@joseph-vale ,
You did not provide the actual error that you are seeing, however I could try to guess what it is (even if not, the details below should probably help you anyway). The default build of voxl-opencv package does not have python3 support. So if you are using gstreamer with opencv in python and that is the error, you should install the voxl-opencv package that I built with python3 support
Below, i will assume that you want to grab images from Boson part of the Hadron, however similar approach should apply to the RGB camera in Hadron.
First you should test ability to grab images without python. You may need to replace your camera # depending on what camera id your Boson is.
IMPORTANT: make sure that voxl-camear-server is not running while you are trying to use gstreamer.
systemctl stop voxl-camera-server
Tip: you can actually stream video using X forwarding with ssh. This should stream live Boson feed from voxl2 to your linux machine:
ssh -Y username@<voxl-ip>
gst-launch-1.0 qtiqmmfsrc camera=0 ! "video/x-raw,width=640,height=512,framerate=30/1" ! videoconvert ! autovideosink
display image directly in terminal as ascii:
gst-launch-1.0 qtiqmmfsrc camera=0 ! "video/x-raw,width=640,height=512,framerate=30/1" ! autovideoconvert ! aasink
and then finally, a python script that grabs h264 video from qtiqmmfsrc, decodes it and returns frames to python:
import time
import cv2
#get RGB (BGR?) directly
#stream='gst-launch-1.0 qtiqmmfsrc camera=0 ! video/x-raw, width=640,height=512,framerate=30/1 ! autovideoconvert ! appsink'
#get h264 -> decode -> BGR
stream='gst-launch-1.0 qtiqmmfsrc camera=0 ! video/x-h264,format=NV12,profile=high,width=640,height=512,framerate=30/1 ! h264parse ! qtivdec ! qtivtransform ! video/x-raw,format=BGR,width=640,height=512 ! autovideoconvert ! appsink'
print(stream)
vcap = cv2.VideoCapture(stream,cv2.CAP_GSTREAMER)
frame_cntr = 0
while(1):
ret, frame = vcap.read()
if ret:
frame_cntr += 1
print('got frame %d with dims ' % frame_cntr, frame.shape)
Hopefully, that works for you.
Final recommendation - if you use qtiqmmfsrc this way, the Boson data is processed in the Qualcomm ISP and unless your have a special tuning file for Boson, the processed output will have degraded quality. Boson, by default, outputs post AGC 8-bit image which is already processed and does not need to be further processed by the ISP. I am not sure whether you can get RAW8 data from qtiqmmfsrc (unmodified data from Boson).
We handle the above issue in voxl-camera-server by working with the RAW8 directly. We also recently started experimenting with 14bit pre-AGC data from Boson, which would need some processing before it is usable (if you are interested in that, i can share some more information).
Finally, if you would like to use voxl-camera-server, which is what we recommend and support, there is also a way to get encoded h264/h265 data into python (using our experimental pympa (python MPA bindings)). That is a topic for a discussion in another post, if you are interested..
Alex
