safy/jetson_csi_cam
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Adds multi-camera support

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pengzw 2019-01-20 08:51:49 +08:00 committed by Peter Moran
parent b6300a968f
commit b4d839bdfc
2 changed files with 12 additions and 3 deletions
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9
README.md
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@ -9,6 +9,7 @@ This ROS package makes it simple to use CSI cameras on the Nvidia Jetson TK1, TX
* Control resolution and framerate. * Control resolution and framerate.
* Camera calibration support. * Camera calibration support.
* Works efficiently, allowing for high resolution and/or high fps video by taking advantage of gstreamer and the Nvidia multimedia API. * Works efficiently, allowing for high resolution and/or high fps video by taking advantage of gstreamer and the Nvidia multimedia API.
* Multi camera support.
--- ---
@ -72,11 +73,16 @@ At this point everything should be ready to go.
# Usage # Usage
> **TL;DR:** To publish the camera stream to the ROS topic `/csi_cam/image_raw`, use this command in the terminal: > **TL;DR:** To publish the camera stream to the ROS topic `/csi_cam_0/image_raw`, use this command in the terminal:
> >
> ``` > ```
> roslaunch jetson_csi_cam jetson_csi_cam.launch width:=<image width> height:=<image height> fps:=<desired framerate> > roslaunch jetson_csi_cam jetson_csi_cam.launch width:=<image width> height:=<image height> fps:=<desired framerate>
> ``` > ```
> If you have another camera on your Jetson TX2, to publish the other camera stream to the ROS topic `/csi_cam_1/image_raw`, use this command in the terminal:
>
> ```
> roslaunch jetson_csi_cam jetson_csi_cam.launch sensor_id:=1 width:=<image width> height:=<image height> fps:=<desired framerate>
> ```
> If you would like to learn more of the details, read ahead. > If you would like to learn more of the details, read ahead.
## Capturing Video ## Capturing Video
@ -105,6 +111,7 @@ In other words, to set any of the arguments use the `<arg_name>:=<arg_value>` op
#### Accepted arguments for `jetson_csi_cam.launch` #### Accepted arguments for `jetson_csi_cam.launch`
* `sensor_id` -- The sensor id of each camera
* `width` -- Image Width * `width` -- Image Width
* `height` -- Image Height * `height` -- Image Height
* `fps` -- Desired framerate. True framerate may not reach this if set too high. * `fps` -- Desired framerate. True framerate may not reach this if set too high.

6
jetson_csi_cam.launch
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@ -1,6 +1,7 @@
<launch> <launch>
<!-- Command Line Arguments --> <!-- Command Line Arguments -->
<arg name="cam_name" default="csi_cam" /> <!-- The name of the camera (corrsponding to the camera info) --> <arg name="sensor_id" default="0" /> <!-- The sensor id of the camera -->
<arg name="cam_name" default="csi_cam_$(arg sensor_id)" /> <!-- The name of the camera (corrsponding to the camera info) -->
<arg name="frame_id" default="/$(arg cam_name)_link" /> <!-- The TF frame ID. --> <arg name="frame_id" default="/$(arg cam_name)_link" /> <!-- The TF frame ID. -->
<arg name="sync_sink" default="true" /> <!-- Synchronize the app sink. Setting this to false may resolve problems with sub-par framerates. --> <arg name="sync_sink" default="true" /> <!-- Synchronize the app sink. Setting this to false may resolve problems with sub-par framerates. -->
<arg name="width" default="1920" /> <!-- Image Width --> <arg name="width" default="1920" /> <!-- Image Width -->
@ -8,12 +9,13 @@
<arg name="fps" default="30" /> <!-- Desired framerate. True framerate may not reach this if set too high. --> <arg name="fps" default="30" /> <!-- Desired framerate. True framerate may not reach this if set too high. -->
<!-- Make arguments available to parameter server --> <!-- Make arguments available to parameter server -->
<param name="$(arg cam_name)/camera_id" type="int" value="$(arg sensor_id)" />
<param name="$(arg cam_name)/image_width" type="int" value="$(arg width)" /> <param name="$(arg cam_name)/image_width" type="int" value="$(arg width)" />
<param name="$(arg cam_name)/image_height" type="int" value="$(arg height)" /> <param name="$(arg cam_name)/image_height" type="int" value="$(arg height)" />
<param name="$(arg cam_name)/target_fps" type="int" value="$(arg fps)" /> <param name="$(arg cam_name)/target_fps" type="int" value="$(arg fps)" />
<!-- Define the GSCAM pipeline --> <!-- Define the GSCAM pipeline -->
<env name="GSCAM_CONFIG" value="nvcamerasrc ! video/x-raw(memory:NVMM), <env name="GSCAM_CONFIG" value="nvcamerasrc sensor-id=$(arg sensor_id) ! video/x-raw(memory:NVMM),
width=(int)$(arg width), height=(int)$(arg height), format=(string)I420, framerate=(fraction)$(arg fps)/1 ! width=(int)$(arg width), height=(int)$(arg height), format=(string)I420, framerate=(fraction)$(arg fps)/1 !
nvvidconv flip-method=2 ! video/x-raw, format=(string)BGRx ! videoconvert ! video/x-raw, format=(string)BGR" /> nvvidconv flip-method=2 ! video/x-raw, format=(string)BGRx ! videoconvert ! video/x-raw, format=(string)BGR" />