CUDA Accelerated GStreamer Camera Undistort - Examples - Other pipelines
| CUDA Accelerated GStreamer Camera Undistort |
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This page showcases basic usage examples of the cudaundistort element, most of these pipelines can be automatically generated by this tool.
The CAMERA_MATRIX and DISTORTION_PARAMETERS are specific for each camera and lens, they can vary from devices even when using the same configuration from the same manufacturer, for more information on how to set these values, consult the Camera Calibration wiki.
Undistortion on camera input
For Undistortion on Jetpack 5+, NVMM support is a work in progress, so the pipelines need to have caps before the Undistort element that are of type "video/x-raw".
For Jetpack 4.n
export CAPS="video/x-raw(memory:NVMM)"
For Jetpack 5.n
export CAPS="video/x-raw"
Saving Undistort output to MP4
CAMERA_MATRIX="{\"fx\":9.5211633874478218e+02, \"fy\":9.4946222068253201e+02, \"cx\":6.8041416457132573e+02, \"cy\":3.1446117133659988e+02}"
DISTORTION_PARAMETERS="{\"k1\":2.1107496349546324e+01, \"k2\":-2.4383787227376064e+02, \"p1\":-2.4875466379420917e-03, \"p2\":2.2798038164244493e-03, \"k3\":5.9419414118252871e+02, \"k4\":2.1085235633925034e+01, \"k5\":-2.4360553937983042e+02, \"k6\":5.9359831515760391e+02}"
OUTVIDEO=/tmp/undistort_result.mp4
gst-launch-1.0 nvarguscamerasrc \
! nvvidconv ! $CAPS \
! cudaundistort distortion-model=brown-conrady camera-matrix="$CAMERA_MATRIX" distortion-parameters="$DISTORTION_PARAMETERS" \
! nvvidconv ! nvv4l2h264enc bitrate=20000000 ! h264parse ! mp4mux ! filesink location=$OUTVIDEO
Displaying the Undistort output
CAMERA_MATRIX="{\"fx\":9.5211633874478218e+02, \"fy\":9.4946222068253201e+02, \"cx\":6.8041416457132573e+02, \"cy\":3.1446117133659988e+02}"
DISTORTION_PARAMETERS="{\"k1\":2.1107496349546324e+01, \"k2\":-2.4383787227376064e+02, \"p1\":-2.4875466379420917e-03, \"p2\":2.2798038164244493e-03, \"k3\":5.9419414118252871e+02, \"k4\":2.1085235633925034e+01, \"k5\":-2.4360553937983042e+02, \"k6\":5.9359831515760391e+02}"
gst-launch-1.0 nvarguscamerasrc \
! nvvidconv ! $CAPS \
! cudaundistort distortion-model=brown-conrady camera-matrix="$CAMERA_MATRIX" distortion-parameters="$DISTORTION_PARAMETERS" \
! nvvidconv ! nvoverlaysink
Dumping output to fakesink
CAMERA_MATRIX="{\"fx\":9.5211633874478218e+02, \"fy\":9.4946222068253201e+02, \"cx\":6.8041416457132573e+02, \"cy\":3.1446117133659988e+02}"
DISTORTION_PARAMETERS="{\"k1\":2.1107496349546324e+01, \"k2\":-2.4383787227376064e+02, \"p1\":-2.4875466379420917e-03, \"p2\":2.2798038164244493e-03, \"k3\":5.9419414118252871e+02, \"k4\":2.1085235633925034e+01, \"k5\":-2.4360553937983042e+02, \"k6\":5.9359831515760391e+02}"
gst-launch-1.0 nvarguscamerasrc \
! nvvidconv ! $CAPS \
! cudaundistort distortion-model=brown-conrady camera-matrix="$CAMERA_MATRIX" distortion-parameters="$DISTORTION_PARAMETERS" \
! nvvidconv ! fakesink
Streaming via UDP+RTP
Set the HOST variable to the Receiver's IP
CAMERA_MATRIX="{\"fx\":9.5211633874478218e+02, \"fy\":9.4946222068253201e+02, \"cx\":6.8041416457132573e+02, \"cy\":3.1446117133659988e+02}"
DISTORTION_PARAMETERS="{\"k1\":3.8939572818197948e-01, \"k2\":-5.5685725182648649e-01, \"k3\":2.3785352925072494e+00, \"k4\":-1.2037220289124213e+00}"
HOST=127.0.0.1
PORT=12345
# Sender
gst-launch-1.0 nvarguscamerasrc \
! nvvidconv ! $CAPS \
! cudaundistort distortion-model=fisheye camera-matrix="$CAMERA_MATRIX" distortion-parameters="$DISTORTION_PARAMETERS" \
! nvvidconv ! nvv4l2h264enc ! rtph264pay config-interval=10 ! queue ! udpsink host=$HOST port=$PORT
# Receiver gst-launch-1.0 udpsrc port=$PORT ! 'application/x-rtp, media=(string)video, encoding-name=(string)H264' ! queue ! rtph264depay ! avdec_h264 ! videoconvert ! xvimagesink