GStreamer Pipeline examples
Streaming examples:
On PC: RX Pipeline to receive the stream from the NavQPlus AI/ML companion computer:
gst-launch-1.0 udpsrc port=50000 ! "application/x-rtp, media=(string)video, clock-rate=(int)90000, encoding-name=(string)H264, payload=(int)96" ! rtph264depay ! decodebin ! queue ! autovideosink
On NavQPlus (e.g. from SSH connection):
gst-launch-1.0 v4l2src io-mode=dmabuf device=/dev/video3 ! "video/x-raw,width=1920,height=1080,framerate=(fraction)30/1" ! vpuenc_h264 ! h264parse ! rtph264pay ! udpsink host=10.0.1.101 port=50000
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Note: Modify the host IP address 10.0.1.101 to the one matching your receiving laptop
Video Test Source instead of camera:
gst-launch-1.0 videotestsrc ! "video/x-raw,width=640,height=480,framerate=(fraction)10/1" ! vpuenc_h264 ! h264parse ! rtph264pay ! udpsink host=10.0.1.101 port=50000
Camera Tuning:
1) Get the video subdevice using:
media-ctl -p /dev/media0
remember the sub-device of the camera ( ov5645tn) in the media video chain, e.g. /dev/v4l-subdev2
2) List the available user and camera controls and try them out (e.g. contrast, saturation, auto white balancing etc.):
v4l2-ctl -l -d /dev/v4l-subdev2
Streaming and Storing to a h264 compressed file simultaneously including text overlays for 30 seconds:
gst-launch-1.0 v4l2src io-mode=dmabuf device=/dev/video3 num-buffers=900 ! "video/x-raw,width=1920,height=1080,framerate=(fraction)30/1" ! tee name=t ! queue leaky=1 ! textoverlay text="Live" ! vpuenc_h264 ! h264parse ! rtph264pay ! udpsink host=10.0.1.101 port=50000 sync=false t. ! queue ! textoverlay text="recorded" ! vpuenc_h264 ! mpegtsmux ! filesink location=record_$(date +"%Y-%m-%d_%T").mp4
Note: The VPU is encoding two streams in parallel as we have different text overlays on the live stream and the recorded file
Note on hostapd
To avoid needing to set up a Wi-Fi router hostapd can be installed so that the NavQPlus acts as an access point. Additionally a DHCP server can be configured. This way you can directly connect to the WiFi network spawned by the NavQPlus:
Shown highlighted below, the IP address 10.0.1.101 is coming from the DHCP server on the NavQPlus.
