gStreamer is pretty complicated to learn and understand if you never have worked with this before, but the benefit is great. After fresh install of rasbian wheezy image, run raspi-config and set your language ect. Im also set overclock to medium. Bellow is a step by step for installing gStreamer into RPI with rasbian image. sudo apt-get install proftpd-basic sudo apt-get install inadyn (Only needed if using TCP server) sudo aptitude install libv4l-0 v4l-utils echo "deb http://vontaene.de/raspbian-updates/ . main " >> /etc/apt/sources.list sudo apt-get update sudo apt-get install gstreamer1.0 ffmpeg sudo modprobe ipv6 reboot if(window.hljsLoader && !document.currentScript.parentNode.hasAttribute('data-s9e-livepreview-onupdate')) { window.hljsLoader.highlightBlocks(document.currentScript.parentNode); } Be aware of section 7. "sudo modprobe ipv6" You will need to run this every time after reboot or add it to startup script. Bellow is a working code snippet for RPI using Web-cam or GoPro. You need to add Ip adress for you GCS or DynDns address. #!/bin/bash modprobe easycap 'bars=0' #320x240 #360x288 #640x480 #704x576 WIDTH=640 HEIGHT=480 ip= v4l2-ctl --set-fmt-video=width=$WIDTH,height=$HEIGHT,pixelformat=1 v4l2-ctl -i 1 gst-launch-1.0 -v \ rtpbin name=rtpbin v4l2src device=/dev/video0 \ ! video/x-raw,width=$WIDTH,height=$HEIGHT,framerate=25/1 \ ! queue \ ! omxh264enc target-bitrate=900000 control-rate=3 \ ! "video/x-h264,profile=high" \ ! h264parse \ ! queue max-size-bytes=10000000 \ ! rtph264pay pt=96 config-interval=1 \ ! rtpbin.send_rtp_sink_0 rtpbin.send_rtp_src_0 \ ! udpsink port=5000 host=$ip ts-offset=0 name=vrtpsink rtpbin.send_rtcp_src_0 \ ! udpsink port=5001 host=$ip sync=false async=false name=vrtcpsink udpsrc port=5005 name=vrtpsrc \ ! rtpbin.recv_rtcp_sink_0 if(window.hljsLoader && !document.currentScript.parentNode.hasAttribute('data-s9e-livepreview-onupdate')) { window.hljsLoader.highlightBlocks(document.currentScript.parentNode); } Ground Control Station For receiving the gStreamer pipeline at your GCS, you can use VLC or Gstreamer running at windows or linux platform. I will post both methods. VLC Create a file with .sdp extension and insert below content. Open the file in vlc player. This snippet will recive video at port 5000. v=0 s=ESP H264+AAC STREAM m=video 5000 RTP/AVP 96 a=rtpmap:96 H264/90000 a=fmtp:96 media=video; clock-rate=90000; encoding-name=H264; sprop-parameter- sets=Z2QAKK2EBUViuKxUdCAqKxXFYqOhAVFYrisVHQgKisVxWKjoQFRWK4rFR0ICorFcVio6ECSFITk8nyfk/k/J8nm5s00IEkKQnJ5Pk/J/J+T5PNzZprQFoeyA,aO48sA== a=control:trackID=1 if(window.hljsLoader && !document.currentScript.parentNode.hasAttribute('data-s9e-livepreview-onupdate')) { window.hljsLoader.highlightBlocks(document.currentScript.parentNode); } If you want to Transcode the video to e.g Mission Planner HUD, then add the following line. sout=#transcode{vcodec=MJPG,vb=1500,fps=15,scale=1,width=800,height=448,acodec=none}:duplicate{dst=http{mux=mpjpeg,dst=:8080/},dst=display} :sout-all :sout-keep if(window.hljsLoader && !document.currentScript.parentNode.hasAttribute('data-s9e-livepreview-onupdate')) { window.hljsLoader.highlightBlocks(document.currentScript.parentNode); } Right click in Mission Planner HUD and select source. 🙂 Gstreamer If you want to use gStreamer which seems to be less latency than VLC then use below code. Install gStreamer for windows. Open cmd line and go to gStreamer directory. gst-launch-1.0 udpsrc caps="application/x-rtp, media=(string)video, clock-rate=(int) 90000, encoding-name=(string)H264, sampling=(string)YCbCr-4:4:4, depth=(string)8, width=(string)320, height=(string)240, colorimetry=(string)SMPTE240M, ssrc=(uint)1825678493, payload=(int)96, clock-base=(uint)4068866987, seqnum-base=(uint)24582" port=5000 ! rtph264depay ! decodebin !queue! autovideosink if(window.hljsLoader && !document.currentScript.parentNode.hasAttribute('data-s9e-livepreview-onupdate')) { window.hljsLoader.highlightBlocks(document.currentScript.parentNode); } Gstreamer and Youtube Live I was able to stream to Youtube-Live with this code snippet bellow using videotestsrc which just generating a test picture. Make sure you have set up your Youtube-Live account correctly before testing. Remember to type in your correct live id in this script. gst-launch-1.0 videotestsrc pattern=0 is-live=true ! timeoverlay halignment=left valignment=bottom text="Stream time:" shaded- background=true ! 'video/x-raw, format=(string)BGRA, pixel-aspect- ratio=(fraction)1/1, interlace-mode=(string)progressive, width=320, height=240, framerate=30/1' ! queue ! videoconvert ! x264enc bitrate=4000 key-int-max=50 bframes=0 byte-stream=false aud=true tune=zerolatency ! h264parse ! 'video/x-h264,level= (string)'4.1',profile='main ! queue ! mux. audiotestsrc is-live=true ! 'audio/x-raw, format=(string)S16LE, endianness=(int)1234, signed= (boolean)true, width=(int)16, depth=(int)16, rate=(int)44100, channels=(int)2' ! queue ! voaacenc bitrate=128000 ! aacparse ! audio/mpeg,mpegversion=4,stream-format=raw ! queue ! flvmux streamable=true name=mux ! rtmpsink location="rtmp://a.rtmp.youtube.com/live2/your_live_id_code live=true flashver=FMLE/3.0(compatible;FMSc/1.0)" if(window.hljsLoader && !document.currentScript.parentNode.hasAttribute('data-s9e-livepreview-onupdate')) { window.hljsLoader.highlightBlocks(document.currentScript.parentNode); } If you want to use Video0 and and not Videotestsrc, you can use this code snippet. gst-launch-1.0 rtpbin name=rtpbin v4l2src device=/dev/video0 ! video/x-raw, gop-size=15, pixel-aspect-ratio=1/1, width=320, height=240, framerate=5/1, control-rate=1 ! videoconvert ! x264enc bitrate=4000 key-int-max=12 bframes=0 byte-stream=false aud=true tune=zerolatency ! h264parse ! queue max-size-bytes=10000000 ! 'video/x-h264,level=(string)'4.1',profile='high ! queue ! mux. audiotestsrc is-live=t ! 'audio/x-raw, format=(string)S16LE, endianness=(int)1234, signed=(boolean)true, width=(int)16, depth= (int)16, rate=(int)44100, channels=(int)2' ! queue ! voaacenc bitrate=128000 ! aacparse ! audio/mpeg,mpegversion=4,stream-format=raw ! queue ! flvmux streamable=true name=mux ! rtmpsink location=rtmp://a.rtmp.youtube.com/live2/x/your_live_id_code ?videoKeyframeFrequency=1&totalDatarate=128 app=live2 flashVer="FME/3.0%20(compatible;%20FMSc%201.0)" swfUrl=rtmp://a.rtmp.youtube.com/live2 if(window.hljsLoader && !document.currentScript.parentNode.hasAttribute('data-s9e-livepreview-onupdate')) { window.hljsLoader.highlightBlocks(document.currentScript.parentNode); } I also found this Script (for YouTube Live, UStream, Akamai and Twitch) , but not tested yet. #!/bin/bash if [ $# != 1 ] ; then echo "Parameter error" echo "Usage : $0 you | you1 | you2 | aka | akamai | ustream" exit fi ################### YouTube Settings ################### # These data are available to you when you create a Live event in YouTube # First Camera - INSERT YOUR OWN DATA youtube_auth1='myname.a1b2-c3d4-e5f6-g7h8' # Second Camera - Optional youtube_auth2='' youtube_app='live2' serverurl='rtmp://INSERT_YOUTUBE_SERVER_HERE/'$youtube_app ################### UStream Settings ################### # RTMP URL from your UStream Account : See www.ustream.tv -> Channel -> Remote rtmpurl='INSERT_YOUR_USTREAM_RTMP_URL_HERE' # This is your Stream Key : See www.ustream.tv -> Channel -> Remote streamkey='INSERT_YOUR_STREAM_KEY_HERE' ################### Twitch Settings ################### twitch_server=live.twitch.tv twitch_streamkey='INSERT_YOUR_STREAM_KEY_HERE' # twitch_streamkey=live_12345678_6asdk3khhewrkhqe4k32AswlH6hrwd ################### Akamai Settings ################### akamai_server='INSERT_YOUR_AKAMAI_SERVER_NAME_HERE' akamai_user='INSERT_YOUR_AKAMAI_USER_NAME_HERE' akamai_pass='INSERT_YOUR_AKAMAI_PASSWORD_NAME_HERE' ######################################################## # You can change the settings below to suit your needs ###################### Settings ######################## width=1280 height=720 audiorate=44100 channels=2 framerate='30/1' vbitrate=4000 abitrate=128000 GST_DEBUG="--gst-debug=flvmux:0,rtmpsink:0" ###################### Settings ######################## ######################################################## # THe following settings should not be changed h264_level=4.1 h264_profile=main h264_bframes=0 keyint=`echo "2 * $framerate" |bc` datarate=`echo "$vbitrate + $abitrate / 1000" |bc` flashver='FME/3.0%20(compatible;%20FMSc%201.0)' akamai_flashver="flashver=FMLE/3.0(compatible;FMSc/1.0) playpath=I4Ckpath_12@44448" ######################################################## # This will detect gstreamer-1.0 over gstreamer-0.10 gstlaunch=`which gst-launch-1.0` if [ X$gstlaunch != X ] ; then VIDEOCONVERT=videoconvert VIDEO='video/x-raw, format=(string)BGRA, pixel-aspect-ratio=(fraction)1/1, interlace-mode=(string)progressive' AUDIO=audio/x-raw # VIDEO=video/x-raw-yuv vfid=string afid="format=(string)S16LE, " else gstlaunch=`which gst-launch-0.10` if [ X$gstlaunch != X ] ; then VIDEOCONVERT=ffmpegcolorspace VIDEO='video/x-raw-rgb, bpp=(int)32, depth=(int)32, endianness=(int)4321, red_mask=(int)65280, green_mask=(int)16711680, blue_mask=(int)-16777216, pixel-aspect-ratio=(fraction)1/1, interlaced=(boolean)false' AUDIO=audio/x-raw-int vfid=fourcc afid="" else echo "Could not find gst-launch-1.0 or gst-launch-0.10. Stopping" exit fi fi case $1 in you|you1|you2|youtube|youtube1|youtube2) if [ $1 = you2 -o $1 = youtube2 ] ; then auth="$youtube_auth2" else auth="$youtube_auth1" fi if [ X$auth = X ] ; then echo "auth was not set YouTube" exit 1 fi ENCAUDIOFORMAT='aacparse ! audio/mpeg,mpegversion=4,stream-format=raw' videoencoder="x264enc bitrate=$vbitrate key-int-max=$keyint bframes=$h264_bframes byte-stream=false aud=true tune=zerolatency" audioencoder="faac bitrate=$abitrate" location=$serverurl'/x/'$auth'?videoKeyframeFrequency=1&totalDatarate='$datarate' app='$youtube_app' flashVer='$flashver' swfUrl='$serverurl ;; ustream) videoencoder="x264enc bitrate=$vbitrate bframes=0" #ENCAUDIOFORMAT='audio/mpeg' ENCAUDIOFORMAT=mpegaudioparse abitrate=`echo "$abitrate / 1000" | bc` audioencoder="lamemp3enc bitrate=$abitrate ! mpegaudioparse" location="$rtmpurl/$streamkey live=1 flashver=$flashver" ;; twitch) if [ $vbitrate -gt 3000] ; then vbitrate=3000 ; fi videoencoder="x264enc bitrate=$vbitrate bframes=0" ENCAUDIOFORMAT=mpegaudioparse abitrate=`echo "$abitrate / 1000" | bc` audioencoder="lamemp3enc bitrate=$abitrate ! mpegaudioparse" location="rtmp://$twitch_server/app/$twitch_streamkey live=1 flashver=$flashver" ;; aka | akamai) videoencoder="x264enc bitrate=$vbitrate bframes=0" audioencoder="faac bitrate=$abitrate" ENCAUDIOFORMAT='aacparse ! audio/mpeg,mpegversion=4,stream-format=raw' stream_key="live=true pubUser=$akamai_user pubPasswd=$akamai_pass" location="rtmp://$akamai_server/EntryPoint $stream_key $akamai_flashver" ;; *) echo 'Use youtube, akamai or ustream' exit esac ENCVIDEOFORMAT='h264parse ! video/x-h264,level=(string)'$h264_level',profile='$h264_profile VIDEOFORMAT=$VIDEO', framerate='$framerate', width='$width', height='$height AUDIOFORMAT=$AUDIO', '$afid' endianness=(int)1234, signed=(boolean)true, width=(int)16, depth=(int)16, rate=(int)'$audiorate', channels=(int)'$channels TIMEOLPARMS='halignment=left valignment=bottom text="Stream time:" shaded-background=true' VIDEOSRC="videotestsrc pattern=0 is-live=true ! timeoverlay $TIMEOLPARMS" AUDIOSRC="audiotestsrc is-live=true" $gstlaunch -v $GST_DEBUG \ $VIDEOSRC !\ $VIDEOFORMAT !\ queue !\ $VIDEOCONVERT !\ $videoencoder !\ $ENCVIDEOFORMAT !\ queue !\ mux. $AUDIOSRC !\ $AUDIOFORMAT !\ queue !\ $audioencoder !\ $ENCAUDIOFORMAT !\ queue !\ flvmux streamable=true name=mux !\ queue !\ rtmpsink location="$location" if(window.hljsLoader && !document.currentScript.parentNode.hasAttribute('data-s9e-livepreview-onupdate')) { window.hljsLoader.highlightBlocks(document.currentScript.parentNode); }

Yes this transcoding only applies for VLC. To transcode, do as follows; Create a new file using "cmd" extension. e.g, Transcode.cmd. add the following lines to that file and add the path name to vlc.exe and the vlc.sdp. Transcode.cmd @echo off "C:\PATH_TO_VLC.EXE" "C:\PATH_TO_VLC.SDP" --sout=#transcode{vcodec=MJPG,vb=1500,fps=15,scale=1,width=800,height=448,acodec=none}:duplicate{dst=http{mux=mpjpeg,dst=:8080/},dst=display} :sout-all :sout-keep if(window.hljsLoader && !document.currentScript.parentNode.hasAttribute('data-s9e-livepreview-onupdate')) { window.hljsLoader.highlightBlocks(document.currentScript.parentNode); } vlc.sdp SDP: v=0 o=- 0 0 IN IP4 127.0.0.1 s=No Name c=IN IP4 10.0.0.225 t=0 0 a=tool:libavformat 56.33.101 m=video 5000 RTP/AVP 96 b=AS:200 a=rtpmap:96 MP4V-ES/90000 a=fmtp:96 profile-level-id=1 if(window.hljsLoader && !document.currentScript.parentNode.hasAttribute('data-s9e-livepreview-onupdate')) { window.hljsLoader.highlightBlocks(document.currentScript.parentNode); } There is also a possibility to use gstreamer instead of VLC. Take a look at this post at diy by Patrick Duffy

Hi @Sinamics , I am trying to setup raspberry camera streaming to mission planner HUD. I can now receive the video and play it with gstreames using: gst-launch-1.0 udpsrc port=9000 ! application/x-rtp,encoding-name=H264,payload=96 ! rtph264depay ! avdec_h264 ! videoconvert ! autovideosink if(window.hljsLoader && !document.currentScript.parentNode.hasAttribute('data-s9e-livepreview-onupdate')) { window.hljsLoader.highlightBlocks(document.currentScript.parentNode); } but how to push this to Mission Planner's HUD? I am using MP 1.3.35 and right clicking only has option to "Set MJPEG source" and requires ip:port. Help would be appreciated! Linas

Does anybody know how I can record and display the stream from Gstreamer using Gstreamer under Windows? My pipe now is: gst-launch-1.0 -v udpsrc port=5000 caps="application/x-rtp, media=(string)video, clock-rate=(int)90000, encoding-name=(string)H264" ! rtph264depay ! avdec_h264 ! videoconvert ! autovideosink sync=f if(window.hljsLoader && !document.currentScript.parentNode.hasAttribute('data-s9e-livepreview-onupdate')) { window.hljsLoader.highlightBlocks(document.currentScript.parentNode); } I know you can use filesink and it you can even compress it using ffmpeg plus close off the file before shutdown of Gstreamer but apart from that I have no idea about Gstreamer.

RPI & gStreamer

Chuckster1

Hello again.

When you talk about transcoding the video to MP HUD, is that only for VLC? The line that you talk about adding beginning with "--sout", can that be added to the end of the code snippet for the webcam in the Raspberry Pi?

Sinamics

Yes this transcoding only applies for VLC.
To transcode, do as follows;

Create a new file using "cmd" extension. e.g, Transcode.cmd. add the following lines to that file and add the path name to vlc.exe and the vlc.sdp.

Transcode.cmd

@echo off
"C:\PATH_TO_VLC.EXE" "C:\PATH_TO_VLC.SDP" --sout=#transcode{vcodec=MJPG,vb=1500,fps=15,scale=1,width=800,height=448,acodec=none}:duplicate{dst=http{mux=mpjpeg,dst=:8080/},dst=display} :sout-all :sout-keep

vlc.sdp

SDP:
v=0
o=- 0 0 IN IP4 127.0.0.1
s=No Name
c=IN IP4 10.0.0.225
t=0 0
a=tool:libavformat 56.33.101
m=video 5000 RTP/AVP 96
b=AS:200
a=rtpmap:96 MP4V-ES/90000
a=fmtp:96 profile-level-id=1

There is also a possibility to use gstreamer instead of VLC. Take a look at this post at diy by Patrick Duffy

Linas_Gelazanskas

Hi @Sinamics,

I am trying to setup raspberry camera streaming to mission planner HUD.
I can now receive the video and play it with gstreames using:

gst-launch-1.0 udpsrc port=9000 ! application/x-rtp,encoding-name=H264,payload=96 ! rtph264depay ! avdec_h264 ! videoconvert ! autovideosink

but how to push this to Mission Planner's HUD? I am using MP 1.3.35 and right clicking only has option to "Set MJPEG source" and requires ip:port.

Help would be appreciated!

Linas

Sinamics

Hi Linas
You cant transcode gstreamer to mission planner HUD directly(to my knowledge).. You need to either use VLC , or gstreamer HUD application created by Patrick Duffy
http://diydrones.com/profiles/blogs/how-to-setup-a-mission-planner-hd-video-hud-using-gstreamer-and

image 76676019656c2fc745094e749982609.png

mark_vanhaze

Does anybody know how I can record and display the stream from Gstreamer using Gstreamer under Windows? My pipe now is:

gst-launch-1.0 -v udpsrc port=5000 caps="application/x-rtp, media=(string)video, clock-rate=(int)90000, encoding-name=(string)H264" ! rtph264depay ! avdec_h264 ! videoconvert ! autovideosink sync=f

I know you can use filesink and it you can even compress it using ffmpeg plus close off the file before shutdown of Gstreamer but apart from that I have no idea about Gstreamer.

Sinamics

use this pipeline for streaming to twitch with picam
raspivid -n -w 1280 -h 720 -b 2000000 -fps 10 -t 0 -o - | gst-launch-1.0 ! x264enc threads=0 bitrate=400 tune=zerolatency key-int-max=30 ! queue ! flvmux name=flvmux ! queue ! rtmpsink location=rtmp://live-fra.twitch.tv/app/TWITCH_APP_ID audiotestsrc ! faac ! flvmux.

smiric

Hello, Im looking into using your software Sinamics it seems great. What you think of this brand new piCam ?
https://www.youtube.com/watch?v=YzEZvTwO7tA

Sinamics

smiric Thats seems very promising with a bump to 12MP with interchangeable lenses.
I have not seen that before, going to orderd it right away. 😀

Thank you for notify us.

smiric

@Sinamics hey, have you got time to test this new piCam ?

Sinamics

smiric Sorry i have not. Hopefully this week 🙂

smiric

Great... let us know 😃