Key Features • Build • Elements properties • Metadata • Example pipelines • RTSP Server • Related • License
GStreamer package for ZED Cameras. The package is composed of several elements:
zedsrc
: acquires camera color image and depth map and pushes them in a GStreamer pipeline.zedxonesrc
: acquires camera color image from a ZED X One GS or ZED X One 4K camera and pushes them in a GStreamer pipeline. Note: this element does not use the ZED SDK, but a porting of the zedx-one-capture library.zedmeta
: GStreamer library to define and handle the ZED metadata (Positional Tracking data, Sensors data, Detected Object data, Detected Skeletons data).zeddemux
: receives a composite zedsrc
stream (color left + color right
data or color left + depth map
+ metadata),
processes the eventual depth data and pushes them in two separated new streams named src_left
and src_aux
. A third source pad is created for metadata to be externally processed.zeddatamux
: receive a video stream compatible with ZED caps and a ZED Data Stream generated by the zeddemux
and adds metadata to the video stream. This is useful if metadata are removed by a filter that does not automatically propagate metadatazeddatacsvsink
: example sink element that receives ZED metadata, extracts the Positional Tracking and the Sensors Data and save them in a CSV file.zedodoverlay
: example transform filter element that receives ZED combined stream with metadata, extracts Object Detection information and draws the overlays on the oncoming filterRTSP Server
: application for Linux that instantiates an RTSP server from a text launch pipeline "gst-launch" like.zedsrc
element to acquire data from a ZED camera device]runtime
and development
installers).GSTREAMER_1_0_ROOT_X86_64
environment variable.%GSTREAMER_1_0_ROOT_X86_64%\bin
to the system variable PATH
Run the following commands from a terminal or command prompt, assuming CMake and Git are in your PATH
.
git clone https://github.com/stereolabs/zed-gstreamer.git
cd zed-gstreamer
mkdir build
cd build
cmake -G "Visual Studio 16 2019" ..
cmake --build . --target INSTALL --config Release
Install the latest ZED SDK v4 from the official download page
Update list of apt
available packages
$ sudo apt update
Install GCC compiler and build tools
$ sudo apt install build-essential
Install CMake build system
$ sudo apt install cmake
Install GStreamer, the development packages and useful tools:
$ sudo apt install libgstreamer1.0-0 gstreamer1.0-libav libgstrtspserver-1.0-0 gstreamer1.0-tools gstreamer1.0-x gstreamer1.0-alsa gstreamer1.0-gl gstreamer1.0-gtk3 gstreamer1.0-qt5 gstreamer1.0-pulseaudio libgstreamer1.0-dev libgstrtspserver-1.0-dev libgstreamer-plugins-base1.0-0 libgstreamer-plugins-base1.0-dev libgstreamer-plugins-good1.0-0 libgstreamer-plugins-good1.0-dev libgstreamer-plugins-bad1.0-0 libgstreamer-plugins-bad1.0-dev
[Optional] Install OpenCV to build the zedodverlay
filter
$ sudo apt install libopencv-dev libopencv-contrib-dev
$ git clone https://github.com/stereolabs/zed-gstreamer.git
$ cd zed-gstreamer
$ mkdir build
$ cd build
$ cmake -DCMAKE_BUILD_TYPE=Release ..
$ make # Note: do not use the `-j` flag because parallel build is not supported
$ sudo make install
Check ZED Video Source Element
installation inspecting its properties:
gst-inspect-1.0 zedsrc
Check ZED X One Video Source Element
installation inspecting its properties:
gst-inspect-1.0 zedxonesrc
Check ZED Video Demuxer
installation inspecting its properties:
gst-inspect-1.0 zeddemux
Check ZED Data Mux Element
installation inspecting its properties:
gst-inspect-1.0 zeddatamux
Check ZED CSV Sink Element
installation inspecting its properties:
gst-inspect-1.0 zeddatacsvsink
Check ZED Object Detection Overlay Element
installation inspecting its properties:
gst-inspect-1.0 zedodoverlay
ZED Video Source Element
propertiesMost of the properties follow the same name as the C++ API. Except that _
is replaced by -
to follow gstreamer common formatting.
area-file-path : Area localization file that describes the surroundings, saved from a previous tracking session.
flags: readable, writable
String. Default: ""
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 "GstZedsrcResolution" Default: 6, "Default value for the camera model"
(0): HD2K (USB3) - 2208x1242
(2): HD1200 (GMSL2) - 1920x1200
(1): HD1080 (USB3/GMSL2) - 1920x1080
(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-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"
(5): NEURAL_PLUS - More accurate Neural disparity estimation, Requires AI module.
(4): 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
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: 1, "GEN_2"
(0): GEN_1 - Generation 1
(1): GEN_2 - 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
ZED X One Video Source Element
properties analog-gain : Analog Gain value in dB
flags: readable, writable
Float. Range: 0.1 - 30 Default: 1
anti-banding : AE Anti Banding
flags: readable, writable
Enum "GstZedXOneSrcAntiBanding" Default: 1, "Automatic"
(0): Disabled - Anti Banding disabled
(1): Automatic - Automatic Anti Banding
(2): 50 Hz - 50 Hz Anti Banding
(3): 60 Hz - 60 Hz Anti Banding
auto-analog-gain : Enable Automatic Analog Gain
flags: readable, writable
Boolean. Default: true
auto-analog-gain-range-max: Maximum Analog Gain in dB for the automatic analog gain setting
flags: readable, writable
Float. Range: 0.1 - 30 Default: 30
auto-analog-gain-range-min: Minimum Analog Gain in dB for the automatic analog gain setting
flags: readable, writable
Float. Range: 0.1 - 30 Default: 0
auto-digital-gain : Enable Automatic Digital Gain
flags: readable, writable
Boolean. Default: true
auto-digital-gain-range-max: Maximum Digital Gain for the automatic digital gain setting
flags: readable, writable
Float. Range: 1 - 256 Default: 256
auto-digital-gain-range-min: Minimum Digital Gain for the automatic digital gain setting
flags: readable, writable
Float. Range: 1 - 256 Default: 1
auto-exposure : Enable Automatic Exposure
flags: readable, writable
Boolean. Default: true
auto-exposure-range-max: Maximum exposure time in microseconds for the automatic exposure setting
flags: readable, writable
Integer. Range: 28 - 66000 Default: 66000
auto-exposure-range-min: Minimum exposure time in microseconds for the automatic exposure setting
flags: readable, writable
Integer. Range: 28 - 66000 Default: 28
auto-wb : Enable Automatic White Balance
flags: readable, writable
Boolean. Default: true
blocksize : Size in bytes to read per buffer (-1 = default)
flags: readable, writable
Unsigned Integer. Range: 0 - 4294967295 Default: 4096
camera-fps : Camera frame rate
flags: readable, writable
Enum "GstZedXOneSrcFPS" Default: 15, "15 FPS"
(120): 120 FPS - Only with SVGA. Not available with 4K mode
(60): 60 FPS - Not available with 4K mode
(30): 30 FPS - Not available with 4K mode
(15): 15 FPS - all resolutions (NO GMSL2)
camera-id : Select camera from cameraID
flags: readable, writable
Integer. Range: 0 - 255 Default: 0
camera-resolution : Camera Resolution
flags: readable, writable
Enum "GstZedXOneSrcResol" Default: 2, "HD1200"
(3): 4K - 3840x2160
(2): HD1200 - 1920x1200
(1): HD1080 - 1920x1080
(0): SVGA - 960x600
camera-timeout : Connection timeout in milliseconds
flags: readable, writable
Integer. Range: 100 - 100000000 Default: 1000
ctrl-aec-agc-roi-h : Auto gain/exposure ROI height (-1 to not set ROI)
flags: readable, writable
Integer. Range: -1 - 2160 Default: -1
ctrl-aec-agc-roi-w : Auto gain/exposure ROI width (-1 to not set ROI)
flags: readable, writable
Integer. Range: -1 - 3810 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 - 3810 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 - 2160 Default: -1
denoising : Denoising factor
flags: readable, writable
Float. Range: 0 - 1 Default: 0.5
digital-gain : Digital Gain value
flags: readable, writable
Integer. Range: 1 - 256 Default: 128
do-timestamp : Apply current stream time to buffers
flags: readable, writable
Boolean. Default: false
exposure-compensation: Exposure Compensation
flags: readable, writable
Float. Range: -2 - 2 Default: 0
exposure-time : Exposure time in microseconds
flags: readable, writable
Integer. Range: 28 - 66000 Default: 2000
name : The name of the object
flags: readable, writable
String. Default: "zedxonesrc0"
num-buffers : Number of buffers to output before sending EOS (-1 = unlimited)
flags: readable, writable
Integer. Range: -1 - 2147483647 Default: -1
parent : The parent of the object
flags: readable, writable
Object of type "GstObject"
saturation : Color Saturation
flags: readable, writable
Float. Range: 0 - 2 Default: 1
sharpening : Image Sharpening
flags: readable, writable
Float. Range: 0 - 1 Default: 1
swap-rb : Swap Red and Blue color channels
flags: readable, writable
Boolean. Default: false
tone-map-gamma-b : Set the tone mapping curve from a gamma value (Channel B)
flags: readable, writable
Float. Range: 1.5 - 3.5 Default: 2
tone-map-gamma-g : Set the tone mapping curve from a gamma value (Channel G)
flags: readable, writable
Float. Range: 1.5 - 3.5 Default: 2
tone-map-gamma-r : Set the tone mapping curve from a gamma value (Channel R)
flags: readable, writable
Float. Range: 1.5 - 3.5 Default: 2
typefind : Run typefind before negotiating (deprecated, non-functional)
flags: readable, writable, deprecated
Boolean. Default: false
verbose-level : Capture Library Verbose level
flags: readable, writable
Integer. Range: 0 - 4 Default: 0
white-balance-temp : White Balance Temperature [°]
flags: readable, writable
Integer. Range: 2800 - 12000 Default: 5000
ZED Video Demuxer Element
properties is-depth : Aux source is GRAY16 depth
flags: readable, writable
Boolean. Default: true
stream-data : Enable binary data streaming on `src_data` pad
flags: readable, writable
Boolean. Default: false
ZED Data CSV sink Element
properties append : Append to an already existing CSV file
flags: readable, writable
Boolean. Default: false
async : Go asynchronously to PAUSED
flags: readable, writable
Boolean. Default: true
blocksize : Size in bytes to pull per buffer (0 = default)
flags: readable, writable
Unsigned Integer. Range: 0 - 4294967295 Default: 4096
enable-last-sample : Enable the last-sample property
flags: readable, writable
Boolean. Default: true
last-sample : The last sample received in the sink
flags: readable
Boxed pointer of type "GstSample"
location : Location of the CSV file to write
flags: readable, writable
String. Default: ""
max-bitrate : The maximum bits per second to render (0 = disabled)
flags: readable, writable
Unsigned Integer64. Range: 0 - 18446744073709551615 Default: 0
max-lateness : Maximum number of nanoseconds that a buffer can be late before it is dropped (-1 unlimited)
flags: readable, writable
Integer64. Range: -1 - 9223372036854775807 Default: -1
processing-deadline : Maximum processing time for a buffer in nanoseconds
flags: readable, writable
Unsigned Integer64. Range: 0 - 18446744073709551615 Default: 20000000
qos : Generate Quality-of-Service events upstream
flags: readable, writable
Boolean. Default: false
render-delay : Additional render delay of the sink in nanoseconds
flags: readable, writable
Unsigned Integer64. Range: 0 - 18446744073709551615 Default: 0
stats : Sink Statistics
flags: readable
Boxed pointer of type "GstStructure"
average-rate: 0
dropped: 0
rendered: 0
sync : Sync on the clock
flags: readable, writable
Boolean. Default: false
throttle-time : The time to keep between rendered buffers (0 = disabled)
flags: readable, writable
Unsigned Integer64. Range: 0 - 18446744073709551615 Default: 0
The zedsrc
element add metadata to the video stream containing information about the original frame size,
the camera position and orientatio, the sensors data and the object and skeleton detected by the Object Detection
module.
The zeddatacsvsink
and zedodoverlay
elements demonstrate how to handle, respectively, the sensors data and the
detected object data.
The GstZedSrcMeta
structure is provided to handle the zedmeta
metadata and it is available in the gstzedmeta
library.
The GstZedSrcMeta is subdivided in four sub-structures:
ZedInfo
: info about camera model, stream type and original stream sizeZedPose
: position and orientation of the camera if positional tracking is enabledZedSensors
: sensors data (only ZED-Mini and ZED2)ZedObjectData
: detected object information (only ZED2)More details about the sub-structures are available in the gstzedmeta.h
file
simple-fps_rendering.sh
simple-fps_rendering.bat
gst-launch-1.0 zedsrc ! queue ! autovideoconvert ! queue ! fpsdisplaysink
simple-depth-fps_rendering.sh
simple-depth-fps_rendering.bat
gst-launch-1.0 zedsrc stream-type=3 ! queue ! autovideoconvert ! queue ! fpsdisplaysink
gst-launch-1.0 \
zedsrc stream-type=2 ! queue ! \
zeddemux is-depth=false name=demux \
demux.src_left ! queue ! autovideoconvert ! fpsdisplaysink \
demux.src_aux ! queue ! autovideoconvert ! fpsdisplaysink
gst-launch-1.0 \
zedsrc stream-type=4 ! queue ! \
zeddemux name=demux \
demux.src_left ! queue ! autovideoconvert ! fpsdisplaysink \
demux.src_aux ! queue ! autovideoconvert ! fpsdisplaysink
local-rgb-depth-sens-csv.sh
local-rgb-depth-sens-csv.bat
gst-launch-1.0 \
zedsrc stream-type=4 ! \
zeddemux stream-data=TRUE name=demux \
demux.src_left ! queue ! autovideoconvert ! fpsdisplaysink \
demux.src_aux ! queue ! autovideoconvert ! fpsdisplaysink \
demux.src_data ! queue ! zeddatacsvsink location="${HOME}/test_csv.csv" append=FALSE
local-rgb-od_multi-overlay.sh
local-rgb-od_multi-overlay.bat
gst-launch-1.0 \
zedsrc stream-type=0 od-enabled=true od-detection-model=0 ! queue ! \
zedodoverlay ! queue ! \
autovideoconvert ! fpsdisplaysink
local-rgb-skel_fast-overlay.sh
local-rgb-skel_fast-overlay.bat
gst-launch-1.0 \
zedsrc stream-type=2 bt-enabled=true bt-detection-model=0 ! queue ! \
zedodoverlay ! queue ! \
autovideoconvert ! fpsdisplaysink
gst-launch-1.0 \
zedsrc stream-type=0 bt-enabled=true bt-detection-model=2 ! queue ! \
zedodoverlay ! queue ! \
autovideoconvert ! fpsdisplaysink
local-od-fps_overlay.sh
local-od-fps_overlay.bat
gst-launch-1.0 \
zedsrc stream-type=4 bt-enabled=true bt-detection-model=0 ! \
zeddemux name=demux \
demux.src_left ! queue ! zedodoverlay ! queue ! autovideoconvert ! fpsdisplaysink \
demux.src_aux ! queue ! autovideoconvert ! fpsdisplaysink
local-rgb-rescale-od-overlay.sh
local-rgb-rescale-od-overlay.bat
gst-launch-1.0 \
zeddatamux name=mux \
zedsrc stream-type=4 bt-enabled=true bt-detection-model=0 ! \
zeddemux stream-data=true is-depth=true name=demux \
demux.src_aux ! queue ! autovideoconvert ! videoscale ! video/x-raw,width=672,height=376 ! queue ! fpsdisplaysink \
demux.src_data ! mux.sink_data \
demux.src_left ! queue ! videoscale ! video/x-raw,width=672,height=376 ! mux.sink_video \
mux.src ! queue ! zedodoverlay ! queue ! \
autovideoconvert ! fpsdisplaysink
zedxone-simple-fps_rendering.sh
gst-launch-1.0 zedxonesrc ! queue ! autovideoconvert ! queue ! fpsdisplaysink
gst-launch-1.0 zedxonesrc camera-resolution=3 camera-fps=15 ! queue ! autovideoconvert ! queue ! fpsdisplaysink
gst-launch-1.0 zedxonesrc camera-resolution=2 camera-fps=60 ! queue ! autovideoconvert ! queue ! fpsdisplaysink
Available only for Linux
An application to start an RTSP server from a text pipeline (using the same sintax of the CLI command gst-launch-1.0
) is provided.
Usage:
gst-zed-rtsp-launch [OPTION?] PIPELINE-DESCRIPTION
Help Options:
-h
, --help
-> Show help options.--help-all
-> Show all help options.--help-gst
-> Show GStreamer Options.Application Options:
-p
, --port=PORT
-> Port to listen on (default: 8554).-a
, --address=HOST
-> Host address (default: 127.0.0.1).Example:
gst-zed-rtsp-launch zedsrc ! videoconvert ! 'video/x-raw, format=(string)I420' ! x264enc ! rtph264pay pt=96 name=pay0
It is mandatory to define at least one payload named pay0
; it is possible to define multiple payloads using an increasing index (i.e. pay1
, pay2
, ...).
Ready to use scripts are available in the scripts
folder for Windows, Desktop Linux, and Jetson
local-od-fps_overlay : Left and Depth image rendering with object detection (FAST HUMAN BODY TRACKING) data (overlay).
local-rgb-depth-sens-csv : Left and Depth image rendering and sensors data saved in csv file.
local-rgb_left_depth-fps_rendering : Left and Depth image rendering.
local-rgb_left_right-fps_rendering : Left and Right image rendering.
local-rgb-od_multi-overlay : Left image rendering with object detection on overlay (MULTI_CLASS)
local-rgb-rescale-od-overlay : Left and Depth image rendering with object detection with rescaling filter
local-rgb-skel_accurate-overlay : Left image rendering with human body pose ACCURATE overlay
local-rgb-skel_fast-overlay : Left/Right in top/bottom image rendering with human body pose FAST overlay
[Linux only] udp and rtsp sender/receiver.
This library is licensed under the LGPL License.
If you need assistance go to our Community site at https://community.stereolabs.com/