first commit

README.md

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

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

buildOpenCVXavier/Examples/cannyDetection.py

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

buildOpenCVXavier/Examples/gstreamer_view.cpp

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

buildOpenCVXavier/LICENSE

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