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mipi_camera.py
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mipi_camera.py
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import numpy as np
import cv2
import time
import sys
import gi
gi.require_version('Gst', '1.0')
from gi.repository import Gst
""" MIPI Camera Interface using gstreamer """
class MipiCamera():
def __init__(self, width=300, height=300):
self.cap = None
self.width = width
self.height = height
def _gstStr(self, width, height):
return 'nvarguscamerasrc ! video/x-raw(memory:NVMM), width=%d, height=%d, format=(string)NV12, framerate=(fraction)%d/1 ! nvvidconv ! video/x-raw, width=(int)%d, height=(int)%d, format=(string)BGRx ! videoconvert ! appsink' % (3280, 2464, 21, width, height)
def startStreaming(self):
print ("Starting to stream camera...")
self.cap = cv2.VideoCapture(self._gstStr(self.width, self.height))
def getFrame(self):
rtn_val, frame = self.cap.read()
if rtn_val:
return frame
else:
print ("Failed to capture frame!")
return None
def isOpened(self):
if self.cap:
return self.cap.isOpened()
else:
return False
def __del__(self):
if self.cap:
self.cap.release()
print ("Cleanly exited MipiCamera")