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: ""
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: 7, "Default value for the camera model"
(1): HD2K (USB3) - 2208x1242
(3): HD1200 (GMSL2) - 1920x1200
(2): HD1080 (USB3/GMSL2) - 1920x1080
(4): HD720 (USB3) - 1280x720
(5): SVGA (GMSL2) - 960x600
(6): VGA (USB3) - 672x376
(7): 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 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
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.
📌 Note: the element
queue max-size-time=0 max-size-bytes=0 max-size-buffers=0is 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.