Trouble Transferring Image Data to Onboard Raspberry Pi on Unitree Go1 Edu #9
Description
I'm currently working on transferring image data from multiple Jetson units to the onboard Raspberry Pi of the Unitree Go1 Edu robot. I've been following the guide available here, specifically Step 7, using ./bins/example_putImagetrans for sending the image data.
The data transfer works well between the Jetson units (with IPs: 192.168.123.13, 192.168.123.14, and 192.168.123.15). However, I've encountered issues when attempting to transfer this image data to the Go1 Edu's onboard Raspberry Pi (IP: 192.168.123.161) using the following Python script to receive the data.
`
import cv2
class camera:
def __init__(self, cam_id=None, width=640, height=480):
self.width = 640
self.cam_id = cam_id
self.width = width
self.height = height
def get_img(self):
IpLastSegment = "161"
cam = self.cam_id
udpstrPrevData = "udpsrc address=192.168.123." + IpLastSegment + " port="
udpPORT = [9201, 9202, 9203, 9204, 9205]
udpstrBehindData = " ! application/x-rtp,media=video,encoding-name=H264 ! rtph264depay ! h264parse ! avdec_h264 ! videoconvert ! appsink"
udpSendIntegratedPipe_0 = udpstrPrevData + str(udpPORT[cam - 1]) + udpstrBehindData
print(udpSendIntegratedPipe_0)
self.cap = cv2.VideoCapture(udpSendIntegratedPipe_0)
def demo(self):
self.get_img()
while True:
self.ret, self.frame = self.cap.read()
self.frame = cv2.resize(self.frame, (self.width, self.height))
if self.cam_id == 1:
self.frame = cv2.flip(self.frame, -1)
if self.frame is not None:
cv2.imshow("video0", self.frame)
if cv2.waitKey(2) & 0xFF == ord('q'):
break
self.cap.release()
cv2.destroyAllWindows()
`
Despite adjusting the destination IP to the onboard Raspberry Pi's, the image data doesn't seem to get through as expected.
Any guidance or troubleshooting steps would be highly appreciated.