Gstreamer pipelines examples
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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": 750.0,
"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
}
}
]
}
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=750.0 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
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 " "`" \ 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
Displaying a 360 stitch
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=$S1_R_Y name=proj1 ! queue ! stitcher.sink_1 \ stitcher. ! queue ! nvvidconv ! xvimagesink
360 Stitch from videos
Saving a 360 stitch from two MP4 videos
INPUT_0=video_0.mp4 INPUT_1=video_1.mp4 OUTPUT=/tmp/360_stitching_result.mp4 gst-launch-1.0 -e -v \ cudastitcher name=stitcher \ homography-list="`cat result.json | tr -d "\n" | tr -d " "`" \ filesrc location=$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=$OUTPUT
360 Stitch from images
Saving a 360 stitch from two JPEG images
INPUT_0=video_0.jpeg INPUT_1=video_1.jpeg OUTPUT=/tmp/360_stitching_result.jpeg gst-launch-1.0 -e -v \ cudastitcher name=stitcher \ homography-list="`cat result.json | tr -d "\n" | tr -d " "`" \ filesrc location=$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