GStreamer Pan Tilt Zoom and Rotate Element - iMX6 Pipelines

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Important Considerations

  • Its important to have a constant internet connection, without internet the tests won't work.
  • If you are facing issues with any pipeline or configuration please contact support@ridgerun.com with the output of the GStreamer debug and any additional information you consider useful.
  • To get the necessary elements to test the pipelines please refer to GStreamer Pan Tilt Zoom and Rotate Element - Building GstPTZR.

Gstreamer piplines

The following pipelines will send the resulting video stream via UDP to another computer where it can be displayed.

On receiver computer

HOST='xx.xxx.xx.x'
PORT=5004
gst-launch-1.0 udpsrc address=$HOST port=$PORT ! tsparse ! tsdemux ! h264parse ! avdec_h264 ! videoconvert ! identity silent=false ! autovideosink -v

On board

Same input and output resolution with zoom level 1: 

CAPTURE_CAPS='video/x-raw,width=640,height=480,framerate=30/1'
IN_CAPS='video/x-raw,format=RGBA,width=640,height=480,framerate=30/1'
OUT_CAPS='video/x-raw,width=640,height=480'
PORT=5004
HOST=<IP address>
gst-launch-1.0 videotestsrc is-live=true num-buffers=-1 ! $IN_CAPS ! imxg2dvideotransform ! $IN_CAPS ! ptzr ! $OUT_CAPS ! imxipuvideotransform input-crop=false ! $OUT_CAPS ! imxvpuenc_h264 bitrate=4000 gop-size=15 idr-interval=15 ! mpegtsmux alignment=7 ! udpsink port=$PORT host=$HOST

You can change the zoom level by changing "zoom-level".

Magnification (zoom level > 1): 

CAPTURE_CAPS='video/x-raw,width=640,height=480,framerate=30/1'
IN_CAPS='video/x-raw,format=RGBA,width=640,height=480,framerate=30/1'
OUT_CAPS='video/x-raw,width=640,height=480'
PORT=5004
HOST=<IP address>

gst-launch-1.0 videotestsrc is-live=true num-buffers=-1 ! $IN_CAPS ! imxg2dvideotransform ! $IN_CAPS ! ptzr zoom-level=2 ! $OUT_CAPS ! imxipuvideotransform input-crop=false ! $OUT_CAPS ! imxvpuenc_h264 bitrate=4000 gop-size=15 idr-interval=15 ! mpegtsmux alignment=7 ! udpsink port=$PORT host=$HOST

You can perform translations relative to the center of the input image by setting the "pan-level" and "tilt-level" properties or perform translations relative to the current position with "pan-delta" and "tilt-delta". The element supports input and output of any resolution and aspect ratio.

Translate right (-1 < pan level < 0): 

CAPTURE_CAPS='video/x-raw,width=640,height=480,framerate=30/1'
IN_CAPS='video/x-raw,format=RGBA,width=640,height=480,framerate=30/1'
OUT_CAPS='video/x-raw,width=320,height=240'
PORT=5004
HOST=<IP address>

gst-launch-1.0 videotestsrc is-live=true num-buffers=-1 ! $IN_CAPS ! imxg2dvideotransform ! $IN_CAPS ! ptzr pan-level=-1 ! $OUT_CAPS ! imxipuvideotransform input-crop=false ! $OUT_CAPS ! imxvpuenc_h264 bitrate=4000 gop-size=15 idr-interval=15 ! mpegtsmux alignment=7 ! udpsink port=$PORT host=$HOST

Translate left (0 < pan level < 1): 

CAPTURE_CAPS='video/x-raw,width=640,height=480,framerate=30/1'
IN_CAPS='video/x-raw,format=RGBA,width=640,height=480,framerate=30/1'
OUT_CAPS='video/x-raw,width=320,height=240'
PORT=5004
HOST=<IP address>

gst-launch-1.0 videotestsrc is-live=true num-buffers=-1 ! $IN_CAPS ! imxg2dvideotransform ! $IN_CAPS ! ptzr pan-level=1 ! $OUT_CAPS ! imxipuvideotransform input-crop=false ! $OUT_CAPS ! imxvpuenc_h264 bitrate=4000 gop-size=15 idr-interval=15 ! mpegtsmux alignment=7 ! udpsink port=$PORT host=$HOST

Translate down (-1 < tilt level < 0): 

CAPTURE_CAPS='video/x-raw,width=640,height=480,framerate=30/1'
IN_CAPS='video/x-raw,format=RGBA,width=640,height=480,framerate=30/1'
OUT_CAPS='video/x-raw,width=320,height=240'
PORT=5004
HOST=<IP address>

gst-launch-1.0 videotestsrc is-live=true num-buffers=-1 ! $IN_CAPS ! imxg2dvideotransform ! $IN_CAPS ! ptzr tilt-level=-1 ! $OUT_CAPS ! imxipuvideotransform input-crop=false ! $OUT_CAPS ! imxvpuenc_h264 bitrate=4000 gop-size=15 idr-interval=15 ! mpegtsmux alignment=7 ! udpsink port=$PORT host=$HOST

Translate up (0 < tilt level < 1): 

CAPTURE_CAPS='video/x-raw,width=640,height=480,framerate=30/1'
IN_CAPS='video/x-raw,format=RGBA,width=640,height=480,framerate=30/1'
OUT_CAPS='video/x-raw,width=320,height=240'
PORT=5004
HOST=<IP address>

gst-launch-1.0 videotestsrc is-live=true num-buffers=-1 ! $IN_CAPS ! imxg2dvideotransform ! $IN_CAPS ! ptzr tilt-level=1 ! $OUT_CAPS ! imxipuvideotransform input-crop=false ! $OUT_CAPS ! imxvpuenc_h264 bitrate=4000 gop-size=15 idr-interval=15 ! mpegtsmux alignment=7 ! udpsink port=$PORT host=$HOST

The property "normalize-translation" (true by default) lets you switch the translation normalization ON and OFF. When translation normalization is true the minimum and maximum translation values are mapped to -1 and 1. On the other hand, when it is set to false, the pan and tilt levels reflect pixels on the input image.

Turn off translation normalization: 

CAPTURE_CAPS='video/x-raw,width=640,height=480,framerate=30/1'
IN_CAPS='video/x-raw,format=RGBA,width=640,height=480,framerate=30/1'
OUT_CAPS='video/x-raw,width=320,height=240'
PORT=5004
HOST=<IP address>

gst-launch-1.0 videotestsrc is-live=true num-buffers=-1 ! $IN_CAPS ! imxg2dvideotransform ! $IN_CAPS ! ptzr normalize-translation=false ! $OUT_CAPS ! imxipuvideotransform input-crop=false ! $OUT_CAPS ! imxvpuenc_h264 bitrate=4000 gop-size=15 idr-interval=15 ! mpegtsmux alignment=7 ! udpsink port=$PORT host=$HOST

The property "output-reference" (true by default) lets you change the coordinate system used as reference for translations. This is specially useful after performing a rotation. If you want to move over the input image axis, it must be changed to false.

Set input coordinate system as reference for translations: 

CAPTURE_CAPS='video/x-raw,width=640,height=480,framerate=30/1'
IN_CAPS='video/x-raw,format=RGBA,width=640,height=480,framerate=30/1'
OUT_CAPS='video/x-raw,width=320,height=240'
PORT=5004
HOST=<IP address>

gst-launch-1.0 videotestsrc is-live=true num-buffers=-1 ! $IN_CAPS ! imxg2dvideotransform ! $IN_CAPS ! ptzr output-reference=false ! $OUT_CAPS ! imxipuvideotransform input-crop=false ! $OUT_CAPS ! imxvpuenc_h264 bitrate=4000 gop-size=15 idr-interval=15 ! mpegtsmux alignment=7 ! udpsink port=$PORT host=$HOST

To rotate the input modify the "rotate-level" property (degrees). You can also perform rotation relative to the current angle with "rotate-delta":

Rotate counter-clockwise (rotate level < 0): 

CAPTURE_CAPS='video/x-raw,width=640,height=480,framerate=30/1'
IN_CAPS='video/x-raw,format=RGBA,width=640,height=480,framerate=30/1'
OUT_CAPS='video/x-raw,width=320,height=240'
PORT=5004
HOST=<IP address>

gst-launch-1.0 videotestsrc is-live=true num-buffers=-1 ! $IN_CAPS ! imxg2dvideotransform ! $IN_CAPS ! ptzr rotate-level=-100 ! $OUT_CAPS ! imxipuvideotransform input-crop=false ! $OUT_CAPS ! imxvpuenc_h264 bitrate=4000 gop-size=15 idr-interval=15 ! mpegtsmux alignment=7 ! udpsink port=$PORT host=$HOST

Rotate clockwise (rotate level > 0): 

CAPTURE_CAPS='video/x-raw,width=640,height=480,framerate=30/1'
IN_CAPS='video/x-raw,format=RGBA,width=640,height=480,framerate=30/1'
OUT_CAPS='video/x-raw,width=320,height=240'
PORT=5004
HOST=<IP address>

gst-launch-1.0 videotestsrc is-live=true num-buffers=-1 ! $IN_CAPS ! imxg2dvideotransform ! $IN_CAPS ! ptzr rotate-level=100 ! $OUT_CAPS ! imxipuvideotransform input-crop=false ! $OUT_CAPS ! imxvpuenc_h264 bitrate=4000 gop-size=15 idr-interval=15 ! mpegtsmux alignment=7 ! udpsink port=$PORT host=$HOST

Gstd pipelines

For testing this pipeline you need to install the Gstd daemon at host. Please refer GStreamer Daemon - Building GStreamer Daemon guide for Getting the Code,Setup,Build and Install the daemon at host.
Also make it ensure GST_PLUGIN_PATH is set properly from where you run the Gstd daemon using the command
echo $GST_PLUGIN_PATH

Run the element with gstd to change parameters dynamically: 

CAPTURE_CAPS='video/x-raw,width=640,height=480,framerate=30/1'
IN_CAPS='video/x-raw,format=RGBA,width=640,height=480,framerate=30/1'
OUT_CAPS='video/x-raw,width=320,height=240'
PORT=5004
HOST=<IP address>
gstd&
gstd-client pipeline_create p0 videotestsrc is-live=true num-buffers=-1 ! $IN_CAPS ! imxg2dvideotransform ! $IN_CAPS ! ptzr name=ptzr0 ! $OUT_CAPS ! imxipuvideotransform input-crop=false ! $OUT_CAPS ! imxvpuenc_h264 bitrate=4000 gop-size=15 idr-interval=15 ! mpegtsmux alignment=7 ! udpsink port=$PORT host=$HOST
gstd-client pipeline_play p0

Change propierties: 

gstd-client element_set p0 "ptzr0 zoom-level 0.0" 
gstd-client element_set p0 "ptzr0 zoom-level 2.0" 
gstd-client element_set p0 "ptzr0 zoom-level 1.0" 
gstd-client element_set p0 "ptzr0 tilt-level -1.0" 
gstd-client element_set p0 "ptzr0 tilt-level 1.0" 
gstd-client element_set p0 "ptzr0 tilt-level 0.0" 
gstd-client element_set p0 "ptzr0 pan-level -1.0" 
gstd-client element_set p0 "ptzr0 pan-level 1.0" 
gstd-client element_set p0 "ptzr0 pan-level 0.0" 
gstd-client element_set p0 "ptzr0 tilt-delta -1.0" 
gstd-client element_set p0 "ptzr0 tilt-delta 1.0" 
gstd-client element_set p0 "ptzr0 tilt-delta 0.0" 
gstd-client element_set p0 "ptzr0 pan-delta -1.0" 
gstd-client element_set p0 "ptzr0 pan-delta 1.0" 
gstd-client element_set p0 "ptzr0 pan-delta 0.0" 
gstd-client element_set p0 "ptzr0 rotate-level -90.0" 
gstd-client element_set p0 "ptzr0 rotate-level 90.0" 
gstd-client element_set p0 "ptzr0 rotate-level 0.0" 
gstd-client element_set p0 "ptzr0 rotate-delta -90.0" 
gstd-client element_set p0 "ptzr0 rotate-delta 90.0" 
gstd-client element_set p0 "ptzr0 rotate-delta 0.0" 
gstd-client element_set p0 "ptzr0 normalize-translation false" 
gstd-client element_set p0 "ptzr0 normalize-translation true" 
gstd-client element_set p0 "ptzr0 output-reference false" 
gstd-client element_set p0 "ptzr0 output-reference true"

Stop the pipeline: 

gstd-client pipeline_stop p0
gstd-client pipeline_delete p0
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