Updating prebuilts and/or headers

f033de710a45790f16c7a2c1b693a1950187d084 - opencv-sample-apps/README
78f8540a5b70d8f6f33af45dce451967e058c457 - opencv-sample-apps/opencv_camera/Makefile
db64c69a108016f4caa0562a86a9316933453ae6 - opencv-sample-apps/opencv_camera/opencv_gst_camera.cpp
b04f70bbeeeb21aaedc10c2c3560b643bc005ea9 - opencv-sample-apps/opencv_encoder/Makefile
afd48b88d80c0e8dd65329a0a0192ef0a3c83e7f - opencv-sample-apps/opencv_encoder/opencv_gst_encoder.cpp
c15cb929e1a9a8fb03830c5ece6b68ea773ce687 - opencv-sample-apps/opencv_decoder/Makefile
ebb52673c89af5c951ca7e62d7fa49f1700b18a6 - opencv-sample-apps/opencv_decoder/opencv_gst_decoder.cpp

Change-Id: Ic539645554b25709ffb8960ad5202d774112d534

commitFile.txt

@@ -0,0 +1,9 @@
+Updating prebuilts and/or headers 
+
+f033de710a45790f16c7a2c1b693a1950187d084 - opencv-sample-apps/README
+78f8540a5b70d8f6f33af45dce451967e058c457 - opencv-sample-apps/opencv_camera/Makefile
+db64c69a108016f4caa0562a86a9316933453ae6 - opencv-sample-apps/opencv_camera/opencv_gst_camera.cpp
+b04f70bbeeeb21aaedc10c2c3560b643bc005ea9 - opencv-sample-apps/opencv_encoder/Makefile
+afd48b88d80c0e8dd65329a0a0192ef0a3c83e7f - opencv-sample-apps/opencv_encoder/opencv_gst_encoder.cpp
+c15cb929e1a9a8fb03830c5ece6b68ea773ce687 - opencv-sample-apps/opencv_decoder/Makefile
+ebb52673c89af5c951ca7e62d7fa49f1700b18a6 - opencv-sample-apps/opencv_decoder/opencv_gst_decoder.cpp

opencv-sample-apps/README

@@ -0,0 +1,154 @@
+###############################################################################
+#
+# Copyright (c) 2019, NVIDIA CORPORATION. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in the
+#    documentation and/or other materials provided with the distribution.
+#  * Neither the name of NVIDIA CORPORATION nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
+# EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+# PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE COPYRIGHT OWNER OR
+# CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+# EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+# PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+# PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
+# OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+# (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+#
+###############################################################################
+
+These samples demonstrate how to integrate NVIDIA accelerated GStreamer
+plugins with the custom OpenCV software library to acquire frames for
+computation.
+
+-------------------------------------------------------------------------------
+Sample-wise contents:
+
+- opencv_camera:
+    opencv_gst_camera.cpp-  File for GStreamer nvarguscamerasrc plugin use case
+                        to use CSI camera for capture.
+- opencv_decoder:
+    opencv_gst_decoder.cpp- File for GStreamer nvv4l2decoder plugin use case
+                        to decode an H264 mp4 file.
+- opencv_encoder:
+    opencv_gst_encoder.cpp- The file opens a CSI nvarguscamerasrc camera pipeline
+                        for capture and encoding to an H264 mp4 file.
+
+-------------------------------------------------------------------------------
+Prerequisites:
+
+The development environment must include GStreamer libraries and OpenCV 3.3.1
+installed through JetPack.
+
+- GStreamer
+    Installation command:
+
+        sudo apt-get install libgstreamer1.0-0 gstreamer1.0-plugins-base \
+        gstreamer1.0-libav gstreamer1.0-plugins-good gstreamer1.0-plugins-bad \
+        gstreamer1.0-plugins-ugly gstreamer1.0-tools gstreamer1.0-alsa
+
+- OpenCV 3.3.1
+    JetPack builds OpenCV with GStreamer enabled. To verify GStreamer support,
+    run on python shell:
+
+        >>> import cv2
+        >>> print (cv2.getBuildInformation())
+
+    GStreamer flags should be enabled in the output.
+
+        >>>
+        General configuration for OpenCV 3.3.1 ================================
+          Version control:               3.3.1-2-g31ccdfe11
+
+          Platform:
+            Timestamp:                   2019-02-06T09:45:58Z
+            Host:                        Linux 4.9.140-tegra aarch64
+            CMake:                       2.8.12.2
+            CMake generator:             Unix Makefiles
+            CMake build tool:            /usr/bin/make
+            Configuration:               Release
+          ...
+          ...
+          ...
+
+          Video I/O:
+            DC1394 1.x:                  NO
+            DC1394 2.x:                  NO
+            FFMPEG:                      YES
+              avcodec:                   YES (ver 57.107.100)
+              avformat:                  YES (ver 57.83.100)
+              avutil:                    YES (ver 55.78.100)
+              swscale:                   YES (ver 4.8.100)
+              avresample:                NO
+            GStreamer:
+              base:                      YES (ver 1.14.1)
+              video:                     YES (ver 1.14.1)
+              app:                       YES (ver 1.14.1)
+              riff:                      YES (ver 1.14.1)
+              pbutils:                   YES (ver 1.14.1)
+            OpenNI:                      NO
+          ...
+          ...
+          ...
+          Install path:                  /usr
+
+          cvconfig.h is in:              /tmp/build_opencv/build
+
+-------------------------------------------------------------------------------
+Compliation:
+
+Each sample directory contains a makefile to build the respective application.
+The command is:
+
+    cd opencv-sample-apps/[SAMPLE_DIR]
+    make
+
+    Example:
+        $ cd opencv-sample-apps/opencv_camera
+        $ make
+
+-------------------------------------------------------------------------------
+Execution:
+
+To run each sample:
+
+- opencv_camera:
+    $ ./opencv_nvgstcam [--Options]
+        --h help            : Use case help
+        --width             : capture width
+        --height            : capture height
+        --fps               : Frames per second
+    Example:
+        $ ./opencv_nvgstcam --width=1920 --height=1080 --fps=30
+
+- opencv_decoder:
+    $ ./opencv_nvgstdec [--Options]
+        --help -h           : Use case help
+        --file-path         : Absolute path of file to be decoded
+        --show-fps          : Display number of frames decoded per second
+                            from GStreamer pipeline
+    Example:
+        $ ./opencv_nvgstdec --file-path=[_FILEPATH_]
+
+-opencv_encoder
+    $ ./opencv_nvgstenc [--Options]
+        --h help            : Use case help
+        --width             : capture width
+        --height            : capture height
+        --fps               : Frames per second
+        --filename          : Target H264 encoded filename
+        --time              : Duration for capture in seconds
+    Example:
+        $ ./opencv_nvgstenc --width=1920 --height=1080 --fps=30 --time=60
+            --filename= test_h264_1080p_30fps.mp4

opencv-sample-apps/Rules.mk

@@ -0,0 +1,93 @@
+###############################################################################
+#
+# Copyright (c) 2020, NVIDIA CORPORATION. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in the
+#    documentation and/or other materials provided with the distribution.
+#  * Neither the name of NVIDIA CORPORATION nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
+# EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+# PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE COPYRIGHT OWNER OR
+# CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+# EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+# PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+# PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
+# OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+# (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+#
+###############################################################################
+
+# Clear the flags from env
+CPPFLAGS :=
+LDFLAGS :=
+
+# Verbose flag
+ifeq ($(VERBOSE), 1)
+AT =
+else
+AT = @
+endif
+
+# ARM ABI of the target platform
+ifeq ($(TEGRA_ARMABI),)
+TEGRA_ARMABI ?= aarch64-linux-gnu
+endif
+
+# Location of the target rootfs
+ifeq ($(shell uname -m), aarch64)
+TARGET_ROOTFS :=
+else
+ifeq ($(TARGET_ROOTFS),)
+$(error Please specify the target rootfs path if you are cross-compiling)
+endif
+endif
+
+# Use absolute path for better access from everywhere
+TOP_DIR := $(shell pwd | awk '{split($$0, f, "/opencv\-sample\-apps"); print f[1]}')
+
+ifeq ($(shell uname -m), aarch64)
+CROSS_COMPILE :=
+else
+CROSS_COMPILE ?= aarch64-unknown-linux-gnu-
+endif
+AS             = $(AT) $(CROSS_COMPILE)as
+LD             = $(AT) $(CROSS_COMPILE)ld
+CC             = $(AT) $(CROSS_COMPILE)gcc
+CPP            = $(AT) $(CROSS_COMPILE)g++
+AR             = $(AT) $(CROSS_COMPILE)ar
+NM             = $(AT) $(CROSS_COMPILE)nm
+STRIP          = $(AT) $(CROSS_COMPILE)strip
+OBJCOPY        = $(AT) $(CROSS_COMPILE)objcopy
+OBJDUMP        = $(AT) $(CROSS_COMPILE)objdump
+
+# Specify the logical root directory for headers and libraries.
+ifneq ($(TARGET_ROOTFS),)
+CPPFLAGS += --sysroot=$(TARGET_ROOTFS)
+LDFLAGS += \
+	-Wl,-rpath-link=$(TARGET_ROOTFS)/usr/lib \
+	-Wl,-rpath-link=$(TARGET_ROOTFS)/lib/$(TEGRA_ARMABI) \
+	-Wl,-rpath-link=$(TARGET_ROOTFS)/usr/lib/$(TEGRA_ARMABI)/gstreamer-1.0
+endif
+
+# All common header files
+CPPFLAGS += -std=c++11 \
+	-I"$(TARGET_ROOTFS)/usr/include/$(TEGRA_ARMABI)" \
+	-I"$(TARGET_ROOTFS)/usr/include/opencv4"
+
+# All common dependent libraries
+LDFLAGS += \
+	-lpthread -lopencv_core -lopencv_highgui -lopencv_videoio -lopencv_imgproc \
+	-L"$(TARGET_ROOTFS)/usr/lib" \
+	-L"$(TARGET_ROOTFS)/usr/lib/$(TEGRA_ARMABI)" \
+	-L"$(TARGET_ROOTFS)/usr/lib/$(TEGRA_ARMABI)/gstreamer-1.0"

opencv-sample-apps/opencv_camera/Makefile

@@ -0,0 +1,51 @@
+###############################################################################
+#
+# Copyright (c) 2019, NVIDIA CORPORATION. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in the
+#    documentation and/or other materials provided with the distribution.
+#  * Neither the name of NVIDIA CORPORATION nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
+# EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+# PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE COPYRIGHT OWNER OR
+# CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+# EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+# PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+# PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
+# OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+# (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+#
+###############################################################################
+
+include ../Rules.mk
+
+APP := opencv_nvgstcam
+
+SRCS := \
+	opencv_gst_camera.cpp
+
+OBJS := $(SRCS:.cpp=.o)
+
+all: $(APP)
+
+%.o: %.cpp
+	@echo "Compiling: $<"
+	$(CPP) $(CPPFLAGS) -c $<
+
+$(APP): $(OBJS)
+	@echo "Linking: $@"
+	$(CPP) -o $@ $(OBJS) $(CPPFLAGS) $(LDFLAGS)
+
+clean:
+	$(AT)rm -rf $(APP) $(OBJS)

opencv-sample-apps/opencv_camera/opencv_gst_camera.cpp

@@ -0,0 +1,144 @@
+/*
+ * Copyright (c) 2019, NVIDIA CORPORATION. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *  * Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ *  * Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the distribution.
+ *  * Neither the name of NVIDIA CORPORATION nor the names of its
+ *    contributors may be used to endorse or promote products derived
+ *    from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+ * PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE COPYRIGHT OWNER OR
+ * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+ * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+ * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+ * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
+ * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include <iostream>
+#include <string>
+#include <sstream>
+#include <chrono>
+#include <opencv2/core/core.hpp>
+#include <opencv2/videoio/videoio.hpp>
+#include <opencv2/highgui/highgui.hpp>
+#include <opencv2/imgproc/imgproc.hpp>
+
+static std::string create_capture (int width, int height, int fps);
+
+static void help()
+{
+    std::cout << "\nThis is a sample OpenCV application to demonstrate "
+    "CSI-camera capture pipeline for NVIDIA accelerated GStreamer.\n\n"
+    "./opencv_nvgstcam [--Options]\n\n"
+    "OPTIONS:\n"
+    "\t-h,--help            Prints this message\n"
+    "\t--width              Capture width [Default = 1280]\n"
+    "\t--height             Capture height [Default = 720]\n"
+    "\t--fps                Frames per second [Default = 30]\n"
+    "\tq                    Runtime command to stop capture\n\n"
+    << std::endl;
+
+}
+
+static std::string create_capture (int width, int height, int fps)
+{
+    std::stringstream pipeline_str;
+    pipeline_str << "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 ! video/x-raw, format=(string)I420 ! videoconvert"
+        " ! video/x-raw, format=(string)BGR ! appsink ";
+
+    return pipeline_str.str();
+}
+
+int main(int argc, char const *argv[])
+{
+    unsigned int fps;
+    int width;
+    int height;
+    int return_val = 0;
+    double fps_calculated;
+    cv::VideoCapture capture;
+    cv::Mat frame;
+    cv::TickMeter ticks;
+
+    const std::string keys =
+    "{h help         |     | message }"
+    "{width          |1280 | width }"
+    "{height         |720  | height }"
+    "{fps            |30   | frame per second }"
+    ;
+
+    cv::CommandLineParser cmd_parser(argc, argv, keys);
+
+    if (cmd_parser.has("help"))
+    {
+        help();
+        goto cleanup;
+    }
+
+    fps = cmd_parser.get<unsigned int>("fps");
+    width = cmd_parser.get<int>("width");
+    height = cmd_parser.get<int>("height");
+
+    if (!cmd_parser.check())
+    {
+        cmd_parser.printErrors();
+        help();
+        return_val = -1;
+        goto cleanup;
+    }
+
+    capture.open(create_capture(width, height, fps), cv::CAP_GSTREAMER);
+
+    if (!capture.isOpened())
+    {
+        std::cerr << "Failed to open VideoCapture" << std::endl;
+        return_val = -4;
+        goto cleanup;
+    }
+
+    while (true)
+    {
+        ticks.start();
+        capture >> frame;
+
+        // computations
+        cv::imshow("Capture Window", frame);
+        int key = cv::waitKey(1);
+
+        // 'q' for termination
+        if (key == 'q' )
+        {
+            break;
+        }
+        ticks.stop();
+    }
+
+    if (ticks.getCounter() == 0)
+    {
+        std::cerr << "No frames processed" << std::endl;
+        return_val = -10;
+        goto cleanup;
+    }
+
+    fps_calculated = ticks.getCounter() / ticks.getTimeSec();
+    std::cout << "Fps observed " << fps_calculated << std::endl;
+
+cleanup:
+    capture.release();
+    return return_val;
+}

opencv-sample-apps/opencv_decoder/Makefile

@@ -0,0 +1,51 @@
+###############################################################################
+#
+# Copyright (c) 2019, NVIDIA CORPORATION. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in the
+#    documentation and/or other materials provided with the distribution.
+#  * Neither the name of NVIDIA CORPORATION nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
+# EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+# PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE COPYRIGHT OWNER OR
+# CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+# EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+# PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+# PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
+# OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+# (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+#
+###############################################################################
+
+include ../Rules.mk
+
+APP := opencv_nvgstdec
+
+SRCS := \
+	opencv_gst_decoder.cpp
+
+OBJS := $(SRCS:.cpp=.o)
+
+all: $(APP)
+
+%.o: %.cpp
+	@echo "Compiling: $<"
+	$(CPP) $(CPPFLAGS) -c $<
+
+$(APP): $(OBJS)
+	@echo "Linking: $@"
+	$(CPP) -o $@ $(OBJS) $(CPPFLAGS) $(LDFLAGS)
+
+clean:
+	$(AT)rm -rf $(APP) $(OBJS)

opencv-sample-apps/opencv_decoder/opencv_gst_decoder.cpp

@@ -0,0 +1,197 @@
+/*
+ * Copyright (c) 2020, NVIDIA CORPORATION. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *  * Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ *  * Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the distribution.
+ *  * Neither the name of NVIDIA CORPORATION nor the names of its
+ *    contributors may be used to endorse or promote products derived
+ *    from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+ * PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE COPYRIGHT OWNER OR
+ * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+ * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+ * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+ * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
+ * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include <iostream>
+#include <string>
+#include <sstream>
+#include <pthread.h>
+#include <queue>
+#include <opencv2/core/core.hpp>
+#include <opencv2/videoio/videoio.hpp>
+#include <opencv2/highgui/highgui.hpp>
+#include <opencv2/imgproc/imgproc.hpp>
+
+void * display_thread(void *);
+
+bool capture_complete = false;
+pthread_mutex_t lock;
+pthread_t displayThread;
+std::queue<cv::Mat> frame_queue;
+
+static void help()
+{
+    std::cout << "\nThis is a sample OpenCV application to demonstrate the "
+    "usage of NVIDIA accelerated GStreamer to decode an mp4 H264 container "
+    "file for VideoCapture\n\n"
+    "./opencv_nvgstdec --file-path=<file_name>\n\n"
+    "OPTIONS:\n"
+    "\t-h,--help            Prints this message.\n"
+    "\t--file-path          Absolute path of file.\n"
+    "\t--show-fps[=true]    Option to display framerate from VideoCapture.\n\n"
+    << std::endl;
+
+}
+
+static std::string create_capture(std::string filename)
+{
+    std::stringstream pipeline;
+    pipeline << "filesrc location= "
+        << filename << " !  qtdemux ! h264parse ! nvv4l2decoder ! nvvidconv ! "
+        "video/x-raw, format=(string)I420 ! appsink drop=true sync=false ";
+
+    return pipeline.str();
+}
+
+void * display_thread(void *)
+{
+    if (capture_complete)
+    {
+        std::cout << "End of stream" << std::endl;
+        return NULL;
+    }
+    while (true)
+    {
+        cv::Mat display_frame;
+        if (frame_queue.empty() && capture_complete)
+        {
+            break;
+        }
+        pthread_mutex_lock(&lock);
+        if (!frame_queue.empty())
+        {
+            display_frame = frame_queue.front();
+            frame_queue.pop();
+        }
+        pthread_mutex_unlock(&lock);
+        if (!display_frame.empty())
+        {
+            cv::imshow("Display Window", display_frame);
+            cv::waitKey(1);
+        }
+    }
+    return NULL;
+}
+
+int main(int argc, char *argv[])
+{
+    int count = 0;
+    int return_val = 0;
+    bool fps_display;
+    double fps_captured;
+    std::string filename;
+    cv::VideoCapture capture;
+    cv::TickMeter tick_in_loop;
+    cv::Mat frame;
+
+    pthread_mutex_init(&lock, NULL);
+    cv::CommandLineParser parser(argc, argv,
+        "{help h||}"
+        "{file-path||}"
+        "{show-fps||}"
+    );
+
+    if (parser.has("help"))
+    {
+        help();
+        goto cleanup;
+    }
+
+    filename = parser.get<std::string>("file-path");
+    fps_display = parser.has("show-fps");
+
+    if (!parser.check())
+    {
+        parser.printErrors();
+        return_val = -1;
+        goto cleanup;
+    }
+    if(filename.empty())
+    {
+        std::cout << "ERROR: Input file is required" << std::endl;
+        help ();
+        return_val = -1;
+        goto cleanup;
+    }
+
+    capture.open(create_capture(filename), cv::CAP_GSTREAMER);
+
+    if (!capture.isOpened())
+    {
+        std::cerr << "Failed to open VideoCapture" << std::endl;
+        return_val = -4;
+        goto cleanup;
+    }
+
+    pthread_create(&displayThread, NULL, display_thread, NULL);
+
+    while (true)
+    {
+        tick_in_loop.start();
+        capture.read(frame);
+
+        if (frame.empty())
+        {
+            break;
+        }
+        cv::Mat bgr;
+        cv::cvtColor(frame, bgr, cv::COLOR_YUV2BGR_I420);
+
+        pthread_mutex_lock(&lock);
+
+        frame_queue.push(bgr);
+
+        pthread_mutex_unlock (&lock);
+
+        count++;
+        tick_in_loop.stop();
+
+    }
+    capture_complete = true;
+    pthread_join(displayThread, NULL);
+
+    fps_captured = capture.get(cv::CAP_PROP_FPS);
+    std::cout << "Display FPS "<< fps_captured << std::endl;
+
+    if (tick_in_loop.getCounter() == 0)
+    {
+        std::cerr << "No frames processed" << std::endl;
+        return_val = -10;
+        goto cleanup;
+    }
+
+    if (fps_display)
+    {
+        double fps_calculated = tick_in_loop.getCounter() / tick_in_loop.getTimeSec();
+        std::cout << "Captured Fps : " << fps_calculated << std::endl;
+    }
+
+cleanup:
+    capture.release();
+    pthread_mutex_destroy(&lock);
+    return return_val;
+}

opencv-sample-apps/opencv_encoder/Makefile

@@ -0,0 +1,51 @@
+###############################################################################
+#
+# Copyright (c) 2019, NVIDIA CORPORATION. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in the
+#    documentation and/or other materials provided with the distribution.
+#  * Neither the name of NVIDIA CORPORATION nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
+# EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+# PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE COPYRIGHT OWNER OR
+# CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+# EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+# PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+# PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
+# OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+# (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+#
+###############################################################################
+
+include ../Rules.mk
+
+APP := opencv_nvgstenc
+
+SRCS := \
+	opencv_gst_encoder.cpp
+
+OBJS := $(SRCS:.cpp=.o)
+
+all: $(APP)
+
+%.o: %.cpp
+	@echo "Compiling: $<"
+	$(CPP) $(CPPFLAGS) -c $<
+
+$(APP): $(OBJS)
+	@echo "Linking: $@"
+	$(CPP) -o $@ $(OBJS) $(CPPFLAGS) $(LDFLAGS)
+
+clean:
+	$(AT)rm -rf $(APP) $(OBJS)

opencv-sample-apps/opencv_encoder/opencv_gst_encoder.cpp

@@ -0,0 +1,175 @@
+/*
+ * Copyright (c) 2019, NVIDIA CORPORATION. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *  * Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ *  * Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the distribution.
+ *  * Neither the name of NVIDIA CORPORATION nor the names of its
+ *    contributors may be used to endorse or promote products derived
+ *    from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+ * PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE COPYRIGHT OWNER OR
+ * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+ * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+ * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+ * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
+ * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include <iostream>
+#include <string>
+#include <sstream>
+#include <opencv2/core/core.hpp>
+#include <opencv2/videoio/videoio.hpp>
+#include <opencv2/highgui/highgui.hpp>
+#include <opencv2/imgproc/imgproc.hpp>
+
+static void help()
+{
+    std::cout << "\nThis is a sample OpenCV application to demonstrate usage "
+    "of NVIDIA accelerated GStreamer to encode CSI camera capture in an H264 "
+    "mp4 container file.\n\n"
+    "./opencv_nvgstenc [--Options]\n\n"
+    "OPTIONS:\n"
+    "\t-h,--help            Prints this message\n"
+    "\t--width              Capture width [Default = 1280]\n"
+    "\t--height             Capture height [Default = 720]\n"
+    "\t--fps                Frames per second [Default = 30]\n"
+    "\t--filename           Target H264 encoded mp4 filestream "
+                            "[Default = test_camera_h264.mp4]\n"
+    "\t--time               Duration for capture in seconds [Default = 10]\n\n"
+    << std::endl;
+}
+
+static std::string create_cap_pipeline (int width, int height, int fps,
+    unsigned int num_buffers)
+{
+    std::stringstream cap_pipeline_str;
+    cap_pipeline_str << "nvarguscamerasrc num-buffers="
+        << std::to_string(num_buffers) << " ! 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 ! "
+        "video/x-raw, format=(string)I420 ! videoconvert ! video/x-raw, "
+        "format=(string)BGR ! appsink";
+
+    return cap_pipeline_str.str();
+}
+
+static std::string create_out_pipeline (std::string filename)
+{
+    std::stringstream out_pipeline_str;
+    out_pipeline_str << "appsrc ! video/x-raw, format=(string)BGR ! "
+        "videoconvert ! video/x-raw, format=(string)I420 ! nvvidconv ! "
+        "video/x-raw(memory:NVMM), format=(string)NV12 ! nvv4l2h264enc ! "
+        "h264parse ! qtmux ! filesink location="
+        << filename << " ";
+
+    return out_pipeline_str.str();
+}
+
+int main(int argc, char const *argv[])
+{
+    unsigned int fps;
+    unsigned int time;
+    unsigned int num_buffers;
+    int width;
+    int height;
+    int return_val = 0;
+    double fps_calculated;
+    std::string filename;
+    std::string cap_pipeline;
+    std::string out_pipeline;
+    cv::VideoCapture capture;
+    cv::VideoWriter output;
+    cv::Mat frame;
+    cv::TickMeter ticks;
+
+    const std::string keys =
+    "{h help usage ?    |                       | message   }"
+    "{width             |1280                   | width }"
+    "{height            |720                    | height }"
+    "{fps               |30                     | fps (supported: fps > 0) }"
+    "{filename          |test_camera_h264.mp4   | h264 encoded filename }"
+    "{time              |10                     | capture time in seconds }"
+    ;
+
+    cv::CommandLineParser cmd_parser(argc, argv, keys);
+
+    if (cmd_parser.has("help"))
+    {
+        help();
+        goto cleanup;
+    }
+    fps = cmd_parser.get<unsigned int>("fps");
+    width = cmd_parser.get<int>("width");
+    height = cmd_parser.get<int>("height");
+    filename = cmd_parser.get<std::string>("filename");
+    time = cmd_parser.get<unsigned int>("time");
+    if (!cmd_parser.check())
+    {
+        cmd_parser.printErrors();
+        help();
+        return_val = -1;
+        goto cleanup;
+    }
+
+    num_buffers = fps * time;
+    cap_pipeline = create_cap_pipeline(width, height, fps, num_buffers);
+    out_pipeline = create_out_pipeline(filename);
+    capture.open(cap_pipeline, cv::CAP_GSTREAMER);
+    output.open(out_pipeline, cv::CAP_GSTREAMER, 0, capture.get(cv::CAP_PROP_FPS),
+        cv::Size(capture.get(cv::CAP_PROP_FRAME_WIDTH),
+        capture.get(cv::CAP_PROP_FRAME_HEIGHT)));
+
+    if (!capture.isOpened() || !output.isOpened())
+    {
+        std::cerr << "Failed to open VideoCapture/ VideoWriter" << std::endl;
+        return_val = -4;
+        goto cleanup;
+    }
+
+    while (true)
+    {
+        ticks.start();
+        capture >> frame;
+        if (frame.empty())
+        {
+            break;
+        }
+
+        // computations
+
+        output.write(frame);
+        cv::imshow("Capture Window", frame);
+        if (cv::waitKey(1) == 'q')
+        {
+            break;
+        }
+        ticks.stop();
+    }
+
+    if (ticks.getCounter() == 0)
+    {
+        std::cerr << "No frames processed" << std::endl;
+        return_val = -10;
+        goto cleanup;
+    }
+    fps_calculated = ticks.getCounter() / ticks.getTimeSec();
+    std::cout << "Fps observed: " << fps_calculated << std::endl;
+
+cleanup:
+    capture.release();
+    output.release();
+    return return_val;
+}

push_info.txt

@@ -0,0 +1 @@
+jetson_36.4