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<noinclude>
{{RidgeRun_Image_Projector/Head|previous=Examples|next=Performance|metakeywords=Image Stitching, CUDA, Stitcher, Projector, Equirectangular Projection, 360}}
</noinclude>


{{DISPLAYTITLE:Gstreamer pipelines examples|noerror}}
<table>
<tr>
<td><div class="clear; float:right">__TOC__</div></td>
<td valign=top>
{{GStreamer debug}}
</td>
</table>
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:
<syntaxhighlight lang=bash>
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
</syntaxhighlight>
For more information on how to set these values, visit [[RidgeRun_Image_Projector/User_Guide/Rrprojector | Rrprojector]] wiki page.
==Projection from cameras==
=== Saving a projection to mp4 ===
<syntaxhighlight lang=bash>
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
</syntaxhighlight>
==Projection from videos==
=== Saving a projection from MP4 videos ===
<syntaxhighlight lang=bash>
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
</syntaxhighlight>
==Projection from images==
=== Saving a projection from a JPEG image ===
==== Example pipeline for Jetson platforms====
<syntaxhighlight lang=bash>
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
</syntaxhighlight>
==== Example pipeline for X86====
<syntaxhighlight lang=bash>
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
</syntaxhighlight>
=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:
<syntaxhighlight lang=bash>
{
    "projections": [
        {
            "0": {
                "radius": 750.0,
                "lens": 187.0,
                "center_x": 993.0,
                "center_y": 762.0,
                "rot_x": 0.0,
                "rot_y": 0.0,
                "rot_z": -89.6,
                "fisheye": true
            }
        },
        {
            "1": {
                "radius": 750.3,
                "lens": 186.0,
                "center_x": 1044.0,
                "center_y": 776.0,
                "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
            }
        }
    ]
}
</syntaxhighlight>
The projection parameters and homography list is stored in the <code> parameters.json</code> 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 [[RidgeRun_Image_Projector/User_Guide/Rrprojector | Rrprojector]] and [[RidgeRun_Image_Projector/User_Guide/Calibration | Calibration]] wiki pages.
Save the projection parameters describe in the <code>parameters.json</code> in environment variables.
<syntaxhighlight lang=bash>
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
S1_rad=750.3
S1_LENS=186.0
S1_C_X=1044.0
S1_C_Y=776.0
S1_R_X=0.0
S1_R_Y=0.0
S0_R_Z=88.7
</syntaxhighlight>
== 360 Stitch from cameras ==
=== Saving a 360 stitch to MP4 ===
<syntaxhighlight lang=bash>
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 " "`" \
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=$S1_R_Y name=proj1 !  queue ! stitcher.sink_1 \
stitcher. ! queue ! nvvidconv ! nvv4l2h264enc bitrate=30000000 ! h264parse ! queue ! qtmux ! filesink location=$OUTPUT
</syntaxhighlight>
=== Displaying a 360 stitch ===
<syntaxhighlight lang=bash>
gst-launch-1.0 -e -v \ cudastitcher name=stitcher \
homography-list="`cat result.json | tr -d "\n" | 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=$S1_R_Y name=proj1 !  queue ! stitcher.sink_1 \
stitcher. ! queue ! nvvidconv ! xvimagesink
</syntaxhighlight>
== 360 Stitch from videos ==
=== Saving a 360 stitch from two MP4 videos  ===
<syntaxhighlight lang=bash>
INPUT_0=video_0.mp4
INPUT_1=video_1.mp4
OUTPUT=/tmp/360_stitching_result.mp4
gst-launch-1.0 -e -v \ cudastitcher name=stitcher \
homography-list="`cat result.json | tr -d "\n" | tr -d " "`" \
filesrc location=$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=$OUTPUT
</syntaxhighlight>
== 360 Stitch from images ==
=== Saving a 360 stitch from two JPEG images  ===
<syntaxhighlight lang=bash>
INPUT_0=video_0.jpeg
INPUT_1=video_1.jpeg
OUTPUT=/tmp/360_stitching_result.jpeg
gst-launch-1.0 -e -v \ cudastitcher name=stitcher \
homography-list="`cat result.json | tr -d "\n" | tr -d " "`" \
filesrc location=$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
</syntaxhighlight>
<noinclude>
{{RidgeRun_Image_Projector/Foot|Examples|Performance}}
</noinclude>
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