1.代码

jetson nano使用一个USB摄像头和一个CSI摄像头，通过两个按键控制切换，程序开始自动打开USB摄像头，按K1键切换为CSI，按K2又返回USB。代码有两个版本。

使用前先配置jetson nano 的c++ GPIO库，方法如下，第一版代码作者也是链接主人

Jetson Nano GPIO C++库的安装使用_shing_star的博客-CSDN博客

第一版：goto flag版

#include <memory>
#include <thread>#include <iostream>
#include <string>
#include <opencv4/opencv2/opencv.hpp>
#include <opencv4/opencv2/core.hpp>
#include <opencv4/opencv2/highgui.hpp>
#include <opencv4/opencv2/imgproc.hpp>
#include <opencv4/opencv2/objdetect.hpp>
#include <opencv4/opencv2/imgproc/types_c.h>
#include <opencv4/opencv2/videoio.hpp>#include <chrono>
#include <signal.h>
#include <JetsonGPIO.h>using namespace GPIO;
using namespace std;
using namespace cv;static bool end_this_program = false;inline void delay(int s)
{this_thread::sleep_for(chrono::seconds(s));
}void signalHandler(int s)
{end_this_program = true;
}
// 创建CSI管道
string gstreamer_pipeline(int capture_width, int capture_height, int display_width, int display_height, int framerate, int flip_method)
{return "nvarguscamerasrc ! video/x-raw(memory:NVMM), width=(int)" + to_string(capture_width) + ", height=(int)" +to_string(capture_height) + ", format=(string)NV12, framerate=(fraction)" + to_string(framerate) +"/1 ! nvvidconv flip-method=" + to_string(flip_method) + " ! video/x-raw, width=(int)" + to_string(display_width) + ", height=(int)" +to_string(display_height) + ", format=(string)BGRx ! videoconvert ! video/x-raw, format=(string)BGR ! appsink";
}int main(int argc, char** argv)
{   int a=0;signal(SIGINT, signalHandler);int csi_to_usb = 16; int usb_to_csi = 18; GPIO::setmode(GPIO::BOARD);GPIO::setup(csi_to_usb, GPIO::IN);GPIO::setup(usb_to_csi, GPIO::IN);while(1){if(a==0){flag1:cv::VideoCapture cap(1);namedWindow("USB Camera", WINDOW_AUTOSIZE);Mat img;while (true){  if (!cap.read(img)){std::cout << "未能成功调用摄像头" << std::endl;return -1;}int new_width, new_height, width, height, channel;width = img.cols;height = img.rows;channel = img.channels();cout << width << "  " << height << "  " << channel << endl;new_width = 800;if (width > 800){new_height = int(new_width * 1.0 / width * height);}resize(img, img, cv::Size(new_width, new_height));cv::imshow("USB Camera", img);int exit_value1 = GPIO::input(usb_to_csi);if (exit_value1 == 0)break;//int keycode = cv::waitKey(1);int keycode = cv::waitKey(1) & 0xff;if (keycode == 27)break;}cap.release();destroyAllWindows();goto flag2;        }else if (a==1){flag2:int capture_width = 640;int capture_height = 480;int display_width = 640;int display_height = 480;int framerate = 25;int flip_method = 0;//创建管道string pipeline = gstreamer_pipeline(capture_width,capture_height,display_width,display_height,framerate,flip_method);std::cout << "使用gstreamer管道: \n\t" << pipeline << "\n";//管道与视频流绑定VideoCapture cap(pipeline, CAP_GSTREAMER);if (!cap.isOpened()){std::cout << "打开摄像头失败." << std::endl;return (-1);}namedWindow("CSI Camera", WINDOW_AUTOSIZE);Mat img;//逐帧显示while (true){if (!cap.read(img)){std::cout << "捕获失败" << std::endl;break;}cv::imshow("CSI Camera", img);int exit_value2 = GPIO::input(csi_to_usb);if (exit_value2 == 0)break;int keycode = cv::waitKey(1) & 0xff;if (keycode == 27)break;}cap.release();destroyAllWindows();goto flag1;   }}GPIO::cleanup();return 0;
}

第二版： a赋值版

#include <memory>
#include <thread>#include <iostream>
#include <string>
#include <opencv4/opencv2/opencv.hpp>
#include <opencv4/opencv2/core.hpp>
#include <opencv4/opencv2/highgui.hpp>
#include <opencv4/opencv2/imgproc.hpp>
#include <opencv4/opencv2/objdetect.hpp>
#include <opencv4/opencv2/imgproc/types_c.h>
#include <opencv4/opencv2/videoio.hpp>#include <chrono>
#include <signal.h>
#include <JetsonGPIO.h>using namespace GPIO;
using namespace std;
using namespace cv;static bool end_this_program = false;inline void delay(int s)
{this_thread::sleep_for(chrono::seconds(s));
}void signalHandler(int s)
{end_this_program = true;
}
// 创建CSI管道
string gstreamer_pipeline(int capture_width, int capture_height, int display_width, int display_height, int framerate, int flip_method)
{return "nvarguscamerasrc ! video/x-raw(memory:NVMM), width=(int)" + to_string(capture_width) + ", height=(int)" +to_string(capture_height) + ", format=(string)NV12, framerate=(fraction)" + to_string(framerate) +"/1 ! nvvidconv flip-method=" + to_string(flip_method) + " ! video/x-raw, width=(int)" + to_string(display_width) + ", height=(int)" +to_string(display_height) + ", format=(string)BGRx ! videoconvert ! video/x-raw, format=(string)BGR ! appsink";
}int main(int argc, char** argv)
{   int a=0;signal(SIGINT, signalHandler);int csi_to_usb = 16; int usb_to_csi = 18; GPIO::setmode(GPIO::BOARD);GPIO::setup(csi_to_usb, GPIO::IN);GPIO::setup(usb_to_csi, GPIO::IN);while(1){if(a==0){flag1:cv::VideoCapture cap(1);namedWindow("USB Camera", WINDOW_AUTOSIZE);Mat img;while (true){  if (!cap.read(img)){std::cout << "未能成功调用摄像头" << std::endl;return -1;}int new_width, new_height, width, height, channel;width = img.cols;height = img.rows;channel = img.channels();cout << width << "  " << height << "  " << channel << endl;new_width = 800;if (width > 800){new_height = int(new_width * 1.0 / width * height);}resize(img, img, cv::Size(new_width, new_height));cv::imshow("USB Camera", img);int exit_value1 = GPIO::input(usb_to_csi);if (exit_value1 == 0)break;//int keycode = cv::waitKey(1);int keycode = cv::waitKey(1) & 0xff;if (keycode == 27)break;}cap.release();destroyAllWindows();a = 1;        }else if (a==1){flag2:int capture_width = 640;int capture_height = 480;int display_width = 640;int display_height = 480;int framerate = 25;int flip_method = 0;//创建管道string pipeline = gstreamer_pipeline(capture_width,capture_height,display_width,display_height,framerate,flip_method);std::cout << "使用gstreamer管道: \n\t" << pipeline << "\n";//管道与视频流绑定VideoCapture cap(pipeline, CAP_GSTREAMER);if (!cap.isOpened()){std::cout << "打开摄像头失败." << std::endl;return (-1);}namedWindow("CSI Camera", WINDOW_AUTOSIZE);Mat img;//逐帧显示while (true){if (!cap.read(img)){std::cout << "捕获失败" << std::endl;break;}cv::imshow("CSI Camera", img);int exit_value2 = GPIO::input(csi_to_usb);if (exit_value2 == 0)break;int keycode = cv::waitKey(1) & 0xff;if (keycode == 27)break;}cap.release();destroyAllWindows();a = 0;   }}GPIO::cleanup();return 0;

控制台编译

1. g++ -o two_camera two_camera.cpp -lJetsonGPIO -lpthread  `pkg-config --cflags --libs opencv42. ./two_camera

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Jetson Nano 按键切换摄像头

1.代码

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