Video update rate and cuda are not working. #108
Description
Bug report
Issue details
I am changing the camera settings for the simulation but enabling cuda and changing update rate are not working. When enabeling cuda, <use_cuda>true</use_cuda>, there is no more video output. When changing the <update_rate>20</update_rate>, there is no change in FPS. The image resolution changes without issues.
I am using an NVIDIA L4 gpu, with NVIDIA L4 VRAM. There is barely any usage.
This is the configuration file.
<sensor name="camera" type="camera">
<pose>0 0 0 -1.57 -1.57 0</pose>
<camera>
<horizontal_fov>2.0</horizontal_fov>
<image>
<width>32</width>
<height>24</height>
</image>
<clip>
<near>0.05</near>
<far>15000</far>
</clip>
</camera>
<always_on>1</always_on>
<update_rate>20</update_rate>
<visualize>1</visualize>
<plugin filename="CameraZoomPlugin"
name="CameraZoomPlugin">
<max_zoom>125.0</max_zoom>
<slew_rate>0.42514285714</slew_rate>
</plugin>
<plugin name="GstCameraPlugin"
filename="GstCameraPlugin">
<udp_host>127.0.0.1</udp_host>
<udp_port>5600</udp_port>
<use_basic_pipeline>true</use_basic_pipeline>
<use_cuda>true</use_cuda>
</plugin>
</sensor>
Gsteamer command
gst-launch-1.0 -v udpsrc port=5600 caps='application/x-rtp, media=(string)video, clock-rate=(int)90000, encoding-name=(string)H264' ! rtph264depay ! avdec_h264 ! videoconvert ! fpsdisplaysink video-sink=autovideosink sync=false
Setting pipeline to PAUSED ...
Pipeline is live and does not need PREROLL ...
Got context from element 'autovideosink0': gst.gl.GLDisplay=context, gst.gl.GLDisplay=(GstGLDisplay)"\(GstGLDisplayX11\)\ gldisplayx11-0";
/GstPipeline:pipeline0/GstFPSDisplaySink:fpsdisplaysink0/GstAutoVideoSink:autovideosink0/GstGLImageSinkBin:autovideosink0-actual-sink-glimage/GstGLImageSink:sink: sync = false
/GstPipeline:pipeline0/GstFPSDisplaySink:fpsdisplaysink0/GstAutoVideoSink:autovideosink0/GstGLImageSinkBin:autovideosink0-actual-sink-glimage: sync = false
Pipeline is PREROLLED ...
Setting pipeline to PLAYING ...
/GstPipeline:pipeline0/GstUDPSrc:udpsrc0.GstPad:src: caps = application/x-rtp, media=(string)video, clock-rate=(int)90000, encoding-name=(string)H264
New clock: GstSystemClock
/GstPipeline:pipeline0/GstRtpH264Depay:rtph264depay0.GstPad:sink: caps = application/x-rtp, media=(string)video, clock-rate=(int)90000, encoding-name=(string)H264
Logs
[Msg] GstCameraPlugin: image topic [world/iris_runway/model/iris_with_gimbal/model/gimbal/link/pitch_link/sensor/camera/image]
[Msg] GstCameraPlugin: enable topic [world/iris_runway/model/iris_with_gimbal/model/gimbal/link/pitch_link/sensor/camera/image/enable_streaming]
[Dbg] [CameraSensor.cc:480] Enabling camera sensor: 'iris_with_gimbal::gimbal::pitch_link::camera' data generation.
[Msg] GstCameraPlugin:: streaming: started
[Dbg] [GstCameraPlugin.cc:407] GstCameraPlugin: creating generic pipeline
[Dbg] [GstCameraPlugin.cc:477] Using Cuda
[Msg] GstCameraPlugin: GStreamer element set state returned: 2
[Msg] GstCameraPlugin: starting GStreamer main loop
Version
Master branch
Platform
[ ] All
[ ] AntennaTracker
[X] Copter
[ ] Plane
[ ] Rover
[ ] Submarine