首先，CSI摄像头和USB摄像头的调用方式是不一样的。
问题原因： 楼主就是刚开始接触这csi摄像头。用cv2.VideoCapture(0) / cv2.VideoCapture(1)一直报错，但是CSI摄像头和USB摄像头的调用方式是不一样的。cv2.VideoCapture(0) / cv2.VideoCapture(1)通常用于usb。
我这里有两种方法： 1、利用JetCam：JetCam是用于NVIDIA Jetson的易于使用的Python摄像头界面。 对JetCam有兴趣的可以查看下面连接（例程更多，细节更多） https://github.com/NVIDIA-AI-IOT/jetcam 2、利用opencv （我比较喜欢） 3、两种混合使用 参考： https://github.com/JetsonHacksNano/CSI-Camera
下面的例程都是利用python调用csi摄像头,并且在ubuntu上显示 （并非利用jupyterLab在浏览器上显示，如果需要显示在jupyterLab，则参考我上面提供的两个网站）
例一：使用JetCam+opencv 在ubuntu上显示
from jetcam.csi_camera import CSICamera import cv2 camera0 = CSICamera(capture_device=0, width=224, height=224) camera1 = CSICamera(capture_device=1, width=224, height=224) image0 = camera0.read() print(image0.shape) image1 = camera1.read() print(image1.shape) print(camera0.value.shape) print(camera1.value.shape) while 1: image0 = camera0.read() image1 = camera1.read() cv2.imshow("CSI Camera0", image0) cv2.imshow("CSI Camera1", image1) kk = cv2.waitKey(1) if kk == ord('q'): # 按下 q 键，退出 break例二：使用opencv 在ubuntu上显示 创建一个叫：csiCam.py
# MIT License # Copyright (c) 2019,2020 JetsonHacks # See license # A very simple code snippet # Using two CSI cameras (such as the Raspberry Pi Version 2) connected to a # NVIDIA Jetson Nano Developer Kit (Rev B01) using OpenCV # Drivers for the camera and OpenCV are included in the base image in JetPack 4.3+ # This script will open a window and place the camera stream from each camera in a window # arranged horizontally. # The camera streams are each read in their own thread, as when done sequentially there # is a noticeable lag # For better performance, the next step would be to experiment with having the window display # in a separate thread import cv2 import threading import numpy as np # gstreamer_pipeline returns a GStreamer pipeline for capturing from the CSI camera # Flip the image by setting the flip_method (most common values: 0 and 2) # display_width and display_height determine the size of each camera pane in the window on the screen left_camera = None right_camera = None class CSI_Camera: def __init__ (self) : # Initialize instance variables # OpenCV video capture element self.video_capture = None # The last captured image from the camera self.frame = None self.grabbed = False # The thread where the video capture runs self.read_thread = None self.read_lock = threading.Lock() self.running = False def open(self, gstreamer_pipeline_string): try: self.video_capture = cv2.VideoCapture( gstreamer_pipeline_string, cv2.CAP_GSTREAMER ) except RuntimeError: self.video_capture = None print("Unable to open camera") print("Pipeline: " + gstreamer_pipeline_string) return # Grab the first frame to start the video capturing self.grabbed, self.frame = self.video_capture.read() def start(self): if self.running: print('Video capturing is already running') return None # create a thread to read the camera image if self.video_capture != None: self.running=True self.read_thread = threading.Thread(target=self.updateCamera) self.read_thread.start() return self def stop(self): self.running=False self.read_thread.join() def updateCamera(self): # This is the thread to read images from the camera while self.running: try: grabbed, frame = self.video_capture.read() with self.read_lock: self.grabbed=grabbed self.frame=frame except RuntimeError: print("Could not read image from camera") # FIX ME - stop and cleanup thread # Something bad happened def read(self): with self.read_lock: frame = self.frame.copy() grabbed=self.grabbed return grabbed, frame def release(self): if self.video_capture != None: self.video_capture.release() self.video_capture = None # Now kill the thread if self.read_thread != None: self.read_thread.join() # Currently there are setting frame rate on CSI Camera on Nano through gstreamer # Here we directly select sensor_mode 3 (1280x720, 59.9999 fps) def gstreamer_pipeline( sensor_id=0, sensor_mode=3, capture_width=1280, capture_height=720, display_width=1280, display_height=720, framerate=30, flip_method=0, ): return ( "nvarguscamerasrc sensor-id=%d sensor-mode=%d ! " "video/x-raw(memory:NVMM), " "width=(int)%d, height=(int)%d, " "format=(string)NV12, framerate=(fraction)%d/1 ! " "nvvidconv flip-method=%d ! " "video/x-raw, width=(int)%d, height=(int)%d, format=(string)BGRx ! " "videoconvert ! " "video/x-raw, format=(string)BGR ! appsink" % ( sensor_id, sensor_mode, capture_width, capture_height, framerate, flip_method, display_width, display_height, ) ) def start_cameras(): left_camera = CSI_Camera() left_camera.open( gstreamer_pipeline( sensor_id=0, sensor_mode=3, flip_method=0, display_height=540, display_width=960, ) ) left_camera.start() right_camera = CSI_Camera() right_camera.open( gstreamer_pipeline( sensor_id=1, sensor_mode=3, flip_method=0, display_height=540, display_width=960, ) ) right_camera.start() cv2.namedWindow("CSI Cameras", cv2.WINDOW_AUTOSIZE) if ( not left_camera.video_capture.isOpened() or not right_camera.video_capture.isOpened() ): # Cameras did not open, or no camera attached print("Unable to open any cameras") # TODO: Proper Cleanup SystemExit(0) while cv2.getWindowProperty("CSI Cameras", 0) >= 0 : _ , left_image=left_camera.read() _ , right_image=right_camera.read() camera_images = np.hstack((left_image, right_image)) cv2.imshow("CSI Cameras", camera_images) # This also acts as keyCode = cv2.waitKey(30) & 0xFF # Stop the program on the ESC key if keyCode == 27: break left_camera.stop() left_camera.release() right_camera.stop() right_camera.release() cv2.destroyAllWindows() if __name__ == "__main__": start_cameras()python csiCam.py 注意：解析器推荐用python，而不是python3（3的话在博主这里有问题）。
