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COMPANION.md

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Setup with ArduSub Companion

This document is now outdated, read our Documentation Page for more info

Setup WinSCP and PuTTy. Open WinSCP and start a new session.

File Protocol

SFTP

Host name

192.168.2.2

Port number

22

User name

pi

Password

companion

Navigate to

/home/pi/companion/scripts/

Replace start_video.sh with current start_video.sh in scripts folder in this repository. Copy explorehd_camera_controls folder and put it in the scripts folder. Open a new PuTTy session and login with companion as passowrd. Type the following to terminal.

cd companion/scripts/explorehd_camera_controls
cp Makefile.x86 Makefile
make

Restart the pi to recieve the new stream.

H264

Sending Stream

gst-launch-1.0 -v v4l2src device=/dev/video1 ! video/x-h264, width=1920,height=1080! h264parse ! queue ! rtph264pay config-interval=10 pt=96 ! udpsink host=192.168.2.1 port=5600 sync=false

Rceiving Stream

Two commands you can use

gst-launch-1.0 -v udpsrc port=5600 ! application/x-rtp, encoding-name=H264,payload=96! rtpjitterbuffer ! rtph264depay ! avdec_h264 ! autovideosink

gst-launch-1.0 -v udpsrc port=5600 caps = "application/x-rtp, media=(string)video, clock-rate=(int)90000, encoding-name=(string)H264, payload=(int)96" ! rtph264depay ! decodebin ! videoconvert ! autovideosink

OBS Pipeline

udpsrc port=5600 ! application/x-rtp,media=(string)video,clock-rate=(int)90000,encoding-name=(string)H264 ! rtph264depay ! avdec_h264 output-corrupt=false ! videoconvert ! video.

Streaming YUYV encoded as MJPEG

gst-launch-1.0 -v v4l2src device=/dev/video0 ! video/x-raw,format=YUY2,width=640,height=480 ! jpegenc ! rtpjpegpay ! udpsink host=127.0.0.1 port=5000

Streaming YUYV encoded as H264

gst-launch-1.0 -v v4l2src  device=/dev/video0 ! video/x-raw,framerate=30/1 ! videoscale ! videoconvert ! x264enc tune=zerolatency bitrate=500 speed-preset=superfast ! rtph264pay ! udpsink host=127.0.0.1 port=5000

DeepStream

DeepStream must be installed on your machine: https://docs.nvidia.com/metropolis/deepstream/dev-guide/text/DS_Quickstart.html
For more info: https://developer.nvidia.com/deepstream-sdk

Displaying Video from Camera

gst-launch-1.0 v4l2src device=/dev/video0 io-mode=2 ! "image/jpeg,width=1920,height=1080" ! nvjpegdec ! nvvideoconvert ! 'video/x-raw(memory:NVMM),format=NV12' ! nveglglessink -e

Receiving MJPG Stream

gst-launch-1.0 -v udpsrc port=5000 ! application/x-rtp, media=video, clock-rate=90000, encoding-name=JPEG, payload=26 ! rtpjpegdepay ! nvjpegdec ! nvvideoconvert ! 'video/x-raw(memory:NVMM),format=NV12' ! nveglglessink -e

Recording MJPG Stream with NVENC GStreamer Plugin

gst-launch-1.0 -v udpsrc port=5000 ! application/x-rtp,media=video,clock-rate=90000,encoding-name=JPEG,payload=26 ! rtpjpegdepay ! jpegdec ! queue ! nvh264enc ! h264parse ! mp4mux ! filesink location=video.mp4