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Adding Gstreamer piplines

This commit is contained in:
PleiadesTX2 2019-12-10 11:10:48 -04:00
parent 7ddf6735fe
commit 9d98a0da0b
4 changed files with 17 additions and 5 deletions
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2
calibration-left.yaml
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@ -1,6 +1,6 @@
image_width: 1280 image_width: 1280
image_height: 720 image_height: 720
camera_name: narrow_stereo/left camera_name: left
camera_matrix: camera_matrix:
rows: 3 rows: 3
cols: 3 cols: 3

2
calibration-right.yaml
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@ -1,6 +1,6 @@
image_width: 1280 image_width: 1280
image_height: 720 image_height: 720
camera_name: narrow_stereo/right camera_name: right
camera_matrix: camera_matrix:
rows: 3 rows: 3
cols: 3 cols: 3

11
cameras-manual.launch
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@ -12,7 +12,7 @@
<param name="target_fps" type="int" value="$(arg fps)" /> <param name="target_fps" type="int" value="$(arg fps)" />
<group ns="stereo"> <group ns="stereo">
<node name="right" pkg="gscam" type="gscam" > <node name="right" pkg="gscam" type="gscam" output='screen' >
<param name="camera_name" value="right" /> <param name="camera_name" value="right" />
<param name="gscam_config" value="nvcamerasrc sensor-id=0 auto-exposure=1 aeLock=1 ! video/x-raw(memory:NVMM), width=(int)$(arg width), height=(int)$(arg height), format=(string)I420,framerate=(fraction)$(arg fps)/1 ! nvvidconv flip-method=2 ! video/x-raw, format=(string)BGRx ! videoconvert ! video/x-raw, format=(string)BGR" /> <param name="gscam_config" value="nvcamerasrc sensor-id=0 auto-exposure=1 aeLock=1 ! video/x-raw(memory:NVMM), width=(int)$(arg width), height=(int)$(arg height), format=(string)I420,framerate=(fraction)$(arg fps)/1 ! nvvidconv flip-method=2 ! video/x-raw, format=(string)BGRx ! videoconvert ! video/x-raw, format=(string)BGR" />
<param name="camera_id" value="0" /> <param name="camera_id" value="0" />
@ -27,7 +27,7 @@
<remap from="set_camera_info" to="camera_info" /> <remap from="set_camera_info" to="camera_info" />
</node> </node>
<node name="left" pkg="gscam" type="gscam" > <node name="left" pkg="gscam" type="gscam" output='screen' >
<param name="camera_name" value="left" /> <param name="camera_name" value="left" />
<param name="gscam_config" value="nvcamerasrc sensor-id=1 auto-exposure=1 aeLock=1 ! video/x-raw(memory:NVMM), width=(int)$(arg width), height=(int)$(arg height), format=(string)I420, framerate=(fraction)$(arg fps)/1 ! nvvidconv flip-method=2 ! video/x-raw, format=(string)BGRx ! videoconvert ! video/x-raw, format=(string)BGR" /> <param name="gscam_config" value="nvcamerasrc sensor-id=1 auto-exposure=1 aeLock=1 ! video/x-raw(memory:NVMM), width=(int)$(arg width), height=(int)$(arg height), format=(string)I420, framerate=(fraction)$(arg fps)/1 ! nvvidconv flip-method=2 ! video/x-raw, format=(string)BGRx ! videoconvert ! video/x-raw, format=(string)BGR" />
<param name="frame_id" value="left_link" /> <param name="frame_id" value="left_link" />
@ -41,7 +41,12 @@
<remap from="/set_camera_info" to="/left/set_camera_info" /> <remap from="/set_camera_info" to="/left/set_camera_info" />
</node> </node>
<node name="both" pkg="stereo_image_proc" type="stereo_image_proc" /> <!--<node name="both" pkg="stereo_image_proc" type="stereo_image_proc" output="screen" >
<param name="stereo" value="stereo"/>
<param name="image" value="image_rect"/>
<param name="_approximate_sync" value="true"/>
<param name="queue_size" value="10000"/>
</node>-->
</group> </group>

7
gstreamer_pipelines Normal file
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@ -0,0 +1,7 @@
#Pipelines for various tasks
#Pipeline for recording in an mp4 video file
#Source https://developer.ridgerun.com/wiki/index.php?title=Gstreamer_pipelines_for_Jetson_TX2
gst-launch-1.0 -e nvcamerasrc fpsRange="30.0 30.0" ! 'video/x-raw(memory:NVMM), width=(int)1920, height=(int)1080, format=(string)I420, framerate=(fraction)30/1' ! nvvidconv flip-method=2 ! 'video/x-raw(memory:NVMM), format=(string)I420' ! omxvp8enc bitrate=8000000 ! qtmux ! filesink location=test.mp4 -e