I am trying to send live footage using BlueRobotics’ low light usb camera from Jetson to a surface computer using python’s socket library. I am using UDP as my transport protocol for better timing but I can only send at most 64KB because of this I am having to split the image data into pieces and send them over one by one. This causes the video to become jittery and lag behind.
I think the companion software sends image data using gstreamer but I am using a Jetson Nano instead of a Raspberry Pi. Is there a way I can use the gstreamer settings in the companion software in Jetson Nano? Ardusub site already provides examples of receiving gstreamer data but it doesn’t have examples of sending gstreamer data.
Essentialy I am trying to replace Raspberry with Jetson Nano to have a better performance while doing autonomous missions.
Can you show me where the gstreamer code is located in companion software?
Thank you for your answers!
Server Code
import socket
import cv2
import numpy
server = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
address = ("192.168.1.41", 8080)
server.bind(address)
buffer = 65502
segment_amount = 0
received_segments = [None]
rawFrame = ""
while True:
data, address = server.recvfrom(buffer)
print("Type:", data[0], "|| Extra:", data[1])
if data[0] == 1:
segment_amount = data[1]
received_segments = [None] * segment_amount
print("New segment amount:", segment_amount)
elif data[0] == 0:
if received_segments[data[1]] is None:
print(f"Received[{data[1]}]")
received_segments[data[1]] = data[2:]
print(f"New segment, len({len(data[2:])})")
if all(received_segments):
print("Assembling Frame")
rawFrame = received_segments[0]
for i in range(1, segment_amount):
rawFrame += received_segments[i]
frame = numpy.reshape(numpy.frombuffer(rawFrame, numpy.uint8), (480, 640, 3))
cv2.imshow("Output", frame)
if cv2.waitKey(1) & 0xff == ord("q"): # check if q is pressed, as the wait time gets bigger the video plays slower
break
received_segments = [None] * segment_amount
Client Code
import socket
import cv2
import numpy
client = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
server_address = ("192.168.1.41", 8080)
camera = cv2.VideoCapture(0)
buffer = 65502
dataBuffer = buffer - 2
last = 0
while camera.isOpened():
got, frame = camera.read()
# frame.shape
# frame.tobytes()
# frame.dtype
# frame2 = numpy.reshape(numpy.frombuffer(binary, numpy.uint8), (480, 640, 3))
frameBin = frame.tobytes() # raw binary data of frame
binLen = len(frameBin)
print(binLen)
segment_amount = binLen // dataBuffer + int(bool(binLen % dataBuffer))
print("Segment amount:", segment_amount)
client.sendto(b"\x01" + segment_amount.to_bytes(1, "big"), server_address) # send SA ID[1] and Segment Amount(SA)
# divide binary data to 65K segments
for i in range(segment_amount - 1):
client.sendto(b"\x00" + i.to_bytes(1, "big") + frameBin[i * dataBuffer:(i + 1) * dataBuffer], server_address) # send IMG ID[0], Segment Index(SI) and Data
print(f"Sent[{i}], len({len(frameBin[i * dataBuffer:(i + 1) * dataBuffer])})")
last = i
client.sendto(b"\x00" + (last + 1).to_bytes(1, "big") + frameBin[-(binLen % dataBuffer):], server_address) # send the left over segment
print(f"Sent[{last + 1}], len({len(frameBin[-(binLen % dataBuffer):])})")
cv2.imshow("Camera Input", frame)
if cv2.waitKey(1) & 0xff == ord("q"): # check if q is pressed, as the wait time gets bigger the video plays slower
break
