nvv4l2camerasrc opencv代码
时间: 2023-10-22 17:03:41 浏览: 30
你可以使用GStreamer的nvv4l2camerasrc插来从NVIDIA Jetson相机中捕获视频流,然后使用OpenCV处理图像数据。以下是一个简单的示例代码:
```cpp
#include <opencv2/opencv.hpp>
#include <opencv2/core/cuda.hpp>
#include <opencv2/cudaimgproc.hpp>
#include <opencv2/cudaarithm.hpp>
#include <opencv2/cudafilters.hpp>
#include <opencv2/cudawarping.hpp>
#include <gst/gst.h>
#include <gst/app/gstappsink.h>
using namespace cv;
int main(int argc, char *argv[])
{
// Initialize GStreamer
gst_init(&argc, &argv);
// Create a GStreamer pipeline
GstElement *pipeline = gst_parse_launch("nvarguscamerasrc ! video/x-raw(memory:NVMM), width=(int)640, height=(int)480, format=(string)NV12, framerate=(fraction)30/1 ! nvvidconv flip-method=2 ! video/x-raw, format=(string)BGRx ! videoconvert ! video/x-raw, format=(string)BGR ! appsink", NULL);
// Set properties of the appsink
GstElement *appsink = gst_bin_get_by_name(GST_BIN(pipeline), "appsink0");
GstCaps *caps = gst_caps_new_simple("video/x-raw", "format", G_TYPE_STRING, "BGR", NULL);
g_object_set(G_OBJECT(appsink), "emit-signals", TRUE, "caps", caps, NULL);
gst_caps_unref(caps);
// Start the pipeline
gst_element_set_state(pipeline, GST_STATE_PLAYING);
// Main loop
while (true) {
// Wait for a new frame
GstSample *sample = gst_app_sink_pull_sample(GST_APP_SINK(appsink));
GstBuffer *buffer = gst_sample_get_buffer(sample);
// Convert the buffer to an OpenCV Mat
GstMapInfo info;
gst_buffer_map(buffer, &info, GST_MAP_READ);
Mat frame(Size(640, 480), CV_8UC3, info.data);
gst_buffer_unmap(buffer, &info);
gst_sample_unref(sample);
// Process the frame
// ...
// Display the frame
imshow("Frame", frame);
// Exit on ESC
if (waitKey(1) == 27) break;
}
// Cleanup
gst_element_set_state(pipeline, GST_STATE_NULL);
gst_object_unref(GST_OBJECT(pipeline));
return 0;
}
```
在上面的代码中,我们使用了`nvarguscamerasrc`插件来从相机中捕获视频,然后使用`nvvidconv`插件将原始NV12格式的视频转换为BGR格式,并使用`appsink`插件将视频数据发送到应用程序。在应用程序中,我们从`appsink`中获取Mat对象,并使用OpenCV对其进行处理。最后,我们显示处理后的帧并等待用户按下ESC键退出程序。