Repair jetson xavier nx picture pure white problem

Jetson/Jetvariety/example/gstreamer-tools/utils.py

@@ -71,6 +71,13 @@ class ArducamUtils(object):
         v4l2.V4L2_PIX_FMT_SRGGB10:{ "depth":10, "cvt_code": cv2.COLOR_BAYER_BG2BGR, "convert2rgb": 0},
         v4l2.V4L2_PIX_FMT_Y10:{ "depth":10, "cvt_code": -1, "convert2rgb": 0},
     }
+    pixfmt_map_xavier_nx = {
+        v4l2.V4L2_PIX_FMT_SBGGR10:{ "depth":16, "cvt_code": cv2.COLOR_BAYER_RG2BGR, "convert2rgb": 0},
+        v4l2.V4L2_PIX_FMT_SGBRG10:{ "depth":16, "cvt_code": cv2.COLOR_BAYER_GR2BGR, "convert2rgb": 0},
+        v4l2.V4L2_PIX_FMT_SGRBG10:{ "depth":16, "cvt_code": cv2.COLOR_BAYER_GB2BGR, "convert2rgb": 0},
+        v4l2.V4L2_PIX_FMT_SRGGB10:{ "depth":16, "cvt_code": cv2.COLOR_BAYER_BG2BGR, "convert2rgb": 0},
+        v4l2.V4L2_PIX_FMT_Y10:{ "depth":16, "cvt_code": -1, "convert2rgb": 0},
+    }
 
     pixfmt_map_raw8 = {
         v4l2.V4L2_PIX_FMT_SBGGR8:{ "depth":8, "cvt_code": cv2.COLOR_BAYER_RG2BGR, "convert2rgb": 0},
@@ -119,6 +126,21 @@ class ArducamUtils(object):
     DEVICE_ID = 0x0030
 
     def __init__(self, device_num):
+        import subprocess
+        command = ['bash', '-c', 'source scripts/jetson_variables.sh && env']
+
+        proc = subprocess.Popen(command, stdout = subprocess.PIPE)
+        environment_vars = {}
+        for line in proc.stdout:
+            (key, _, value) = line.partition(b"=")
+            environment_vars[key] = value
+
+        proc.communicate() 
+
+        # Jetson Model
+        if b"Xavier NX" in environment_vars[b"JETSON_TYPE"].strip():
+            ArducamUtils.pixfmt_map = ArducamUtils.pixfmt_map_xavier_nx
+
         self.vd = open('/dev/video{}'.format(device_num), 'w')
         self.refresh()
 

Jetson/Jetvariety/example/scripts/jetson_libraries.sh

@@ -0,0 +1,121 @@
+#!/bin/bash
+# This file is part of the jetson_stats package (https://github.com/rbonghi/jetson_stats or http://rnext.it).
+# Copyright (c) 2020 Raffaello Bonghi.
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU Affero General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU Affero General Public License for more details.
+#
+# You should have received a copy of the GNU Affero General Public License
+# along with this program. If not, see <http://www.gnu.org/licenses/>.
+
+
+# Read CUDA version
+if [ -f /usr/local/cuda/version.txt ]; then
+    JETSON_CUDA=$(cat /usr/local/cuda/version.txt | sed 's/\CUDA Version //g')
+else
+    JETSON_CUDA="NOT_INSTALLED"
+fi
+# Jetson CUDA version
+export JETSON_CUDA
+
+# Read from OpenCV if is installed CUDA
+opencv_read_cuda()
+{
+    # Red if use CUDA or not
+    local OPENCV_VERSION_VERBOSE=$(opencv_version --verbose | grep "Use Cuda" )
+    if [ ! -z "$OPENCV_VERSION_VERBOSE" ]; then
+        # Read status of CUDA
+        local OPENCV_CUDA_FLAG=$(echo $OPENCV_VERSION_VERBOSE | cut -f2 -d ':' | cut -f2 -d ' ' )
+        if [ "$OPENCV_CUDA_FLAG" == "NO" ]; then
+            # Set NO if cuda is not installed
+            echo "NO"
+        else
+            # Set YES if cuda is installed
+            echo "YES"
+        fi
+        return
+    fi
+    # read NVIDIA CUDA version
+    OPENCV_VERSION_VERBOSE=$(opencv_version --verbose | grep "NVIDIA CUDA" )
+    if [ ! -z "$OPENCV_VERSION_VERBOSE" ]; then
+        # get information
+        local OPENCV_CUDA_FLAG=$(echo $OPENCV_VERSION_VERBOSE | cut -f2 -d ':')
+        OPENCV_CUDA_FLAG=${OPENCV_CUDA_FLAG//[[:blank:]]/}
+        # Set YES if cuda is installed
+        echo "YES"
+        return
+    fi
+    echo "NO"
+    return
+}
+
+if hash opencv_version 2>/dev/null; then
+    JETSON_OPENCV="$(opencv_version)"
+    # Read information about cuda status
+    JETSON_OPENCV_CUDA=$(opencv_read_cuda)
+else
+    JETSON_OPENCV="NOT_INSTALLED"
+    JETSON_OPENCV_CUDA="NO"
+fi
+# Opencv variables
+export JETSON_OPENCV
+export JETSON_OPENCV_CUDA
+
+# Extract cuDNN version
+JETSON_CUDNN=$(dpkg -l 2>/dev/null | grep -m1 "libcudnn")
+if [ ! -z "$JETSON_CUDNN" ] ; then
+    JETSON_CUDNN=$(echo $JETSON_CUDNN | sed 's/.*libcudnn[0-9] \([^ ]*\).*/\1/' | cut -d '-' -f1 )
+else
+    JETSON_CUDNN="NOT_INSTALLED"
+fi
+# Export NVIDIA CuDNN Library
+export JETSON_CUDNN
+
+# Extract TensorRT version
+JETSON_TENSORRT=$(dpkg -l 2>/dev/null | grep -m1 " tensorrt ")
+if [ ! -z "$JETSON_TENSORRT" ] ; then
+    JETSON_TENSORRT=$(echo $JETSON_TENSORRT | sed 's/.*tensorrt \([^ ]*\).*/\1/' | cut -d '-' -f1 )
+else
+    JETSON_TENSORRT="NOT_INSTALLED"
+fi
+# Export NVIDIA CuDNN TensorRT
+export JETSON_TENSORRT
+
+# Extract Visionworks version
+JETSON_VISIONWORKS=$(dpkg -l 2>/dev/null | grep -m1 "libvisionworks")
+if [ ! -z "$JETSON_VISIONWORKS" ] ; then
+    JETSON_VISIONWORKS=$(echo $JETSON_VISIONWORKS | sed 's/.*libvisionworks \([^ ]*\).*/\1/' )
+else
+    JETSON_VISIONWORKS="NOT_INSTALLED"
+fi
+# Export NVIDIA CuDNN VisionWorks
+export JETSON_VISIONWORKS
+
+# Extract VPI
+JETSON_VPI=$(dpkg -l 2>/dev/null | grep -m1 "vpi")
+if [ ! -z "$JETSON_VPI" ] ; then
+    JETSON_VPI=$(echo $JETSON_VPI | sed 's/.*vpi \([^ ]*\).*/\1/' )
+else
+    JETSON_VPI="NOT_INSTALLED"
+fi
+# Export VPI
+export JETSON_VPI
+
+# Vulkan
+JETSON_VULKAN_INFO=$(which vulkaninfo)
+if [ ! -z $JETSON_VULKAN_INFO ] ; then
+    JETSON_VULKAN_INFO=$($JETSON_VULKAN_INFO | grep -m1 "Vulkan Instance Version")
+    JETSON_VULKAN_INFO=$(echo $JETSON_VULKAN_INFO | sed 's/.*: \([^ ]*\).*/\1/' )
+else
+    JETSON_VULKAN_INFO="NOT_INSTALLED"
+fi
+# Export VPI
+export JETSON_VULKAN_INFO
+#EOF

Jetson/Jetvariety/example/scripts/jetson_variables.sh

@@ -0,0 +1,238 @@
+#!/bin/bash
+# This file is part of the jetson_stats package (https://github.com/rbonghi/jetson_stats or http://rnext.it).
+# Copyright (c) 2020 Raffaello Bonghi.
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU Affero General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU Affero General Public License for more details.
+#
+# You should have received a copy of the GNU Affero General Public License
+# along with this program. If not, see <http://www.gnu.org/licenses/>.
+
+
+# TODO Add enviroments variables:
+# - UID -> https://devtalk.nvidia.com/default/topic/996988/jetson-tk1/chip-uid/post/5100481/#5100481
+# - GCID, BOARD, EABI
+
+###########################
+#### JETPACK DETECTION ####
+###########################
+# Write version of jetpack installed
+# https://developer.nvidia.com/embedded/jetpack-archive
+jetson_jetpack()
+{
+    local JETSON_L4T=$1
+    local JETSON_JETPACK=""
+    case $JETSON_L4T in
+        "32.4.3") JETSON_JETPACK="4.4" ;;
+        "32.4.2") JETSON_JETPACK="4.4 DP" ;;
+        "32.3.1") JETSON_JETPACK="4.3" ;;
+        "32.2.3") JETSON_JETPACK="4.2.3" ;;
+        "32.2.1") JETSON_JETPACK="4.2.2" ;;
+        "32.2.0" | "32.2") JETSON_JETPACK="4.2.1" ;;
+        "32.1.0" | "32.1") JETSON_JETPACK="4.2" ;;
+        "31.1.0" | "31.1") JETSON_JETPACK="4.1.1" ;;
+        "31.0.2") JETSON_JETPACK="4.1" ;;
+        "31.0.1") JETSON_JETPACK="4.0" ;;
+        "28.2.1") JETSON_JETPACK="3.3 | 3.2.1" ;;
+        "28.2.0" | "28.2") JETSON_JETPACK="3.2" ;;
+        "28.1.0" | "28.1") JETSON_JETPACK="3.1" ;;
+        "27.1.0" | "27.1") JETSON_JETPACK="3.0" ;;
+        "24.2.1") JETSON_JETPACK="3.0 | 2.3.1" ;;
+        "24.2.0" | "24.2") JETSON_JETPACK="2.3" ;;
+        "24.1.0" | "24.1") JETSON_JETPACK="2.2.1 | 2.2" ;;
+        "23.2.0" | "23.2") JETSON_JETPACK="2.1" ;;
+        "23.1.0" | "23.1") JETSON_JETPACK="2.0" ;;
+        "21.5.0" | "21.5") JETSON_JETPACK="2.3.1 | 2.3" ;;
+        "21.4.0" | "21.4") JETSON_JETPACK="2.2 | 2.1 | 2.0 | 1.2 DP" ;;
+        "21.3.0" | "21.3") JETSON_JETPACK="1.1 DP" ;;
+        "21.2.0" | "21.2") JETSON_JETPACK="1.0 DP" ;;
+        *) JETSON_JETPACK="UNKNOWN" ;;
+    esac
+    # return type jetpack
+    echo $JETSON_JETPACK
+}
+
+###########################
+####  BOARD DETECTION  ####
+###########################
+# Detection NVIDIA Jetson
+# Jetson TK1 can be detected with chip id
+# Reference:
+# 1. https://docs.nvidia.com/jetson/l4t/index.html (Devices Supported by This Document)
+# 2. https://github.com/rbonghi/jetson_stats/issues/48
+# 3. https://github.com/rbonghi/jetson_stats/issues/57
+jetson_board()
+{
+    local JETSON_CHIP_ID=$1
+    local JETSON_BOARD=$2
+    local JETSON_TYPE=""
+    # Detection jetson board
+    case $JETSON_BOARD in
+        *2180*) JETSON_TYPE="TX1" ;;
+        P3310*) JETSON_TYPE="TX2" ;;
+        P3489-0080*) JETSON_TYPE="TX2 4GB" ;;
+        P3489*) JETSON_TYPE="TX2i" ;;
+        P2888-0006*) JETSON_TYPE="AGX Xavier [8GB]" ;;
+        P2888-0001*|P2888-0004*) JETSON_TYPE="AGX Xavier [16GB]" ;;
+        P2888*) JETSON_TYPE="AGX Xavier [32GB]" ;;
+        P3448-0002*) JETSON_TYPE="Nano" ;;
+        P3448*) JETSON_TYPE="Nano (Developer Kit Version)" ;;
+        P3668-0001*) JETSON_TYPE="Xavier NX" ;;
+        P3668*) JETSON_TYPE="Xavier NX (Developer Kit Version)" ;;
+        *) JETSON_TYPE="" ;;
+    esac
+    # if JETSON_TYPE empty, check CHIP_ID for jetson TK1
+    if [ -z "$JETSON_TYPE" ] ; then
+        if [ "$JETSON_CHIP_ID" == "64" ] ; then
+            JETSON_TYPE="TK1"
+        fi
+    fi
+    # Return board name
+    echo $JETSON_TYPE
+}
+###########################
+
+# Extract jetson chip id
+JETSON_CHIP_ID=""
+if [ -f /sys/module/tegra_fuse/parameters/tegra_chip_id ]; then
+    JETSON_CHIP_ID=$(cat /sys/module/tegra_fuse/parameters/tegra_chip_id)
+fi
+# Ectract type board
+JETSON_SOC=""
+if [ -f /proc/device-tree/compatible ]; then
+    # Extract the last part of name
+    JETSON_SOC=$(tr -d '\0' < /proc/device-tree/compatible | sed -e 's/.*,//')
+fi
+# Extract boardids if exists
+JETSON_BOARDIDS=""
+if [ -f /proc/device-tree/nvidia,boardids ]; then
+    JETSON_BOARDIDS=$(tr -d '\0' < /proc/device-tree/nvidia,boardids)
+fi
+
+# Code name
+JETSON_CODENAME=""
+JETSON_TYPE="UNKNOWN"
+JETSON_MODULE="UNKNOWN"
+JETSON_BOARD="UNKNOWN"
+list_hw_boards()
+{
+    # Extract from DTS the name of the boards available
+    # Reference:
+    # 1. https://unix.stackexchange.com/questions/251013/bash-regex-capture-group
+    # 2. https://unix.stackexchange.com/questions/144298/delete-the-last-character-of-a-string-using-string-manipulation-in-shell-script
+    local s=$1
+    local regex='p([0-9-]+)' # Equivalent to p([\d-]*-)
+    while [[ $s =~ $regex ]]; do
+        local board_name=$(echo "P${BASH_REMATCH[1]::-1}")
+        #echo $board_name
+        # Load jetson type
+        JETSON_TYPE=$(jetson_board $JETSON_CHIP_ID $board_name)
+        # If jetson type is not empty the module name is the same
+        if [ ! -z "$JETSON_TYPE" ] ; then
+            JETSON_MODULE=$board_name
+            echo "JETSON_TYPE=\"$JETSON_TYPE\""
+            echo "JETSON_MODULE=\"$JETSON_MODULE\""
+        else
+            JETSON_BOARD=$board_name
+            echo "JETSON_BOARD=\"$JETSON_BOARD\""
+        fi
+        # Find next match
+        s=${s#*"${BASH_REMATCH[1]}"}
+    done
+}
+# Read DTS file
+# 1. https://devtalk.nvidia.com/default/topic/1071080/jetson-nano/best-way-to-check-which-tegra-board/
+# 2. https://devtalk.nvidia.com/default/topic/1014424/jetson-tx2/identifying-tx1-and-tx2-at-runtime/
+# 3. https://devtalk.nvidia.com/default/topic/996988/jetson-tk1/chip-uid/post/5100481/#5100481
+if [ -f /proc/device-tree/nvidia,dtsfilename ]; then
+    # ..<something>/hardware/nvidia/platform/t210/porg/kernel-dts/tegra210-p3448-0000-p3449-0000-b00.dts
+    # The last third is the codename of the board
+    JETSON_CODENAME=$(tr -d '\0' < /proc/device-tree/nvidia,dtsfilename)
+    JETSON_CODENAME=$(echo ${JETSON_CODENAME#*"/hardware/nvidia/platform/"} | tr '/' '\n' | head -2 | tail -1 )
+    # The basename extract the board type
+    JETSON_DTS="$(tr -d '\0' < /proc/device-tree/nvidia,dtsfilename | sed 's/.*\///')"
+    # List of all boards
+    eval $(list_hw_boards "$JETSON_DTS")
+fi
+
+# Print description
+JETSON_MACHINE=""
+if [ ! -z "$JETSON_TYPE" ] ; then
+    JETSON_MACHINE="NVIDIA Jetson $JETSON_TYPE"
+fi
+# Export variables
+export JETSON_CHIP_ID
+export JETSON_SOC
+export JETSON_BOARDIDS
+export JETSON_CODENAME
+export JETSON_MODULE
+export JETSON_BOARD
+export JETSON_TYPE
+export JETSON_MACHINE
+
+# Write CUDA architecture
+# https://developer.nvidia.com/cuda-gpus
+# https://devtalk.nvidia.com/default/topic/988317/jetson-tx1/what-should-be-the-value-of-cuda_arch_bin/
+case $JETSON_TYPE in
+    *Xavier*) JETSON_CUDA_ARCH_BIN="7.2" ;;
+    TX2*) JETSON_CUDA_ARCH_BIN="6.2" ;;
+    TX1* | Nano*) JETSON_CUDA_ARCH_BIN="5.3" ;;
+    TK1) JETSON_CUDA_ARCH_BIN="3.2" ;;
+    * ) JETSON_CUDA_ARCH_BIN="NONE" ;;
+esac
+# Export Jetson CUDA ARCHITECTURE
+export JETSON_CUDA_ARCH_BIN
+
+# Serial number
+# https://devtalk.nvidia.com/default/topic/1055507/jetson-nano/nano-serial-number-/
+JETSON_SERIAL_NUMBER=""
+if [ -f /sys/firmware/devicetree/base/serial-number ]; then
+    JETSON_SERIAL_NUMBER=$(tr -d '\0' </sys/firmware/devicetree/base/serial-number)
+fi
+# Export NVIDIA Serial Number
+export JETSON_SERIAL_NUMBER
+
+# NVIDIA Jetson version
+# reference https://devtalk.nvidia.com/default/topic/860092/jetson-tk1/how-do-i-know-what-version-of-l4t-my-jetson-tk1-is-running-/
+# https://stackoverflow.com/questions/16817646/extract-version-number-from-a-string
+# https://askubuntu.com/questions/319307/reliably-check-if-a-package-is-installed-or-not
+# https://github.com/dusty-nv/jetson-inference/blob/7e81381a96c1ac5f57f1728afbfdec7f1bfeffc2/tools/install-pytorch.sh#L296
+if [ -f /etc/nv_tegra_release ]; then
+    # L4T string
+    # First line on /etc/nv_tegra_release 
+    # - "# R28 (release), REVISION: 2.1, GCID: 11272647, BOARD: t186ref, EABI: aarch64, DATE: Thu May 17 07:29:06 UTC 2018"
+    JETSON_L4T_STRING=$(head -n 1 /etc/nv_tegra_release)
+    # Load release and revision
+    JETSON_L4T_RELEASE=$(echo $JETSON_L4T_STRING | cut -f 2 -d ' ' | grep -Po '(?<=R)[^;]+')
+    JETSON_L4T_REVISION=$(echo $JETSON_L4T_STRING | cut -f 2 -d ',' | grep -Po '(?<=REVISION: )[^;]+')
+elif dpkg --get-selections | grep -q "^nvidia-l4t-core[[:space:]]*install$"; then
+    # Read version
+    JETSON_L4T_STRING=$(dpkg-query --showformat='${Version}' --show nvidia-l4t-core)
+    # extract version
+    JETSON_L4T_ARRAY=$(echo $JETSON_L4T_STRING | cut -f 1 -d '-')
+    # Load release and revision
+    JETSON_L4T_RELEASE=$(echo $JETSON_L4T_ARRAY | cut -f 1 -d '.')
+    JETSON_L4T_REVISION=${JETSON_L4T_ARRAY#"$JETSON_L4T_RELEASE."}
+else
+    # Load release and revision
+    JETSON_L4T_RELEASE="N"
+    JETSON_L4T_REVISION="N.N"
+fi
+# Write Jetson description
+JETSON_L4T="$JETSON_L4T_RELEASE.$JETSON_L4T_REVISION"
+# Export Release L4T
+export JETSON_L4T_RELEASE
+export JETSON_L4T_REVISION
+export JETSON_L4T
+
+JETSON_JETPACK=$(jetson_jetpack $JETSON_L4T)
+# Export Jetson Jetpack installed
+export JETSON_JETPACK
+# EOF