jetson_gmsl_camera_streamer

Camera streamer with gmsl board and cameras based on opencv (gstreamer backend)

HARDWARE: Jetson AGX Xavier Dev kit, Conecttech GMSL2 camera board JCB004, Leopard Imaging IMX390 GMSL2 cameras

SOFTWARE: JetPack 4.4 with Conecttech GMSL2 camera board driver for Leopard Imaging IMX390 GMSL2 cameras, fixed argus library, fixed nvarguscamerasrc gstreamer plugin.

Getting started

• Connect JCB004, cameras, power supply for JBC004 and Xavier
• Install JetPack 4.4 on Xavier by manual (from CTI drivers package)

Fixes

Some important fixes for stabilization of camera working.

• argus_camera - fix user compile argus_camera application from the release sources causes segmentation fault (SIGSEGV)

• nvarguscamerasrc - public release source code built the libgstnvarguscamera.so can not launch multiple cameras.

• nvarguscamerasrc - patch for fixing memory leak

• undocumented bug - [bluedroid_pm]

  Bluetooth Bluedroid power management Driver. Irq of this module can overload cpu usage and Jetson reboots offten (especially with hight temperature).

  sudo nano /etc/modprobe.d/blacklist.conf

  Add string - install bluedroid_pm /bin/false

Run cameras

clone this repository and run

python3 streamer_example.py

Important features

• Disable gstreamer buffer (30 frames) for elimination of delay

  It helps when you want read frames with lower speed than cameras speed(30 fps). Just add:

  max-buffers=1 drop=True

  to gstreamer source string for OpenCV.

• Use daemon threads

  Run camera read method in deamon thread and close each if can not read frame. It helps to avoid error

  Jan 27 11:52:55 jetson nvargus-daemon[6225]: (Argus) Error InvalidState:  (propagating from src/api/ScfCaptureThread.cpp, function run(), line 109)
  Jan 27 11:52:55 jetson nvargus-daemon[6225]: SCF: Error InvalidState: Session has suffered a critical failure (in src/api/Session.cpp, function capture(), line 667)
  

  and fast increasing syslog file size (this error write in syslog infinitely).

• Get camera parameters

  Get and change parameters of gstreamer source string. Get:

  gst-inspect-1.0 nvarguscamerasrc

  Change (add parameter into gstreamer source string after nvarguscamerasrc, for example "tnr-strength"):

  nvarguscamerasrc tnr-strength=0

In bugfixing process:

• Some of cameras freeze

  When started “multi session” in argus_camera example some of cameras freeze randomly (stream_example.py work well)