m500 camera stream

Syed Omair

can someone tell me how I can stream video from a different camera than the hi res camera ? like I want to be able to see all of these

cameras

I followed steps on this site but was only able to get hires

https://docs.modalai.com/voxl-streamer-0_9/

thank you

Alex Kushleyev

@Syed-Omair , you can display all the video streams using voxl-portal for debugging purposes (select the camera in the Cameras menu on the top. Is this what you are trying to achieve?

Syed Omair

@Alex-Kushleyev

I apologize for being late. I am aware of the voxl-portal for debugging purposes but no that's not what I want for now. like I want to be able to read the data frame by frame using a python script which reads from a rtsp "live" link. I think its just configuring the voxl-streamer server to something else ? idk I am lost on what to do her

two more questions

is there a way for me to also in real time read the point cloud data ? I can view one the being generated in the voxl-portal section "pointcloud" but I want to read the actual pointcloud dataset in real time so I can do some other visualizations with it.
I would love if you could let me know how i can read quaternion data in real time as well..

Thank you

Alex Kushleyev

@Syed-Omair

You can use voxl-streamer to create an rtsp stream of any of the camera images that you are either coming directly from cameras or images that are output from algorithms like qvio or dfs. You can also use voxl-streamer to serve a h264/h265 stream that has already been encoded. Here are some examples:

#examples of images that are not h264/h265 which will be encoded by voxl-streamer
voxl-streamer -i qvio_overlay
voxl-streamer -i dfs_disparity
voxl-streamer -i stereo
voxl-streamer -i tracking

#example of streamer a stream that is already encoded as it comes from camera server (this stream has to be enabled in `voxl-camera-server.conf`
voxl-streamer -i hires_large_encoded

So, you can just use voxl-inspect-cam -a to see what camera streams are available and just start voxl-streamer (in foreground for testing) with -i argument and provide the stream name. You can also check the help description by running:

voxl-streamer -h

It tells you how to change rtsp port and how to run multiple instances using --standalone option.

Alex Kushleyev

you can see how the point cloud data is received in our voxl-mpa-tools :

https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-mpa-tools/-/blob/master/tools/voxl-inspect-points.c . This is a very simple example, but you can use it to make your own application.

this example shows how you can inspect 6DOF pose : https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-mpa-tools/-/blob/master/tools/voxl-inspect-pose.c (i believe you need voxl vision hub running for that)