imx296_stereo.sh

#!/usr/bin/bash
#
# Uses the "glstereomix" GStreamer element to stream two nvargus cameras,
# combine them into a left-and-right composite image
# Set the type of output
# Default to screen (will fail if connected over SSH)
#
# Override on the command line with (for example):
#
#   OUTPUT=file ./imx296_gst.sh
#
# Valid values: file, rtsp or screen
OUTPUT=${OUTPUT:-screen}

. imx296_constants.sh

if [ $OUTPUT == "rtsp" ]; then
        GST_OUTPUT="x264enc speed-preset=veryfast tune=zerolatency ! h264parse ! rtspclientsink location=rtsp://localhost:8554/stereo"
elif [ $OUTPUT == "screen" ]; then
        GST_OUTPUT="nveglglessink"
elif [ $OUTPUT == "file" ]; then
        GST_OUTPUT="x264enc speed-preset=veryfast tune=zerolatency ! \
                h264parse ! mp4mux ! filesink location=test.mp4 -e"
elif [ $OUTPUT == "fake" ]; then
        GST_OUTPUT="fakesink"
fi

gst-launch-1.0 nvarguscamerasrc sensor-id=0 $NVARGUS_CONFIG name=left \
                nvarguscamerasrc sensor-id=1 $NVARGUS_CONFIG name=right \
                glstereomix name=mix \
    left. ! "video/x-raw(memory:NVMM),width=$IMG_WIDTH,height=$IMG_HEIGHT,framerate=$IMG_RATE/1" ! \
            nvvidconv ! 'video/x-raw' ! glupload ! mix. \
    right. ! "video/x-raw(memory:NVMM),width=$IMG_WIDTH,height=$IMG_HEIGHT,framerate=$IMG_RATE/1" ! \
             nvvidconv !'video/x-raw' ! glupload ! mix. \
    mix. ! video/x-raw'(memory:GLMemory)',multiview-mode=side-by-side ! glcolorconvert ! gldownload ! $GST_OUTPUT