Industrial application pipelines with Gstreamer. Marianna S. Buschle
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1 Industril ppliction pipelines with Gstremer Mrinn S. Buschle
2 Qtechnology Modulr smrt cmers CPU/GPU processing + FPGA support Interchngeble heds: Color/Mono CMOS (IR filter) Hyperspectrl (mosic or diffrction pttern) Therml Open source stndrds Linux (video4linux) OpenCV/OpenCL Gstremer
3 Industril Applictions Opticl inspection / qulity control food opencv + opencl C + opencl opencv + opencl Gstremer (opencv + opencl)
4 Imge processing Bckground seprtion Imge filtering nd enhncement Morphologicl filters (open, close), shrpening Imge Stitching Blob processing NNet, threshold, imge subtrction Contour finding Object properties: size, position, color Trcking Decision mking
5 Development Cycle Lot of common elements Re-usble Rpid prototyping Cmer Interfce Librry? Distribution? Lnguge? Web-bsed (GWT) Settings Clibrtions Sndbox / Fetures Showcse
6 Gstremer Pipelines Re-usble elements Mny elements lredy vilble Esy prototyping Sndbox Fster development not for imge processing Common elements Open source distribution Esy to develop new elements Imge processing elements OpenCV OpenCL
7 Cmer Clibrtions First Gstremer test Substitute python 1st elements: Control loops Tke imge Mesure Adjust pidcontroller v4l2control histogrm vgfrmes Issues: Pre-rolling metdt V4L2 Source V4L2 Control Avg Frmes Histogrm PID Controller EVENT: Chnge V4L2 Control vlue
8 Imge Processing Pipelines Identify steps How to pss the informtion? Buffers vs Metdt OpenCL Bckground seprtion V4L2 SRC NNet OpenCV Imge filtering Morph OPEN Morph CLOSE OpenCV Blob processing Find Contours Trcking Decision mking metdt Object Properties
9 Portion Mchine Counts nd crete portions of screws, nuts, bolts, etc modulr mchine First ppliction developed in gstremer Time consuming (8 months) Cretion of lot of opencv elements Understnding gstremer Lck of documenttion Rel-time (cn t drop frmes) Tsk priorities Profiling performnce Synchroniztion Gstremer pp vs gst-lunch
10 Portion Mchine System Complex distributed system Communiction? UDP sink Thrift sink Belt Motor Double gstremer pipeline Cmer strt/stop informtion IO1000 Bord strt/stop informtion debug imge UI on/off Lne Vibrtor Collecting pn 2x
11 Metdtmuxer Imge processing destroys originl frme Debugging / Visulizing Results Mux together originl frme + object metdt Esy with opencv progrm Hrder with gstremer VideoAggregtor Rel-time! Time-stmp mtching processed frme is delyed
12 Portion Mchine pipeline Gstremer dvntges Duplicted pipeline: 2 lnes Sinks nd sources
13 Portion Mchine video
14 Fish Scnner Mesures fish size 2nd ppliction developed in gstremer A lot fster development Re-used most elements Knows gstremer Color conversions 4 months (10 weeks) RGB <-> HSV Imge stitching
15 Colorspce conversions HSV is good color spce for imge processing Lcks support (formt) Video4Linux OpenCV under review supports RGB<->HSV conversion PAM (extended PNM) Gstremer SW conversion (slow) HW support (fst) RGB-Hue
16 Imge stitching Stitching efficiently? Issues with metdtmuxer Process or stitch twice? Uneven frme genertion metdt imge bckground seprtion find contours blob trcker stitch clc img stitcher events stitched imge
17 Fish Scnner pipeline mix chnnels RGB T Hue gtk sink rte mix chnnels RGB mux stitch clc img stitcher mix chnnels mux drw T sink Hue src RGB video find contours in rnge bitwise not find contours T blob trcker stitch clc img stitcher blob gtk sink
18 Fish scnner video
19 Next steps Python GObject introspection in n embedded system Even fster prototyping Fster cretion of gst pps Elements opencv python Web interfce Gstremer sndbox gst-prse-lunch grphicl?
20 Conclusions Love nd hte Imge processing vs Multimedi pplictions Performnce Profiling Tsk priorities How to seprte blocks? Generic elements Gstremer ppliction Communiction
21 Questions??
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It consists of two cold rooms, each with their own evaporator but sharing the same cooling flui d R134a system ( compressor, condenser...).
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