GStreamer pipelines examples

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Problems running the pipelines shown on this page? Please see our GStreamer Debugging guide for help.

In this page you can find basic pipeline examples usages for the rrprojector plug-in.

Equirectangular projections

For the examples below assume that there is a fisheye camera with the following projection parameters:

S0_rad=750.0
S0_LENS=187.0
S0_C_X=993.0
S0_C_Y=762.0
S0_R_X=0.0
S0_R_Y=0.0
S0_R_Z=-89.6

For more information on how to set these values, visit Rrprojector wiki page.

Projection from cameras

Saving a projection to mp4

gst-launch-1.0 nvarguscamerasrc sensor-id=0 ! nvvidconv ! "video/x-raw(memory:NVMM), width=1920, height=1080" ! queue ! rreqrprojector radius=$S0_rad lens=$S0_LENS center-x=$S0_C_X center-y=$S0_C_Y rot-x=$S0_R_X rot-y=$S0_R_Y ! nvvidconv ! nvv4l2h264enc bitrate=20000000 ! h264parse ! mp4mux ! filesink location=projection.mp4

Projection from videos

Saving a projection from MP4 videos

gst-launch-1.0 filesrc location=fisheye180.mp4 ! qtdemux ! h264parse ! nvv4l2decoder ! nvvidconv ! "video/x-raw(memory:NVMM), width=1920, height=1080, format=RGBA" ! queue ! rreqrprojector radius=$S0_rad lens=$S0_LENS center-x=$S0_C_X center-y=$S0_C_Y rot-x=$S0_R_X rot-y=$S0_R_Y ! nvvidconv ! nvv4l2h264enc bitrate=20000000 ! h264parse ! mp4mux ! filesink location=projection.mp4

Projection from images

Saving a projection from a JPEG image

Example pipeline for Jetson platforms
gst-launch-1.0 filesrc location=fisheye180.jpeg ! jpegdec ! nvvidconv ! queue !  rreqrprojector radius=$S0_rad lens=$S0_LENS center-x=$S0_C_X center-y=$S0_C_Y rot-x=$S0_R_X rot-y=$S0_R_Y  ! videoconvert ! queue !  jpegenc ! filesink location=proj0.jpeg
Example pipeline for X86
gst-launch-1.0 filesrc location=fisheye180.jpeg ! jpegdec ! videoconvert ! queue !  rreqrprojector radius=$S0_rad lens=$S0_LENS center-x=$S0_C_X center-y=$S0_C_Y rot-x=$S0_R_X rot-y=$S0_R_Y  ! videoconvert ! queue !  jpegenc ! filesink location=proj0.jpeg

360 Stitching

For the examples below assume that there are two inputs and the projection parameters and homographies are save in a file that looks like this:

{
    "projections": [
        {
            "0": {
                "radius": 750,
                "lens": 187.0,
                "center_x": 993,
                "center_y": 762,
                "rot_x": 0.0,
                "rot_y": 0.0,
                "rot_z": -89.6,
                "fisheye": true
            }
        },
        {
            "1": {
                "radius": 750,
                "lens": 186.0,
                "center_x": 1044,
                "center_y": 776,
                "rot_x": 0.0,
                "rot_y": 0.0,
                "rot_z": 88.7,
                "fisheye": true
            }
        }
    ],
    "homographies": [
        {
            "images": {
                "target": 1,
                "reference": 0
            },
            "matrix": {
                "h00": 1,
                "h01": 0,
                "h02": 0.0,
                "h10": 0,
                "h11": 1,
                "h12": 0,
                "h20": 0,
                "h21": 0,
                "h22": 1
            }
        }
    ]
}

The projection parameters and homography list is stored in the parameters.json file and contains projection parameters for N cameras and N-1 homographies for N cameras, for more information on how to set these values, visit Rrprojector and Calibration wiki pages.

Save the projection parameters describe in the parameters.json in environment variables.

S0_rad=750
S0_LENS=187.0
S0_C_X=993
S0_C_Y=762
S0_R_X=0.0
S0_R_Y=0.0
S0_R_Z=-89.6

S1_rad=750
S1_LENS=186
S1_C_X=1044
S1_C_Y=776
S1_R_X=0.0
S1_R_Y=0.0
S0_R_Z=88.7

360 Stitch from cameras

Saving a 360 stitch to MP4

OUTPUT=/tmp/360_stitching_result.mp4

gst-launch-1.0 -e -v cudastitcher name=stitcher \
	homography-list="`cat result.json | tr -d "\n" | tr -d "\t" | tr -d " "`" \
	nvarguscamerasrc sensor-id=0 ! nvvidconv ! rreqrprojector radius=$S0_rad lens=$S0_LENS center-x=$S0_C_X center-y=$S0_C_Y rot-x=$S0_R_X rot-y=$S0_R_Y rot-z=$S0_R_Z name=proj0 !  queue ! stitcher.sink_0 \
	nvarguscamerasrc sensor-id=1 ! nvvidconv ! rreqrprojector radius=$S1_rad lens=$S1_LENS center-x=$S1_C_X center-y=$S1_C_Y rot-x=$S1_R_X rot-y=$S1_R_Y name=proj1 !  queue ! stitcher.sink_1 \
	stitcher. ! queue ! nvvidconv ! nvv4l2h264enc bitrate=30000000 ! h264parse ! queue ! qtmux ! filesink location=$OUTPUT

Displaying a 360 stitch

gst-launch-1.0 -e -v cudastitcher name=stitcher \
	homography-list="`cat result.json | tr -d "\n" | tr -d "\t" | tr -d " "`" \
	nvarguscamerasrc sensor-id=0 ! nvvidconv ! rreqrprojector radius=$S0_rad lens=$S0_LENS center-x=$S0_C_X center-y=$S0_C_Y rot-x=$S0_R_X rot-y=$S0_R_Y rot-z=$S0_R_Z name=proj0 !  queue ! stitcher.sink_0 \
	nvarguscamerasrc sensor-id=1 ! nvvidconv ! rreqrprojector radius=$S1_rad lens=$S1_LENS center-x=$S1_C_X center-y=$S1_C_ rot-x=$S1_R_X rot-y=$S1_R_Y name=proj1 !  queue ! stitcher.sink_1 \
	stitcher. ! queue ! nvvidconv ! xvimagesink

360 Stitch from videos

Saving a 360 stitch from two MP4 videos

INPUT_0=video_0.mp4
INPUT_1=video_1.mp4

OUTPUT=/tmp/360_stitching_result.mp4

gst-launch-1.0 -e -v cudastitcher name=stitcher \
	homography-list="`cat result.json | tr -d "\n" | tr -d "\t" | tr -d " "`" \
	filesrc location=$INPUT_0 ! qtdemux ! queue ! h264parse ! nvv4l2decoder ! queue ! nvvidconv ! rreqrprojector radius=$S0_rad lens=$S0_LENS center-x=$S0_C_X center-y=$S0_C_Y rot-x=$S0_R_X rot-y=$S0_R_Y rot-z=$S0_R_Z name=proj0 !  queue ! stitcher.sink_0 \
	filesrc location=$INPUT_1 ! qtdemux ! queue ! h264parse ! nvv4l2decoder ! queue ! nvvidconv ! rreqrprojector radius=$S1_rad lens=$S1_LENS center-x=$S1_C_X center-y=$S1_C_ rot-x=$S1_R_X rot-y=$S1_R_Y name=proj1 !  queue ! stitcher.sink_1 \
	stitcher. ! queue ! nvvidconv ! nvv4l2h264enc bitrate=30000000 ! h264parse ! queue !  qtmux ! filesink location=$OUTPUT

360 Stitch from images

Saving a 360 stitch from two JPEG images

INPUT_0=video_0.jpeg
INPUT_1=video_1.jpeg

OUTPUT=/tmp/360_stitching_result.jpeg

gst-launch-1.0 -e -v cudastitcher name=stitcher \
	homography-list="`cat result.json | tr -d "\n" | tr -d "\t" | tr -d " "`" \
	filesrc location=$INPUT_0 ! jpegparse ! jpegdec ! nvvidconv ! rreqrprojector radius=$S0_rad lens=$S0_LENS center-x=$S0_C_X center-y=$S0_C_Y rot-x=$S0_R_X rot-y=$S0_R_Y rot-z=$S0_R_Z name=proj0 !  queue ! stitcher.sink_0 \
	filesrc location=$INPUT_1 ! jpegparse ! jpegdec ! nvvidconv ! rreqrprojector radius=$S1_rad lens=$S1_LENS center-x=$S1_C_X center-y=$S1_C_ rot-x=$S1_R_X rot-y=$S1_R_Y name=proj1 !  queue ! stitcher.sink_1 \
	stitcher. ! queue ! videoconvert ! jpegenc ! filesink location=$OUTPUT


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