Error accessing camera connected to NVIDIA Jetson AGX ORIN 64 Gb development kit

I am trying to access camera connected to Nvidia Jeston AGX orin. The camera model is: See3CAM_CU135M_H03R1 (econsystem usb 3). The camera is working properly in Nvidia Jeston. But when i am trying to use it on matlab i am having the following output and error:

Checking for CUDA availability on the Target...

Checking for 'nvcc' in the target system path...

Checking for cuDNN library availability on the Target...

Checking for TensorRT library availability on the Target...

Checking for prerequisite libraries is complete.

Gathering hardware details...

Checking for third-party library availability on the Target...

Gathering hardware details is complete.

Board name : NVIDIA Jetson AGX Orin Developer Kit

CUDA Version : 12.2

cuDNN Version : 8.9

TensorRT Version : 8.6

GStreamer Version : 1.20.3

V4L2 Version : 1.22.1-2build1

SDL Version : 1.2

OpenCV Version : 4.8.0

Available Webcams : See3CAM_CU135M_H03R1

Available GPUs : Orin

Available Digital Pins : 7 11 12 13 15 16 18 19 21 22 23 24 26 29 31 32 33 35 36 37 38 40

Available Webcams:

1: See3CAM_CU135M_H03R1

Details of Webcam 1: See3CAM_CU135M_H03R1

Error initializing camera See3CAM_CU135M_H03R1: Gstreamer pipeline error. Make sure that the camera is not opened.

The code which i used is given below:

clear all
close all
clc

% Connect to the Jetson
hwJetson = jetson('10.134.169.67', 'JetsonCam', 'ws132');

% List the available webcams
webcams = hwJetson.WebcamList;

% Display the list of webcams
disp('Available Webcams:');
for i = 1:length(webcams)
    fprintf('%d: %s\n', i, webcams{i});
end

% Get detailed information about each webcam
for i = 1:length(webcams)
    camName = webcams{i};
    fprintf('\nDetails of Webcam %d: %s\n', i, camName);
    
    % Try to initialize the camera with a specific resolution and frame rate
    try
        % Initialize the camera with the default resolution and frame rate
        cam = camera(hwJetson, camName, [1280 720]); % Example resolution and frame rate
        
        % Display video modes supported by the camera
        videoModes = cam.AvailableResolutions;
        
        % Print available resolutions
        fprintf('Available Resolutions:\n');
        for j = 1:length(videoModes)
            fprintf('Resolution %d: %s\n', j, videoModes{j});
        end
        
        % Clean up
        clear cam;
    catch ME
        % Display an error message if the camera initialization fails
        fprintf('Error initializing camera %s: %s\n', camName, ME.message);
    end
end

[Ramakrishna Mandalapu]

Hi Avishek,

Can you let me know the MATLAB release you are using?

Also, please run the below command on Orin and provide the output.

$ v4l2-ctl --info -d <camera number> --list-formats-ext

Ramakrishna

[avishek]

i am running MATLAB '23.2.0.2409890 (R2023b) Update 3' on Windows 11 OS. when i run the command : v4l2-ctl --info -d /dev/video0 --list-formats-ext , i get the follwing output in Jetson kit:

Driver Info:

Driver name : uvcvideo

Card type : See3CAM_CU135M_H03R1

Bus info : usb-3610000.usb-3.2

Driver version : 5.15.122

Capabilities : 0x84a00001

Video Capture

Metadata Capture

Streaming

Extended Pix Format

Device Capabilities

Device Caps : 0x04200001

Video Capture

Streaming

Extended Pix Format

Media Driver Info:

Driver name : uvcvideo

Model : See3CAM_CU135M_H03R1

Serial : 141FCA08

Bus info : usb-3610000.usb-3.2

Media version : 5.15.122

Hardware revision: 0x00000000 (0)

Driver version : 5.15.122

Interface Info:

ID : 0x03000002

Type : V4L Video

Entity Info:

ID : 0x00000001 (1)

Name : See3CAM_CU135M_H03R1

Function : V4L2 I/O

Flags : default

Pad 0x01000007 : 0: Sink

Link 0x02000010: from remote pad 0x100000a of entity 'Extension 3' (Video Pixel Formatter): Data, Enabled, Immutable

ioctl: VIDIOC_ENUM_FMT

Type: Video Capture

[0]: 'GREY' (8-bit Greyscale)

Size: Discrete 4200x3120

Interval: Discrete 0.050s (20.000 fps)

Interval: Discrete 0.100s (10.000 fps)

Size: Discrete 1920x1080

Interval: Discrete 0.017s (60.000 fps)

Size: Discrete 3840x2160

Interval: Discrete 0.033s (30.000 fps)

Interval: Discrete 0.067s (15.000 fps)

Size: Discrete 1280x720

Interval: Discrete 0.017s (60.000 fps)

[1]: 'Y16 ' (16-bit Greyscale)

Size: Discrete 4200x3120

Interval: Discrete 0.143s (7.000 fps)

Size: Discrete 1920x1080

Interval: Discrete 0.033s (30.000 fps)

Size: Discrete 3840x2160

Interval: Discrete 0.091s (11.000 fps)

Size: Discrete 1280x720

Interval: Discrete 0.017s (60.000 fps)

Answer 1

[Ramakrishna Mandalapu]

Hi Avishek,

Thanks for the info.

Can you please check if you are able to access this camera via cheese or other applications.

From the v4l2-ctl output I can see that the camera supports GREY and Y16 pixel formats. GStreamer's v4l2 plugin won't support the above formats hence the issue. These are the formats that can be supported by v4l2 plugin to access the USB cameras.

video/x-raw
format: { (string)RGB16, (string)BGR, (string)RGB, (string)ABGR, (string)xBGR, (string)RGBA, (string)RGBx, (string)GRAY8, (string)GRAY16_LE, (string)GRAY16_BE, (string)YVU9, (string)YV12, (string)YUY2, (string)YVYU, (string)UYVY, (string)Y42B, (string)Y41B, (string)YUV9, (string)NV12_64Z32, (string)NV24, (string)NV61, (string)NV16, (string)NV21, (string)NV12, (string)I420, (string)ARGB, (string)xRGB, (string)BGRA, (string)BGRx, (string)BGR15, (string)RGB15 }
width: [ 1, 32768 ]
height: [ 1, 32768 ]
framerate: [ 0/1, 2147483647/1 ]

Our camera function uses GStreamer underneath, so can you try accessing your camera using webcam function instead of camera.

Thanks,

Ramakrishna