Robotics Systems Types

Basic roundtrip is working in my private branch. However, only for BGR images. gstreamer sends YUV422 and I could not find a way to instruct gstreamer to send something different, because for YUV422 there is no cvCvtColor operator to use. So I would have to code the conversion in python. This will get horribly slow.

Jan, do you know a way to send RGB images with a gstreamer pipeline? I tried using ffmpegcolorspace and a video element afterwards, but the results were somehow wrong and definitely not a BGR or RGB image.

I used

gst-launch-0.10 videotestsrc ! video/x-raw-rgb ! rsbvideosink scope=/

and the logger said

Payload (RST.VISION:IMAGE)
  #<IMAGE {100A02AB23}>
    Data      : 0000 FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF 
                0018 FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF 
                0030 FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF FF 
                ... [omitting 153,528 of 153,600 octets]
    Width     : 320
    Height    : 240
    Channels  : 3
    Depth     : DEPTH-8U
    Color-Mode: COLOR-RGB
    Data-Order: DATA-INTERLEAVED

This is not supported by most cheap webcams.

Johannes Wienke wrote:

This is not supported by most cheap webcams.

Since the question was

do you know a way to send RGB images with a gstreamer pipeline?

I though, RSB images were required only for testing purposes.

Why is the following not possible?

gst-launch-0.10 WEBCAMSOURCE ! ffmpegcolorspace ! video/x-raw-rgb ! rsbvideosink scope=/

Payload (RST.VISION:IMAGE)
  #<IMAGE {100B240493}>
    Data      : 0000 CC 9C ED 9C 0E AD ED AC AE A4 CE AC 2F AD 2F AD 30 AD AE 9C 0F AD EF AC 0F 
    0019 AD CE A4 8C 9C AD A4 10 A5 10 A5 92 9D 71 9D 50 95 30 95 0F 95 2F 9D 4F 9D 
    0032 2F 9D 0F A5 EE 9C 6D 94 CF A4 30 AD 30 AD ... [omitting 2,621,376 of 2,621,440 octets]
    Width     : 1280
    Height    : 1024
    Channels  : 3
    Depth     : DEPTH-8U
    Color-Mode: COLOR-RGB
    Data-Order: DATA-INTERLEAVE

My webcam definitely does not support 1280x1024 and images look completely broken.

Ok, I can workaround this by using the rsb video sender. But I would have liked to prevent that hacky thing from leaking into the isy project.

@Johannes: Can you please post the pipeline which triggers the bug?

Or maybe file a bug in RSB GStreamer Integration.

gst-launch-0.10 v4l2src ! ffmpegcolorspace ! video/x-raw-rgb, width=640, height=480 ! rsbvideosink scope=/video

I think, I found the bug in RSB GStreamer Integration.

See #1194. I tried to commit a fix, but the RSB GStreamer Integration repository seems to be read-only :(

we could use this as an opportunity to migrate to GIT ;)

I looked at the branch and I did not see any problems. However, I would prefer at least some cleanup before merging this into master.

Unrelated note: I think, Python docstrings use """...""", not '''...'''.

Which clean up do you mean? I don't have much time to implement all the other formats.

When I looked at the code, there were lots of TODO, little error handling and few comments.

Maybe we can make a branch for ISY now and merge it into master when we manage to finish it?

The TODOs exist, apart from a few more formats implemented in C++, in same way there.

For error handling we do not have a specific exception class in python as far as I remember. So the assertion error should do the desired thing to my mind.