siyi-python-sdk

Python implementation of SIYI SDK for communication with ZR10 and A8 Mini cameras

• Camera webpage: http://en.siyi.biz/en/Gimbal%20Camera/ZR10/overview/
• Documentation: http://en.siyi.biz/en/Gimbal%20Camera/ZR10/download/

Repo based on this repo: https://github.com/mzahana/siyi_sdk.git

Setup

• Clone this package

  git clone [email protected]:Innopolis-UAV-Team/siyi-python-sdk.git

• Connect the camera to PC or onboard computer using the ethernet cable that comes with it. The current implementation uses UDP communication.
• Power on the camera
• Do the PC wired network configuration. Make sure to assign a manual IP address to your computer
  • For example, IP 192.168.144.12
  • Gateway 192.168.144.25
  • Netmask 255.255.255.0
• Done.

Usage

• Check the scripts in the siyi_sdk/examples directory to learn how to use the SDK

• To import this module in your code, copy the siyi_sdk.py siyi_message.py utility.py crc16_python.py scripts in your code directory, and import as follows, and then follow the test examples

  from siyi_sdk import SIYISDK

• Example: To run the test_gimbal_rotation.py run,

  cd siyi_sdk/tests
  python3 test_gimbal_rotation.py

Video Streaming

Requirements

• OpenCV sudo apt-get install python3-opencv -y

• imutils pip install imutils

• Gstreamer https://gstreamer.freedesktop.org/documentation/installing/index.html?gi-language=c

  Ubuntu:

  sudo apt-get install libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev libgstreamer-plugins-bad1.0-dev gstreamer1.0-plugins-base gstreamer1.0-plugins-good gstreamer1.0-plugins-bad gstreamer1.0-plugins-ugly gstreamer1.0-libav gstreamer1.0-doc gstreamer1.0-tools gstreamer1.0-x gstreamer1.0-alsa gstreamer1.0-gl gstreamer1.0-gtk3 gstreamer1.0-qt5 gstreamer1.0-pulseaudio -y

• Deepstream (only for Nvidia Jetson boards) (https://docs.nvidia.com/metropolis/deepstream/dev-guide/text/DS_Quickstart.html#jetson-setup)
• For RTMP streaming

  sudo apt install ffmpeg -y
  pip install ffmpeg-python

Examples

• An example of how to auto tracjing with Yolov8 and CV2 tracket to0, see examples/ml_object_tracker.py
• An example of how to auto tracjing with CV2 tracket, see examples/object_tracker.py
• An example of gimbal contol, see examples/gimbal_control.py

Tools

• To run a nginx-rtmp server from a docker container

docker run -d -p 1935:1935 --name nginx-rtmp tiangolo/nginx-rtmp

Reference

• To play an rtmp stream, you can use the following command in a terminal (you will need to install mpv sudo apt install mpv)

mpv   --msg-color=yes   --msg-module=yes   --keepaspect=yes   --no-correct-pts   --untimed   --vd-lavc-threads=1   --cache=no   --cache-pause=no   --demuxer-lavf-o-add="fflags=+nobuffer+fastseek+flush_packets"   --demuxer-lavf-probe-info=nostreams   --demuxer-lavf-analyzeduration=0.1   --demuxer-max-bytes=500MiB   --demuxer-readahead-secs=0.1     --interpolation=no   --hr-seek-framedrop=no   --video-sync=display-resample   --temporal-dither=yes   --framedrop=decoder+vo     --deband=no   --dither=no     --hwdec=auto-copy   --hwdec-codecs=all     --video-latency-hacks=yes   --profile=low-latency   --linear-downscaling=no   --correct-downscaling=yes   --sigmoid-upscaling=yes   --scale=ewa_hanning   --scale-radius=3.2383154841662362   --cscale=ewa_lanczossoft   --dscale=mitchell     --fs   --osc=no   --osd-duration=450   --border=no   --no-pause   --no-resume-playback   --keep-open=no   --network-timeout=0 --stream-lavf-o=reconnect_streamed=1   rtmp://127.0.0.1/live/webcam

OR you can use VLC, but you may notice high latency!