Hello all. We have a YUYV camera, we try to bring up. We convert it to RGB888 at a FPGA and stream CSI to jetson directly.
{ // 29.04.2019 Burak
MEDIA_BUS_FMT_RGB888_1X24,
V4L2_COLORSPACE_SRGB,
V4L2_PIX_FMT_RGB24,
},
But the camera is getting reported as;
nvidia@tegra-ubuntu:~$ v4l2-ctl --list-formats-ext
ioctl: VIDIOC_ENUM_FMT
Index : 0
Type : Video Capture
Pixel Format: 'AR24'
Name : 32-bit BGRA 8-8-8-8
and
nvidia@tegra-ubuntu:~$ v4l2-ctl --all
Driver Info (not using libv4l2):
Driver name : tegra-video
Card type : vi-output, ov5693 6-0036
Bus info : platform:54080000.vi:0
Driver version: 4.4.38
Capabilities : 0x84200001
Video Capture
Streaming
Extended Pix Format
Device Capabilities
Device Caps : 0x04200001
Video Capture
Streaming
Extended Pix Format
Priority: 2
Video input : 0 (Camera 0: ok)
Format Video Capture:
Width/Height : 1280/720
Pixel Format : 'AR24'
Field : None
Bytes per Line : 5120
Size Image : 3686400
Colorspace : sRGB
Transfer Function : Default
YCbCr Encoding : Default
Quantization : Default
Flags :
Camera Controls
frame_length (int) : min=0 max=32767 step=1 default=1984 value=1984 flags=slider
coarse_time (int) : min=2 max=32761 step=1 default=1978 value=1978 flags=slider
coarse_time_short (int) : min=2 max=32761 step=1 default=1978 value=1978 flags=slider
group_hold (intmenu): min=0 max=1 default=0 value=0
hdr_enable (intmenu): min=0 max=1 default=0 value=0
otp_data (str) : min=0 max=1024 step=2 value='000d210000000000c0fbe8ffc0ffffff001e00fbc0ffffff0000000000000000c080400200000000fc2c7a00c0ffffff200020000100000000402afbc0ffffffb07a2afbc0ffffffbcf71b00c0ffffff001e00fbc0ffffff4000000000000000c080400200000000fc2c7a00c0fffffffc2c7a00c0ffffff000000000000000002eb010000000000001e00fbc0ffffffe07a2afbc0ffffff00a05501c0ffffff607a2afbc0ffffff24a9b600c0ffffff58303f30c0ffffff2000200001000000070000000000000000863e30c0ffffffb07a2afbc0ffffffd4f71b00c0ffffff00903e30c0ffffff4000000000000000c080400200000000fc2c7a00c0fffffffc2c7a00c0ffffff000000000000000002eb010000000000a8950c00c0ffffffe07a2afbc0ffffffa82b1c00c0ffffff00402afbc0ffffff001e00fbc0ffffff207b2afbc0ffffff0cc8b600c0ffffff307b2afbc0ffffff6ccdb600c0ffffff007b2afbc0ffffffa8950c00c0ffffff507b2afbc0ffffffc87a7b00c0ffffff010000000000000000853e30c0ffffff000000000000000000853e30c0ffffff88303f30c0ffffffd0797b00c0ffffff507b2afbc0ffffff7c7a7b00c0ffffff907b2afbc0ffffff682d7a00c0ffffff18303f30c0ffffff80c14101c0ffffff2068c4f9c0ffffff58303f30c0ffffff000000000000000005209a0000000000' flags=read-only, has-payload
fuse_id (str) : min=0 max=16 step=2 value='f82a6100c0ffffff' flags=read-only, has-payload
gain (int) : min=256 max=4096 step=1 default=256 value=256 flags=slider
bypass_mode (intmenu): min=0 max=1 default=0 value=0
override_enable (intmenu): min=0 max=1 default=0 value=0
height_align (int) : min=1 max=16 step=1 default=1 value=1
size_align (intmenu): min=0 max=2 default=0 value=0
write_isp_format (bool) : default=0 value=0
sensor_signal_properties (u32) : min=0 max=0 step=0 default=0 flags=read-only, has-payload
sensor_image_properties (u32) : min=0 max=0 step=0 default=0 flags=read-only, has-payload
sensor_control_properties (u32) : min=0 max=0 step=0 default=0 flags=read-only, has-payload
sensor_dv_timings (u32) : min=0 max=0 step=0 default=0 flags=read-only, has-payload
sensor_modes (int) : min=0 max=30 step=1 default=30 value=1 flags=read-only
When we stream the camera with pipe;
gst-launch-1.0 v4l2src device=/dev/video0 ! video/x-raw,format=BGRA,width=1280,height=720 ! videoconvert ! omxh265enc qp-range=30,50:30,50:30,50 control-rate=1 bitrate=3000000 ! "video/x-h265, stream-format=(string)byte-stream" ! rtph265pay ! udpsink host=192.168.1.100 port=5600 sync=false async=false
and watch it with;
gst-launch-1.0 udpsrc port=5600 ! application/x-rtp, encoding-name=H265, payload=96 ! rtph265depay ! h265parse ! queue ! avdec_h265 ! fpsdisplaysink sync = false
We get 50 fps, the full fps of the camera. And the video is good.
When we set format=RGB instead of format=BGRA, the fps drops to around 37~38 fps.
I suspected it was because V4L really reports our format as BGRA, and got a frame with the v4l2-ctl command;
v4l2-ctl --set-fmt-video=width=1280,height=720 --set-ctrl bypass_mode=0 --stream-mmap --stream-count=100 -d /dev/video0 --stream-to=ov491.raw
RAW and opened it with a program named 7YUV that can open .raw images.
The image was fine if I selected BGRA8888. But when I tried to open it as RGB888, it got distorted.
When I checked the image as HEX’s, I saw it has 4 channels instead of 3, as I was suspected, it was BGRA8888 instead of RGB888. The 4th channel was just filled with FF values.
