GStreamer* Video Pipeline with an Intel® RealSense™ Camera#

Run a GStreamer* video pipeline using the Intel® RealSense™ plugin in a Docker* container in order to use a Intel® RealSense™ video camera as the video source.

Run the Sample Pipeline#

  1. Connect an Intel® RealSense™ video camera.

  2. Check if your installation has the amr-gstreamer Docker* image.

    docker images |grep amr-gstreamer
#if you have it installed, the result is:
amr-gstreamer

    Note

    If the image is not installed, continuing with these steps triggers a build that takes longer than an hour (sometimes, a lot longer depending on the system resources and internet connection).

  3. If the image is not installed, Intel® recommends installing the Robot Base Kit or Robot Complete Kit with the Get Started Guide for Robots.

  4. Check that EI for AMR environment is set:

    echo $AMR_TUTORIALS
# should output the path to EI for AMR tutorials
/home/user/edge_insights_for_amr/Edge_Insights_for_Autonomous_Mobile_Robots_2023.1/AMR_containers/01_docker_sdk_env/docker_compose/05_tutorials

    If nothing is output, refer to Get Started Guide for Robots Step 5 for information on how to configure the environment.

  5. Get the stream from the Intel® RealSense™ camera using gstreamer:

    docker compose -f $AMR_TUTORIALS/gstreamer_realsensesrc.tutorial.yml up

    Expected output: The stream from the Intel® RealSense™ is displayed.

  6. To close this, do one of the following:

    • Type Ctrl-c in the terminal where you did the up command.

    • Run this command to remove stopped containers:

    docker compose -f $AMR_TUTORIALS/gstreamer_realsensesrc.tutorial.yml down

  7. For an explanation of what happened, open the yml file:

    • The first 23 lines are from the EI for AMR infrastructure.

    • Line 26 gets the stream from the Intel® RealSense™ app using GStreamer*.

Troubleshooting#

  • In some cases, the stream may not appear due to permission issues on the host. You may see this error message:

    ERROR: Pipeline doesn't want to pause.

    1. To fix this, if you did not install the librealsense udev rules when you configured the host, install them now:

      git clone https://github.com/IntelRealSense/librealsense
# Copy the 99-realsense-libusb.rules files to the rules.d folder
cd librealsense
sudo cp config/99-realsense-libusb.rules /etc/udev/rules.d/
sudo udevadm control --reload-rules
sudo udevadm trigger

    2. Then open the gst-launch command.

    If the problem persists, you can try any or all of the following:

    • Verify that $DISPLAY has the correct value.

    • Perform a Intel® RealSense™ hardware reset:

      # Open realsense docker container
docker compose -f 01_docker_sdk_env/docker_compose/01_amr/amr-sdk.all.yml run realsense bash
# While in realsense container, open the realsense-viewer application
realsense-viewer
# In  realsense-viewer menu, go to "More" and then select "Hardware Reset"
# Wait for reset to complete and then close the realsense-viewer application.

    • Reboot the target.

  • For general robot issues, go to: Troubleshooting for Robot Tutorials.