SLAM with Ricoh Theta using OpenVSLAM

Ricoh Hardware and Software
11

The video resolution with the Android app is likely the video to file resolution.

There is significant documentation here:
https://theta360.guide/special/linuxstreaming/

Did you set qos=false ?

if (strcmp(cmd_name, "gst_loopback") == 0)
    pipe_proc = "decodebin ! autovideoconvert ! "
        "video/x-raw,format=I420 ! identity drop-allocation=true !"
        "v4l2sink device=/dev/video0 qos=false sync=false";

You can change the video resolution of the stream like this
https://github.com/codetricity/libuvc-theta-sample

Check video resolution

$ v4l2-ctl --list-formats-ext
ioctl: VIDIOC_ENUM_FMT
	Index       : 0
	Type        : Video Capture
	Pixel Format: 'YU12'
	Name        : Planar YUV 4:2:0
		Size: Discrete 1920x960
			Interval: Discrete 0.033s (30.000 fps)

Information that might help:

  • CPU (such as x86 and roughly if it is fast)
  • GPU setup, primarily if you are using a discrete NVIDIA graphics card or if you are using the integrated GPU on the x86 chip

If the problems persists after you set qos=false in the code, you next need to verify that you are using hardware acceleration, not software decoding.