV to be installed with GStreamer support enabled.
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Both of these examples were last tested with L4T 31.0.2, OpenCV 3.4.3
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The first is a simple C++ program to view the onboard camera feed from the Jetson Dev Kit.
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To compile gstreamer_view.cpp:
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$ g++ -o gstreamer_view -Wall -std=c++11 gstreamer_view.cpp $(pkg-config --libs opencv)
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to run the program:
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$ ./gstreamer_view
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The second is a Python program that reads the onboard camera feed from the Jetson Dev Kit and does Canny Edge Detection.
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To run the Canny detection demo (Python 2.7):
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$ python cannyDetection.py
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With Python 3.3:
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$ python3 cannyDetection.py
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With the Canny detection demo, use the less than (<) and greater than (>) to adjust the edge detection parameters.
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## Notes
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1. The gstreamer_view example is from Peter Moran:
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https://gist.github.com/peter-moran/742998d893cd013edf6d0c86cc86ff7f
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Note that the nvvidconv flip-method was changed to 0. Earlier versions of L4T used a flip method of 2.
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2. For the Python examples, you will need to have the appropriate librariers installed. From the buildOpenCV scripts:
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#### Python 2.7
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$ sudo apt-get install -y python-dev python-numpy python-py python-pytest
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#### Python 3.5
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$ sudo apt-get install -y python3-dev python3-numpy python3-py python3-pytest
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## License
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MIT License
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Copyright (c) 2017-2018 Jetsonhacks
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal
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in the Software without restriction, including without limitation the rights
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to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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copies of the Software, and to permit persons to whom the Software is
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furnished to do so, subject to the following conditions:
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The above copyright notice and this permission notice shall be included in all
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copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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SOFTWARE.
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gstreamer_view example Copyright (c) 2017 Peter Moran
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‎buildOpenCVXavier/Examples/cannyDetection.py

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#!/usr/bin/env python
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# MIT License
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# Copyright (c) 2017-18 Jetsonhacks
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# Permission is hereby granted, free of charge, to any person obtaining a copy
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# of this software and associated documentation files (the "Software"), to deal
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# in the Software without restriction, including without limitation the rights
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# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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# copies of the Software, and to permit persons to whom the Software is
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# furnished to do so, subject to the following conditions:
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# The above copyright notice and this permission notice shall be included in all
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# copies or substantial portions of the Software.
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# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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# SOFTWARE.
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import sys
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import argparse
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import cv2
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import numpy as np
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def parse_cli_args():
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parser = argparse.ArgumentParser()
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parser.add_argument("--video_device", dest="video_device",
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help="Video device # of USB webcam (/dev/video?) [0]",
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default=0, type=int)
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arguments = parser.parse_args()
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return arguments
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# Use a Jetson TX1 or TX2 camera in the Jetson AGX Xavier Camera Slot
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def open_onboard_camera():
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return cv2.VideoCapture("nvarguscamerasrc ! video/x-raw(memory:NVMM), width=(int)1280, height=(int)720, format=(string)NV12, framerate=(fraction)30/1 ! nvvidconv ! video/x-raw,format=(string)BGRx ! videoconvert ! video/x-raw, format=(string)BGR ! appsink")
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# Open an external usb camera /dev/videoX
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def open_camera_device(device_number):
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return cv2.VideoCapture(device_number)
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def read_cam(video_capture):
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if video_capture.isOpened():
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windowName = "CannyDemo"
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cv2.namedWindow(windowName, cv2.WINDOW_NORMAL)
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cv2.resizeWindow(windowName,1280,720)
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cv2.moveWindow(windowName,0,0)
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cv2.setWindowTitle(windowName,"Canny Edge Detection")
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showWindow=3 # Show all stages
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showHelp = True
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font = cv2.FONT_HERSHEY_PLAIN
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helpText="'Esc' to Quit, '1' for Camera Feed, '2' for Canny Detection, '3' for All Stages. '4' to hide help"
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edgeThreshold=40
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showFullScreen = False
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while True:
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if cv2.getWindowProperty(windowName, 0) < 0: # Check to see if the user closed the window
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# This will fail if the user closed the window; Nasties get printed to the console
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break;
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ret_val, frame = video_capture.read();
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if frame is None:
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continue ;
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hsv=cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
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blur=cv2.GaussianBlur(hsv,(7,7),1.5)
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edges=cv2.Canny(blur,0,edgeThreshold)
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if showWindow == 3: # Need to show the 4 stages
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# Composite the 2x2 window
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# Feed from the camera is RGB, the others gray
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# To composite, convert gray images to color.
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# All images must be of the same type to display in a window
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frameRs=cv2.resize(frame, (640,360))
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hsvRs=cv2.resize(hsv,(640,360))
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vidBuf = np.concatenate((frameRs, cv2.cvtColor(hsvRs,cv2.COLOR_GRAY2BGR)), axis=1)
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blurRs=cv2.resize(blur,(640,360))
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edgesRs=cv2.resize(edges,(640,360))
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vidBuf1 = np.concatenate( (cv2.cvtColor(blurRs,cv2.COLOR_GRAY2BGR),cv2.cvtColor(edgesRs,cv2.COLOR_GRAY2BGR)), axis=1)
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vidBuf = np.concatenate( (vidBuf, vidBuf1), axis=0)
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if showWindow==1: # Show Camera Frame
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displayBuf = frame
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elif showWindow == 2: # Show Canny Edge Detection
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displayBuf = edges
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elif showWindow == 3: # Show All Stages
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displayBuf = vidBuf
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if showHelp == True:
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cv2.putText(displayBuf, helpText, (11,20), font, 1.0, (32,32,32), 4, cv2.LINE_AA)
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cv2.putText(displayBuf, helpText, (10,20), font, 1.0, (240,240,240), 1, cv2.LINE_AA)
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cv2.imshow(windowName,displayBuf)
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key=cv2.waitKey(10)
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if key == 27: # Check for ESC key
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cv2.destroyAllWindows()
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break ;
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elif key==49: # 1 key, show frame
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cv2.setWindowTitle(windowName,"Camera Feed")
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showWindow=1
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elif key==50: # 2 key, show Canny
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cv2.setWindowTitle(windowName,"Canny Edge Detection")
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showWindow=2
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elif key==51: # 3 key, show Stages
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cv2.setWindowTitle(windowName,"Camera, Gray scale, Gaussian Blur, Canny Edge Detection")
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showWindow=3
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elif key==52: # 4 key, toggle help
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showHelp = not showHelp
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elif key==44: # , lower canny edge threshold
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edgeThreshold=max(0,edgeThreshold-1)
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print ('Canny Edge Threshold Maximum: ',edgeThreshold)
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elif key==46: # , raise canny edge threshold
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edgeThreshold=edgeThreshold+1
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print ('Canny Edge Threshold Maximum: ', edgeThreshold)
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elif key==74: # Toggle fullscreen; This is the F3 key on this particular keyboard
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# Toggle full screen mode
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if showFullScreen == False :
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cv2.setWindowProperty(windowName, cv2.WND_PROP_FULLSCREEN, cv2.WINDOW_FULLSCREEN)
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else:
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cv2.setWindowProperty(windowName, cv2.WND_PROP_FULLSCREEN, cv2.WINDOW_NORMAL)
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showFullScreen = not showFullScreen
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else:
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print ("camera open failed")
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if __name__ == '__main__':
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arguments = parse_cli_args()
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print("Called with args:")
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print(arguments)
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print("OpenCV version: {}".format(cv2.__version__))
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print("Device Number:",arguments.video_device)
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print cv2.getBuildInformation()
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if arguments.video_device==0:
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print("Using on-board camera")
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video_capture=open_onboard_camera()
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else:
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video_capture=open_camera_device(arguments.video_device)
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# Only do this on external cameras; onboard will cause camera not to read
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video_capture.set(cv2.CAP_PROP_FPS,30)
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read_cam(video_capture)
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video_capture.release()
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cv2.destroyAllWindows()

‎buildOpenCVXavier/Examples/gstreamer_view.cpp

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/*
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Example code for displaying gstreamer video from the CSI port of the Nvidia Jetson in OpenCV.
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Created by Peter Moran on 7/29/17.
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https://gist.github.com/peter-moran/742998d893cd013edf6d0c86cc86ff7f
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*/
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#include <opencv2/opencv.hpp>
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std::string get_tegra_pipeline(int width, int height, int fps) {
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return "nvarguscamerasrc ! video/x-raw(memory:NVMM), width=(int)" + std::to_string(width) + ", height=(int)" +
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std::to_string(height) + ", format=(string)NV12, framerate=(fraction)" + std::to_string(fps) +
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"/1 ! nvvidconv flip-method=0 ! video/x-raw, format=(string)BGRx ! videoconvert ! video/x-raw, format=(string)BGR ! appsink";
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}
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int main() {
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// Options
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int WIDTH = 1920;
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int HEIGHT = 1080;
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int FPS = 30;
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// Define the gstream pipeline
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std::string pipeline = get_tegra_pipeline(WIDTH, HEIGHT, FPS);
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std::cout << "Using pipeline: \n\t" << pipeline << "\n";
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// Create OpenCV capture object, ensure it works.
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cv::VideoCapture cap(pipeline, cv::CAP_GSTREAMER);
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if (!cap.isOpened()) {
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std::cout << "Connection failed";
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return -1;
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}
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// View video
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cv::Mat frame;
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while (1) {
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cap >> frame; // Get a new frame from camera
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// Display frame
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imshow("Display window", frame);
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cv::waitKey(1); //needed to show frame
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}
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}

‎buildOpenCVXavier/LICENSE

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MIT License
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Copyright (c) 2017-2018 Jetsonhacks
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal
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in the Software without restriction, including without limitation the rights
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to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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copies of the Software, and to permit persons to whom the Software is
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furnished to do so, subject to the following conditions:
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The above copyright notice and this permission notice shall be included in all
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copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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SOFTWARE.

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