GStreamer - ZED Camera Source
GStreamer - ZED Camera Source
The ZED Camera Source, zedsrc GStreamer element, is the main plugin of the package, it allows injecting the ZED data in a GStreamer pipeline and getting the information provided by the ZED SDK.
Properties
$ area-file-path : Area localization file that describes the surroundings, saved from a previous tracking session. $ flags: readable, writable $ String. Default: "" $ blocksize : Size in bytes to read per buffer (-1 = default) $ flags: readable, writable $ Unsigned Integer. Range: 0 - 4294967295 Default: 4096 $ bt-allow-red-prec : Set to TRUE to enable Body Tracking reduced inference precision $ flags: readable, writable $ Boolean. Default: false $ bt-body-fitting : Set to TRUE to enable Body Tracking model fitting $ flags: readable, writable $ Boolean. Default: true $ bt-body-tracking : Set to TRUE to enable body tracking across images flow $ flags: readable, writable $ Boolean. Default: true $ bt-confidence : Minimum Detection Confidence $ flags: readable, writable $ Float. Range: 0 - 100 Default: 20 $ bt-detection-model : Body Tracking Model $ flags: readable, writable $ Enum "GstZedSrcBtModel" Default: 1, "Body Tracking MEDIUM" $ (0): Body Tracking FAST - Keypoints based, specific to human skeleton, real time performance even on Jetson or low end GPU cards $ (1): Body Tracking MEDIUM - Keypoints based, specific to human skeleton, compromise between accuracy and speed $ (2): Body Tracking ACCURATE - Keypoints based, specific to human skeleton, state of the art accuracy, requires powerful GPU $ bt-enabled : Set to TRUE to enable Body Tracking $ flags: readable, writable $ Boolean. Default: false $ bt-format : Body Tracking format $ flags: readable, writable $ Enum "GstZedSrcBtFormat" Default: 1, "Body 34 Key Points" $ (0): Body 18 Key Points - 18 keypoints format. Basic Body format $ (1): Body 34 Key Points - 34 keypoints format. Body format, requires body fitting enabled $ (2): Body 38 Key Points - 38 keypoints format. Body format, including feet simplified face and hands $ bt-max-range : Maximum Detection Range $ flags: readable, writable $ Float. Range: -1 - 20000 Default: 20000 $ bt-min-keypoints : Specify the Minimum keypoints threshold. $ flags: readable, writable $ Integer. Range: 0 - 70 Default: 5 $ bt-prediction-timeout-s: Body Tracking prediction timeout (sec) $ flags: readable, writable $ Float. Range: 0 - 1 Default: 0.2 $ bt-smoothing : Smoothing of the fitted fused skeleton $ flags: readable, writable $ Float. Range: 0 - 1 Default: 0 $ camera-disable-self-calib: Disable the self calibration processing when the camera is opened $ flags: readable, writable $ Boolean. Default: false $ camera-fps : Camera frame rate $ flags: readable, writable $ Enum "GstZedSrcFPS" Default: 15, "15 FPS" $ (120): 120 FPS - only SVGA (GMSL2) resolution $ (100): 100 FPS - only VGA (USB3) resolution $ (60): 60 FPS - VGA (USB3), HD720, HD1080 (GMSL2), and HD1200 (GMSL2) resolutions $ (30): 30 FPS - VGA (USB3), HD720 (USB3) and HD1080 (USB3/GMSL2) resolutions $ (15): 15 FPS - all resolutions (NO GMSL2) $ camera-id : Select camera from cameraID $ flags: readable, writable $ Integer. Range: 0 - 255 Default: 0 $ camera-image-flip : Use the camera in forced flip/no flip or automatic mode $ flags: readable, writable $ Enum "GstZedSrcFlip" Default: 2, "Auto" $ (0): No Flip - Force no flip $ (1): Flip - Force flip $ (2): Auto - Auto mode (ZED2/ZED2i/ZED-M only) $ camera-resolution : Camera Resolution $ flags: readable, writable $ Enum "GstZedSrcRes" Default: 6, "Default value for the camera model" $ (0): HD2K (USB3) - 2208x1242 $ (1): HD1080 (USB3/GMSL2) - 1920x1080 $ (2): HD1200 (GMSL2) - 1920x1200 $ (3): HD720 (USB3) - 1280x720 $ (4): SVGA (GMSL2) - 960x600 $ (5): VGA (USB3) - 672x376 $ (6): Default value for the camera model - Automatic $ camera-sn : Select camera from camera serial number $ flags: readable, writable $ Integer64. Range: 0 - 9223372036854775807 Default: 0 $ confidence-threshold: Specify the Depth Confidence Threshold $ flags: readable, writable $ Integer. Range: 0 - 100 Default: 50 $ coordinate-system : 3D Coordinate System $ flags: readable, writable $ Enum "GstZedsrcStreamType" Default: 0, "Image" $ (0): Image - Standard coordinates system in computer vision. Used in OpenCV. $ (1): Left handed, Y up - Left-Handed with Y up and Z forward. Used in Unity with DirectX. $ (2): Right handed, Y up - Right-Handed with Y pointing up and Z backward. Used in OpenGL. $ (3): Right handed, Z up - Right-Handed with Z pointing up and Y forward. Used in 3DSMax. $ (4): Left handed, Z up - Left-Handed with Z axis pointing up and X forward. Used in Unreal Engine. $ (5): Right handed, Z up, X fwd - Right-Handed with Z pointing up and X forward. Used in ROS (REP 103). $ ctrl-aec-agc : Camera automatic gain and exposure $ flags: readable, writable $ Boolean. Default: true $ ctrl-aec-agc-roi-h : Auto gain/exposure ROI height (-1 to not set ROI) $ flags: readable, writable $ Integer. Range: -1 - 1242 Default: -1 $ ctrl-aec-agc-roi-side: Auto gain/exposure ROI side $ flags: readable, writable $ Enum "GstZedsrcSide" Default: 2, "BOTH" $ (0): LEFT - Left side only $ (1): RIGHT - Right side only $ (2): BOTH - Left and Right side $ ctrl-aec-agc-roi-w : Auto gain/exposure ROI width (-1 to not set ROI) $ flags: readable, writable $ Integer. Range: -1 - 2208 Default: -1 $ ctrl-aec-agc-roi-x : Auto gain/exposure ROI top left 'X' coordinate (-1 to not set ROI) $ flags: readable, writable $ Integer. Range: -1 - 2208 Default: -1 $ ctrl-aec-agc-roi-y : Auto gain/exposure ROI top left 'Y' coordinate (-1 to not set ROI) $ flags: readable, writable $ Integer. Range: -1 - 1242 Default: -1 $ ctrl-brightness : Image brightness $ flags: readable, writable $ Integer. Range: 0 - 8 Default: 4 $ ctrl-contrast : Image contrast $ flags: readable, writable $ Integer. Range: 0 - 8 Default: 4 $ ctrl-exposure : Camera exposure $ flags: readable, writable $ Integer. Range: 0 - 100 Default: 80 $ ctrl-exposure-range-max: Maximum exposure time in microseconds for the automatic exposure setting $ flags: readable, writable $ Integer. Range: 28 - 66000 Default: 66000 $ ctrl-exposure-range-min: Minimum exposure time in microseconds for the automatic exposure setting $ flags: readable, writable $ Integer. Range: 28 - 66000 Default: 28 $ ctrl-gain : Camera gain $ flags: readable, writable $ Integer. Range: 0 - 100 Default: 60 $ ctrl-gamma : Image gamma $ flags: readable, writable $ Integer. Range: 1 - 9 Default: 8 $ ctrl-hue : Image hue $ flags: readable, writable $ Integer. Range: 0 - 11 Default: 0 $ ctrl-led-status : Camera LED on/off $ flags: readable, writable $ Boolean. Default: true $ ctrl-saturation : Image saturation $ flags: readable, writable $ Integer. Range: 0 - 8 Default: 4 $ ctrl-sharpness : Image sharpness $ flags: readable, writable $ Integer. Range: 0 - 8 Default: 4 $ ctrl-whitebalance-auto: Image automatic white balance $ flags: readable, writable $ Boolean. Default: true $ ctrl-whitebalance-temperature: Image white balance temperature $ flags: readable, writable $ Integer. Range: 2800 - 6500 Default: 4600 $ depth-maximum-distance: Maximum depth value $ flags: readable, writable $ Float. Range: 500 - 40000 Default: 20000 $ depth-minimum-distance: Minimum depth value $ flags: readable, writable $ Float. Range: 100 - 3000 Default: 300 $ depth-mode : Depth Mode $ flags: readable, writable $ Enum "GstZedsrcDepthMode" Default: 0, "NONE" $ (6): NEURAL_PLUS - More accurate Neural disparity estimation, Requires AI module. $ (5): NEURAL - End to End Neural disparity estimation, requires AI module $ (3): ULTRA - Computation mode favorising edges and sharpness. Requires more GPU memory and computation power. $ (2): QUALITY - Computation mode designed for challenging areas with untextured surfaces. $ (1): PERFORMANCE - Computation mode optimized for speed. $ (0): NONE - This mode does not compute any depth map. Only rectified stereo images will be available. $ depth-stabilization : Enable depth stabilization $ flags: readable, writable $ Integer. Range: 0 - 100 Default: 1 $ do-timestamp : Apply current stream time to buffers $ flags: readable, writable $ Boolean. Default: false $ enable-area-memory : This mode enables the camera to remember its surroundings. This helps correct positional tracking drift, and can be helpful for positioning different cameras relative to one other in space. $ flags: readable, writable $ Boolean. Default: true $ enable-imu-fusion : This setting allows you to enable or disable IMU fusion. When set to false, only the optical odometry will be used. $ flags: readable, writable $ Boolean. Default: true $ enable-pose-smoothing: This mode enables smooth pose correction for small drift correction. $ flags: readable, writable $ Boolean. Default: true $ enable-positional-tracking: Enable positional tracking $ flags: readable, writable $ Boolean. Default: false $ fill-mode : Specify the Depth Fill Mode $ flags: readable, writable $ Boolean. Default: false $ initial-world-transform-pitch: Pitch orientation of the camera in the world frame when the camera is started $ flags: readable, writable $ Float. Range: 0 - 360 Default: 0 $ initial-world-transform-roll: Roll orientation of the camera in the world frame when the camera is started $ flags: readable, writable $ Float. Range: 0 - 360 Default: 0 $ initial-world-transform-x: X position of the camera in the world frame when the camera is started $ flags: readable, writable $ Float. Range: -3.402823e+38 - 3.402823e+38 Default: 0 $ initial-world-transform-y: Y position of the camera in the world frame when the camera is started $ flags: readable, writable $ Float. Range: -3.402823e+38 - 3.402823e+38 Default: 0 $ initial-world-transform-yaw: Yaw orientation of the camera in the world frame when the camera is started $ flags: readable, writable $ Float. Range: 0 - 360 Default: 0 $ initial-world-transform-z: Z position of the camera in the world frame when the camera is started $ flags: readable, writable $ Float. Range: -3.402823e+38 - 3.402823e+38 Default: 0 $ input-stream-ip : Specify IP adress when using streaming input $ flags: readable, writable $ String. Default: "" $ input-stream-port : Specify port when using streaming input $ flags: readable, writable $ Integer. Range: 1 - 65535 Default: 30000 $ measure3D-reference-frame: Specify the 3D Reference Frame $ flags: readable, writable $ Enum "GstZedsrc3dMeasRefFrame" Default: 0, "WORLD" $ (0): WORLD - The positional tracking pose transform will contains the motion with reference to the world frame. $ (1): CAMERA - The pose transform will contains the motion with reference to the previous camera frame. $ name : The name of the object $ flags: readable, writable, 0x2000 $ String. Default: "zedsrc0" $ num-buffers : Number of buffers to output before sending EOS (-1 = unlimited) $ flags: readable, writable $ Integer. Range: -1 - 2147483647 Default: -1 $ od-allow-reduced-precision-inference: Set to TRUE to allow inference to run at a lower precision to improve runtime $ flags: readable, writable $ Boolean. Default: false $ od-conf-animal : Animal Detection Confidence Threshold $ flags: readable, writable $ Float. Range: -1 - 100 Default: 35 $ od-conf-bag : Bag Detection Confidence Threshold $ flags: readable, writable $ Float. Range: -1 - 100 Default: 35 $ od-conf-electronics : Electronics Detection Confidence Threshold $ flags: readable, writable $ Float. Range: -1 - 100 Default: 35 $ od-conf-fruit-vegetables: Fruit/Vegetables Detection Confidence Threshold $ flags: readable, writable $ Float. Range: -1 - 100 Default: 35 $ od-conf-people : People Detection Confidence Threshold $ flags: readable, writable $ Float. Range: -1 - 100 Default: 35 $ od-conf-sport : Sport Detection Confidence Threshold $ flags: readable, writable $ Float. Range: -1 - 100 Default: 35 $ od-conf-vehicle : Vehicle Detection Confidence Threshold $ flags: readable, writable $ Float. Range: -1 - 100 Default: 35 $ od-confidence : Minimum Detection Confidence $ flags: readable, writable $ Float. Range: 0 - 100 Default: 50 $ od-detection-filter-mode: Object Detection Filter Mode $ flags: readable, writable $ Enum "GstZedSrcOdFilterMode" Default: 2, "(null)" $ (1): (null) - SDK will not apply any preprocessing to the detected objects $ (1): (null) - SDK will remove objects that are in the same 3D position as an already tracked object (independant of class ID) $ (2): (null) - SDK will remove objects that are in the same 3D position as an already tracked object of the same class ID. $ od-detection-model : Object Detection Model $ flags: readable, writable $ Enum "GstZedSrcOdModel" Default: 1, "Object Detection Multi class MEDIUM" $ (0): Object Detection Multi class FAST - Any objects, bounding box based $ (1): Object Detection Multi class MEDIUM - Any objects, bounding box based, compromise between accuracy and speed $ (2): Object Detection Multi class ACCURATE - Any objects, bounding box based, more accurate but slower than the base model $ (3): Person Head FAST - Bounding Box detector specialized in person heads, particularly well suited for crowded environments, the person localization is also improved $ (4): Person Head ACCURATE - Bounding Box detector specialized in person heads, particularly well suited for crowded environments, the person localization is also improved, more accurate but slower than the base model $ od-enable-tracking : Set to TRUE to enable tracking for the detected objects $ flags: readable, writable $ Boolean. Default: true $ od-enabled : Set to TRUE to enable Object Detection $ flags: readable, writable $ Boolean. Default: false $ od-max-range : Maximum Detection Range $ flags: readable, writable $ Float. Range: -1 - 20000 Default: 20000 $ od-prediction-timeout-s: Object prediction timeout (sec) $ flags: readable, writable $ Float. Range: 0 - 1 Default: 0.2 $ opencv-calibration-file: Optional OpenCV Calibration File $ flags: readable, writable $ String. Default: "" $ parent : The parent of the object $ flags: readable, writable, 0x2000 $ Object of type "GstObject" $ pos-depth-min-range : This setting allows you to change the minmum depth used by the SDK for Positional Tracking. $ flags: readable, writable $ Float. Range: -1 - 65535 Default: -1 $ positional-tracking-mode: Positional tracking mode $ flags: readable, writable $ Enum "GstZedsrcPtMode" Default: 2, "GEN_3" $ (0): GEN_1 - Generation 1 $ (1): GEN_2 - Generation 2 $ (1): GEN_3 - Generation 2 $ roi : Enable region of interest filtering $ flags: readable, writable $ Boolean. Default: false $ roi-h : Region of interest height (-1 to not set ROI) $ flags: readable, writable $ Integer. Range: -1 - 1242 Default: -1 $ roi-w : Region of intererst width (-1 to not set ROI) $ flags: readable, writable $ Integer. Range: -1 - 2208 Default: -1 $ roi-x : Region of interest top left 'X' coordinate (-1 to not set ROI) $ flags: readable, writable $ Integer. Range: -1 - 2208 Default: -1 $ roi-y : Region of interest top left 'Y' coordinate (-1 to not set ROI) $ flags: readable, writable $ Integer. Range: -1 - 1242 Default: -1 $ sdk-verbose : ZED SDK Verbose level $ flags: readable, writable $ Integer. Range: 0 - 1000 Default: 0 $ set-as-static : Set to TRUE if the camera is static $ flags: readable, writable $ Boolean. Default: false $ set-floor-as-origin : This mode initializes the tracking to be aligned with the floor plane to better position the camera in space. $ flags: readable, writable $ Boolean. Default: false $ set-gravity-as-origin: This setting allows you to override of 2 of the 3 rotations from initial-world-transform using the IMU gravity default: true $ flags: readable, writable $ Boolean. Default: true $ stream-type : Image stream type $ flags: readable, writable $ Enum "GstZedSrcCoordSys" Default: 0, "Left image [BGRA]" $ (0): Left image [BGRA] - 8 bits- 4 channels Left image $ (1): Right image [BGRA] - 8 bits- 4 channels Right image $ (2): Stereo couple up/down [BGRA] - 8 bits- 4 channels bit Left and Right $ (3): Depth image [GRAY16_LE] - 16 bits depth $ (4): Left and Depth up/down [BGRA] - 8 bits- 4 channels Left and Depth(image) $ svo-file-path : Input from SVO file $ flags: readable, writable $ String. Default: "" $ texture-confidence-threshold: Specify the Texture Confidence Threshold $ flags: readable, writable $ Integer. Range: 0 - 100 Default: 100 $ typefind : Run typefind before negotiating (deprecated, non-functional) $ flags: readable, writable, deprecated $ Boolean. Default: false
ZED Video Demuxer Element properties
$ is-depth : Aux source is GRAY16 depth $ flags: readable, writable $ Boolean. Default: false $ is-mono : Demux is applied to ZED X One monocular stream from zedxonesrc $ flags: readable, writable $ Boolean. Default: false $ name : The name of the object $ flags: readable, writable, 0x2000 $ String. Default: "zeddemux0" $ parent : The parent of the object $ flags: readable, writable, 0x2000 $ Object of type "GstObject" $ stream-data : Enable binary data streaming on `src_data` pad $ flags: readable, writable $ Boolean. Default: false
Example pipelines
Display the left image on the screen
This simple pipeline starts the ZED grabbing using the default parameters of the zedsrc element and automatically converts (autovideoconvert) the frames to the correct format for the fpsdisplaysink element in order to be displayed on the screen with FPS information.
$ gst-launch-1.0 zedsrc ! autovideoconvert ! queue ! fpsdisplaysink
The queue element is used to decouple frames in a different queue thread, useful for data synchronization for more complex pipelines.
Display color stereo couple with VGA resolution at 100 FPS
This pipeline is the same as the previous example, but the properties of zedsrc are changed to set VGA resolution and 100 FPS retrieving the synchronized stereo image.
$ gst-launch-1.0 zedsrc camera-resolution=5 camera-fps=100 stream-type=2 ! autovideoconvert ! queue ! fpsdisplaysink
Display depth map with HD720 resolution at 60 FPS
Again the same pipeline, but the parameters are changed to retrieve only the not normalized depth map with HD720 resolution at 60 FPS.
$ gst-launch-1.0 zedsrc camera-resolution=3 camera-fps=60 stream-type=3 ! autovideoconvert ! queue ! fpsdisplaysink
H264 streaming over UDP on the local network
GStreamer is famous for its capability of providing an easy way of transmitting media data over networks. TCP, UDP, RTP and many other protocols are available, together with many encoding algorithms like H264, H265, VP8, VP9, matroska, ecc.
The following gst-launch pipeline acquires an RGB stream from a ZED camera, displays it on the local machine and sends it over the network using the UDP protocol with H264 encoding:
$ gst-launch-1.0 zedsrc ! timeoverlay ! tee name=split has-chain=true ! \ > queue ! autovideoconvert ! fpsdisplaysink \ > split. ! queue max-size-time=0 max-size-bytes=0 max-size-buffers=0 ! autovideoconvert ! \ > x264enc byte-stream=true tune=zerolatency speed-preset=ultrafast bitrate=3000 ! \ > h264parse ! rtph264pay config-interval=-1 pt=96 ! queue ! \ > udpsink clients=192.168.1.169:5000 max-bitrate=3000000 sync=false async=false
- Line 1: the zedsrc element is configured to acquire the left camera RGB data with a resolution of 1280×720 (HD720) at 30 FPS. The timestamp is printed on the image using the timeoverlay element and the pipeline is splitted into two branches using tee.
- Line 2: the first branch of the pipeline is used to display the frames on the local machine with FPS and timestamp information.
- Line 3: the second branch of the pipeline is used to encode the stream using the H264 encoder (x264enc) configured to reduce the latency to the minimum possible.
- Line 4: the H264 stream is parsed (h264parse) and a RTP payload is created (rtph264pay).
- Line 5: the RTP payload is sent using UDP (udpsink) to the client at address 192.168.1.169 (change the address according to your listener IP) which will be listening on port 5000.
the element queue max-size-time=0 max-size-bytes=0 max-size-buffers=0 is necessary to synchronize the two branches generated by the tee element, otherwise the stream gets frozen after a few milliseconds.
The receiver machine can acquire the stream using this simple pipeline:
$ gst-launch-1.0 udpsrc port=5000 ! application/x-rtp,clock-rate=90000,payload=96 ! \ > queue ! rtph264depay ! h264parse ! avdec_h264 ! \ > queue ! autovideoconvert ! fpsdisplaysink
- Line 1: an UDP source (udpsrc) is configured to listen on port 5000 for a RTP payload of type 96.
- Line 2: the payload is elaborated (rtph264depay) to extract the H264 data to be parsed (h264parse) and then decoded (avdec_h264).
- Line 3: the decoded stream is finally converted and displayed on the screen with FPS information.
Comparing visually the timestamp printed on each frame on the sender and on the receiver machines, it is possible to grossly evaluate the latency of the network.