PX4-Gazebo-Opencv

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PX4-Gazebo-Opencv

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This repo contains how to receive PX4 Gazebo Simulation GStreamer UDP Video into OpenCV

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# PX4-Gazebo-Opencv
This repo contains how to receive PX4 Gazebo Camera Plugin UDP Video into Opencv.VideoCapture()

This code belongs to https://gist.github.com/patrickelectric/443645bb0fd6e71b34c504d20d475d5a

If you are using another Ground Control Station (like QGC), don't forget to close UDP Video Receiver. Simulation plugin is not multicast stream.

### Steps:

Start simulation gazebo with `make posix gazebo_typhoon_h480`

Start python script with `python opencv-gazebo.py`

### NOTES: 
- I preffered version Python 3.6.9 for another OpenCV implementations.
- Pipeline:
VideoCapture video("udpsrc port=5600 ! application/x-rtp,payload=96,encoding-name=H264 !"
                           "rtpjitterbuffer mode=1 ! rtph264depay ! h264parse ! decodebin ! videoconvert ! appsink drop=true max-buffers=1 emit-signals=true sync=false", CAP_GSTREAMER);

It can be improve by more efficiency.

![Screenshot 1](https://user-images.githubusercontent.com/44507545/70604304-7d424580-1c09-11ea-9a4f-8212e2260ebd.png)

PX4-Gazebo-Opencv

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