Connecting JETSON ORIN and Theta V to Use Live Images

THETA Media
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Currently, I have two Theta V cameras connected to a Jetson Orin via USB cables. When I run ./gst_viewer or gst-launch-1.0 thetauvcsrc mode=4K ! queue ! h264parse ! nvv4l2decoder ! queue ! nv3dsink sync=false in two separate terminals, I can display live images from both Theta V cameras in two windows.

I am struggling to set up a pipeline on Jetson Orin that can handle live video as data (using uvcthetasrc or other sources). Additionally, when I connect the Theta V cameras to the Orin, they are recognized as /dev/media* instead of /dev/video*, which I believe might be the issue.

(Note: My ultimate goal is to display these live images as image topics in RViz on Ubuntu 22.04/ROS2 Iron. So far, I have tried ros2_thetav and theta_driver, but I have not been able to get them to work.)

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Have you seen this article?

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Thank you very much for your prompt response. After various trials and errors, using the information from the link you provided, I was able to display live images from two Theta V cameras on RViz in ROS2 using the following pipeline and OpenCV!

thetauvcsrc mode=2K ! queue ! h264parse ! nvv4l2decoder ! queue ! nvvidconv ! video/x-raw, format=BGRx ! videoconvert ! video/x-raw, format=BGR ! queue ! appsink

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Thank you for this information.

I added your solution to this central document.

Please confirm that you are okay with the attribution.

The attribution includes your name used on this forum as well as a link to your company (intended to be a small form of promotion for your company).

Why did you convert the feed to BGRx and then to BGR?

To be honest, I am confused about the different video formats and do not understand the differences due to my limited knowledge of video.

I had thought that the THETA V output was Planar YUV.

$ v4l2-ctl --list-formats-ext
ioctl: VIDIOC_ENUM_FMT
	Index       : 0
	Type        : Video Capture
	Pixel Format: 'YU12'
	Name        : Planar YUV 4:2:0
		Size: Discrete 1920x960
			Interval: Discrete 0.033s (30.000 fps)

Do you need to convert the video into BGR format to input it into RViz?

Also, are you running two instances of thetauvcsrc, one process for each camera?

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I apologize for the delayed response due to the traditional Japanese summer holiday (Obon).

  • The attribution is absolutely fine. Thank you.

  • As for converting the feed from BGRx to BGR, to be honest, there isn’t any particular reason. I’m not entirely sure if this is the best approach. I tried it based on some information I found online, and it worked.

  • Regarding whether it’s necessary to convert the video to BGR format for input into RViz, I’m not certain yet because I haven’t had the chance to test other formats. If time permits, I’d like to experiment with formats like Planar YUV.

  • I believe I am running two instances of thetauvcsrc, one process for each camera. Since I’m running two ROS nodes, I assume both are being executed.

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