v1

localization.cpp

@@ -0,0 +1,541 @@
+#include <gst/gst.h>
+#include <gst/app/gstappsink.h>
+#include <sstream>
+//#include <format>
+#include <gst/video/gstvideometa.h>
+#include <cstdlib>
+#include <deque>
+#include <iostream>
+#include <mutex>
+#include <fstream>
+
+#include "osc/OscOutboundPacketStream.h"
+#include "ip/UdpSocket.h"
+
+#include "System.h"
+
+// CHANGE HERE THE PORT
+#define ADDRESS "127.0.0.1"
+#define PORT 7000
+#define OUTPUT_BUFFER_SIZE 1024
+
+#define MY_GST_USE_OPENCV
+#ifdef MY_GST_USE_OPENCV
+#include "opencv2/opencv.hpp"
+// TODO: use synchronized deque
+std::mutex g_mutex;
+std::deque<cv::Mat> frameQueue;
+std::deque<double> timestampsQueue;
+#endif // MY_GST_USE_OPENCV
+
+GstFlowReturn new_preroll(GstAppSink *appsink, gpointer data) {
+    g_print ("Got preroll!\n");
+    return GST_FLOW_OK;
+}
+
+GstFlowReturn new_sample(GstAppSink *appsink, gpointer data) {
+    static int framecount = 0;
+    framecount++;
+
+    std::cout << "nnew frame " << framecount << std::endl;
+
+    GstSample *sample = gst_app_sink_pull_sample(appsink);
+    GstCaps *caps = gst_sample_get_caps(sample);
+    GstBuffer *buffer = gst_sample_get_buffer(sample);
+
+    const auto& n_memory = gst_buffer_n_memory(buffer);
+    std::cout << "n_memory = " << n_memory << std::endl;
+    std::cout << "buffer->pts = " << buffer->pts << std::endl;
+    std::cout << "buffer->dts = " << buffer->dts << std::endl;
+    std::cout << "buffer->duration = " << buffer->duration << std::endl;
+    std::cout << "buffer->offset = " << buffer->offset << std::endl;
+    std::cout << "buffer->offset_end = " << buffer->offset_end << std::endl;
+
+    const GstStructure *info = gst_sample_get_info(sample);
+
+    GstMeta *gst_meta;
+    gpointer state = nullptr;
+    while ((gst_meta = gst_buffer_iterate_meta(buffer, &state))) {
+        if (gst_meta->info == gst_video_caption_meta_get_info()) {
+            auto specific_meta = (GstVideoCaptionMeta *) gst_meta;
+            if (specific_meta) {
+                auto x = (const char *) (specific_meta->data);
+                std::cout << "MetaInfo is recognized to be [GstVideoCaptionMeta]"
+                          << "caption = " << std::string(x, specific_meta->size)
+                          << std::endl;
+                std::string meta(x);
+                int idx = meta.find("timestamp: ");
+                int end_idx = meta.find(">");
+                string ts_str = meta.substr(idx+11, end_idx-1-(idx+11));
+//                std::cout << ts_str << std::endl;
+                std::lock_guard<std::mutex> guard(g_mutex);
+                timestampsQueue.push_back(std::stod(ts_str));
+
+            }
+        } else if (gst_meta->info == gst_video_time_code_meta_get_info()) {
+            auto specific_meta = (GstVideoTimeCodeMeta *) gst_meta;
+            if (specific_meta) {
+                std::cout << "MetaInfo is recognized to be [GstVideoTimeCodeMeta]"
+                          << " h = " << specific_meta->tc.hours
+                          << " m = " << specific_meta->tc.minutes
+                          << " s = " << specific_meta->tc.seconds
+                          << " f = " << specific_meta->tc.frames
+                          << std::endl;
+            }
+        } else if (gst_meta->info == gst_meta_get_info("GstNdiSrcMeta")) {
+            std::cout << "MetaInfo is recognized to be [GstNdiSrcMeta]"
+                      << std::endl;
+        } else if (gst_meta->info == gst_meta_get_info("GstNdiSinkAudioMeta")) {
+            std::cout << "MetaInfo is recognized to be [GstNdiSinkAudioMeta]"
+                      << std::endl;
+        } else if (gst_meta->info == gst_meta_get_info("GstVideoMeta")) {
+            std::cout << "MetaInfo is recognized to be [GstVideoMeta]"
+                      << std::endl;
+        } else if (gst_meta->info == gst_meta_get_info("GstVideoCropMeta")) {
+            std::cout << "MetaInfo is recognized to be [GstVideoCropMeta]"
+                      << std::endl;
+        } else if (gst_meta->info == gst_meta_get_info("GstFramePositionerMeta")) {
+            std::cout << "MetaInfo is recognized to be [GstFramePositionerMeta]"
+                      << std::endl;
+        } else if (gst_meta->info == gst_meta_get_info("GstMetaDfbSurface")) {
+            std::cout << "MetaInfo is recognized to be [GstMetaDfbSurface]"
+                      << std::endl;
+        } else if (gst_meta->info == gst_meta_get_info("GstSubtitleMeta")) {
+            std::cout << "MetaInfo is recognized to be [GstSubtitleMeta]"
+                      << std::endl;
+        } else if (gst_meta->info == gst_meta_get_info("GstRtmpMeta")) {
+            std::cout << "MetaInfo is recognized to be [GstRtmpMeta]"
+                      << std::endl;
+        } else if (gst_meta->info == gst_meta_get_info("GstMpegVideoMeta")) {
+            std::cout << "MetaInfo is recognized to be [GstMpegVideoMeta]"
+                      << std::endl;
+        } else if (gst_meta->info == gst_meta_get_info("GstSctpReceiveMeta")) {
+            std::cout << "MetaInfo is recognized to be [GstSctpReceiveMeta]"
+                      << std::endl;
+        } else if (gst_meta->info == gst_meta_get_info("GstSctpSendMeta")) {
+            std::cout << "MetaInfo is recognized to be [GstSctpSendMeta]"
+                      << std::endl;
+        } else if (gst_meta->info == gst_meta_get_info("GstCoreMediaMeta")) {
+            std::cout << "MetaInfo is recognized to be [GstCoreMediaMeta]"
+                      << std::endl;
+        } else if (gst_meta->info == gst_meta_get_info("GstCoreVideoMeta")) {
+            std::cout << "MetaInfo is recognized to be [GstCoreVideoMeta]"
+                      << std::endl;
+        } else if (gst_meta->info == gst_meta_get_info("GstAudioDownmixMeta")) {
+            std::cout << "MetaInfo is recognized to be [GstAudioDownmixMeta]"
+                      << std::endl;
+        } else if (gst_meta->info == gst_meta_get_info("GstAudioClippingMeta")) {
+            std::cout << "MetaInfo is recognized to be [GstAudioClippingMeta]"
+                      << std::endl;
+        } else if (gst_meta->info == gst_meta_get_info("GstGLSyncMeta")) {
+            std::cout << "MetaInfo is recognized to be [GstGLSyncMeta]"
+                      << std::endl;
+        } else if (gst_meta->info == gst_meta_get_info("GstRTPSourceMeta")) {
+            std::cout << "MetaInfo is recognized to be [GstRTPSourceMeta]"
+                      << std::endl;
+        } else if (gst_meta->info == gst_meta_get_info("GstRTPSourceMeta")) {
+            std::cout << "MetaInfo is recognized to be [GstRTPSourceMeta]"
+                      << std::endl;
+        } else if (gst_meta->info == gst_meta_get_info("GstVideoGLTextureUploadMeta")) {
+            std::cout << "MetaInfo is recognized to be [GstVideoGLTextureUploadMeta]"
+                      << std::endl;
+        } else if (gst_meta->info == gst_meta_get_info("GstVideoRegionOfInterestMeta")) {
+            std::cout << "MetaInfo is recognized to be [GstVideoRegionOfInterestMeta]"
+                      << std::endl;
+        } else if (gst_meta->info == gst_meta_get_info("GstVideoAFDMeta")) {
+            std::cout << "MetaInfo is recognized to be [GstVideoAFDMeta]"
+                      << std::endl;
+        } else if (gst_meta->info == gst_meta_get_info("GstVideoBarMeta")) {
+            std::cout << "MetaInfo is recognized to be [GstVideoBarMeta]"
+                      << std::endl;
+        } else if (gst_meta->info == gst_meta_get_info("GstVideoMultiviewMeta")) {
+            std::cout << "MetaInfo is recognized to be [GstVideoMultiviewMeta]"
+                      << std::endl;
+        } else if (gst_meta->info == gst_meta_get_info("GstVideoOverlayCompositionMeta")) {
+            std::cout << "MetaInfo is recognized to be [GstVideoOverlayCompositionMeta]"
+                      << std::endl;
+        } else if (gst_meta->info == gst_meta_get_info("GstMetaXImage")) {
+            std::cout << "MetaInfo is recognized to be [GstMetaXImage]"
+                      << std::endl;
+        } else if (gst_meta->info == gst_meta_get_info("GstProtectionMeta")) {
+            std::cout << "MetaInfo is recognized to be [GstProtectionMeta]"
+                      << std::endl;
+        } else if (gst_meta->info == gst_meta_get_info("GstNetControlMessageMeta")) {
+            std::cout << "MetaInfo is recognized to be [GstNetControlMessageMeta]"
+                      << std::endl;
+        } else if (gst_meta->info == gst_meta_get_info("GstMetaTest")) {
+            std::cout << "MetaInfo is recognized to be [GstMetaTest]"
+                      << std::endl;
+        } else if (gst_meta->info == gst_meta_get_info("GstNVMMParentMeta")) {
+            std::cout << "MetaInfo is recognized to be [GstNVMMParentMeta]"
+                      << std::endl;
+        } else if (gst_meta->info == gst_meta_get_info("GstAudioMeta")) {
+            std::cout << "MetaInfo is recognized to be [GstAudioMeta]"
+                      << std::endl;
+        } else if (gst_meta->info == gst_meta_get_info("GstAudioLevelMeta")) {
+            std::cout << "MetaInfo is recognized to be [GstAudioLevelMeta]"
+                      << std::endl;
+        } else if (gst_meta->info == gst_meta_get_info("GstVideoAffineTransformationMeta")) {
+            std::cout << "MetaInfo is recognized to be [GstVideoAffineTransformationMeta]"
+                      << std::endl;
+        } else if (gst_meta->info == gst_meta_get_info("GstVideoCodecAlphaMeta")) {
+            std::cout << "MetaInfo is recognized to be [GstVideoCodecAlphaMeta]"
+                      << std::endl;
+        } else if (gst_meta->info == gst_meta_get_info("StreamTimestamp")) {
+            std::cout << "MetaInfo is recognized to be [StreamTimestamp]"
+                      << std::endl;
+        } else if (gst_meta->info == gst_meta_get_info("XXX")) {
+            std::cout << "MetaInfo is recognized to be [XXX]"
+                      << std::endl;
+        } else if (gst_meta->info == gst_meta_get_info("XXX")) {
+            std::cout << "MetaInfo is recognized to be [XXX]"
+                      << std::endl;
+        } else if (gst_meta->info == gst_meta_get_info("XXX")) {
+            std::cout << "MetaInfo is recognized to be [XXX]"
+                      << std::endl;
+        } else if (gst_meta->info == gst_meta_get_info("XXX")) {
+            std::cout << "MetaInfo is recognized to be [XXX]"
+                      << std::endl;
+        } else if (gst_meta->info == gst_meta_get_info("XXX")) {
+            std::cout << "MetaInfo is recognized to be [XXX]"
+                      << std::endl;
+        } else if (gst_meta->info == gst_meta_get_info("XXX")) {
+            std::cout << "MetaInfo is recognized to be [XXX]"
+                      << std::endl;
+        } else if (gst_meta->info == gst_meta_get_info("XXX")) {
+            std::cout << "MetaInfo is recognized to be [XXX]"
+                      << std::endl;
+        } else if (gst_meta->info == gst_meta_get_info("XXX")) {
+            std::cout << "MetaInfo is recognized to be [XXX]"
+                      << std::endl;
+        } else {
+            std::cout << "GstMetaInfo is not recognized."
+                      << " info = " << gst_meta->info
+                      << " api = " << gst_meta->info->api
+                      << std::endl;
+        }
+    }
+
+    // ---- Read frame and convert to opencv format ---------------
+
+    GstMapInfo map;
+    gst_buffer_map (buffer, &map, GST_MAP_READ);
+
+#ifdef MY_GST_USE_OPENCV
+    // convert gstreamer data to OpenCV Mat, you could actually
+    // resolve height / width from caps...
+
+    int width = 2560;
+    int height = 1440;
+
+    GstStructure *s = gst_caps_get_structure(caps, 0);
+    gboolean res = true;
+    res &= gst_structure_get_int (s, "width", &width);
+    res &= gst_structure_get_int (s, "height", &height);
+
+    cv::Mat frame(cv::Size(width, height), CV_8UC4, (char*)map.data, cv::Mat::AUTO_STEP);
+
+    std::printf("The image width and height: %d %d", frame.cols, frame.rows);
+
+//    int frameSize = map.size;
+//    std::cout << "size from caps = (" << width << "," << height << ")" << "res =" << res
+//              << " total size = " << map.size
+//              << std::endl;
+
+//    if (res) {
+//        std::fstream file("example.bin", std::ios::out  | std::ios::binary | std::ios::app);
+//        file.write((char*)map.data, map.size);
+//        file.close();
+//    }
+//    throw 1;
+    {
+        std::lock_guard<std::mutex> guard(g_mutex);
+        frameQueue.push_back(frame.clone());
+    }
+#endif
+
+    gst_buffer_unmap(buffer, &map);
+
+    // ------------------------------------------------------------
+
+    // print dot every 30 frames
+    if (framecount%30 == 0) {
+        g_print (".");
+    }
+
+    // show caps on first frame
+    if (framecount == 1) {
+        g_print ("%s\n", gst_caps_to_string(caps));
+    }
+
+    gst_sample_unref (sample);
+    return GST_FLOW_OK;
+}
+
+static gboolean my_bus_callback (GstBus *bus, GstMessage *message, gpointer data) {
+    g_print ("Got %s message\n", GST_MESSAGE_TYPE_NAME (message));
+    switch (GST_MESSAGE_TYPE (message)) {
+    case GST_MESSAGE_ERROR: {
+        GError *err;
+        gchar *debug;
+
+        gst_message_parse_error (message, &err, &debug);
+        g_print ("Error: %s\n", err->message);
+        g_error_free (err);
+        g_free (debug);
+        break;
+    }
+    case GST_MESSAGE_EOS: {
+        /* end-of-stream */
+        break;
+    } default: {
+        /* unhandled message */
+        break;
+    }
+    }
+    /* we want to be notified again the next time there is a message
+     * on the bus, so returning TRUE (FALSE means we want to stop watching
+     * for messages on the bus and our callback should not be called again)
+     */
+    return TRUE;
+}
+
+static gint repeats = 2;
+static gchar* ndi_name = nullptr;
+static gint use_gui = 0;
+static gboolean beep = FALSE;
+
+static GOptionEntry entries[] =
+        {
+                { "repeats", 'r', 0, G_OPTION_ARG_INT, &repeats,      "Среднее число повторений N",               "N" },
+                { "ndi-name", 'n', 0, G_OPTION_ARG_STRING, &ndi_name, "you can enter the string here (ndi-name)", "M" },
+                { "gui", 'g', 0, G_OPTION_ARG_INT, &use_gui,         "use gui",                                  nullptr },
+                { "beep", 'b', 0, G_OPTION_ARG_NONE, &beep,           "Сигнал при выполнениии", NULL },
+                { NULL }
+        };
+
+int main (int argc, char *argv[]) {
+    std::cout << "argc = " << argc << std::endl;
+    GError *error = nullptr;
+    GOptionContext *context;
+
+    char** argv_gst;
+    int argc_gst = 2;
+    argv_gst = new char* [2];
+    argv_gst[0] = new char[200];
+    argv_gst[1] = new char[200];
+
+    strcpy(argv_gst[0], argv[0]);
+    strcpy(argv_gst[1], argv[3]);
+
+    context = g_option_context_new("- test tree model performance");
+    g_option_context_add_main_entries(context, entries, "bla");
+    g_option_context_parse(context, &argc - 1, &argv_gst, &error);
+    g_option_context_parse(context, &argc, &argv, &error);
+
+
+    if (!ndi_name) {
+        std::cout << "ndi-name is not provided" << std::endl;
+        // ndi_name = (char*)malloc(sizeof(char) * 100);
+        ndi_name = "DESKTOP-O5PNOBN (Test Pattern)";
+        std::cout << "ndi-name (default) = '" <<  ndi_name << "'" << std::endl;
+    } else {
+        std::cout << "ndi-name = '" <<  ndi_name << "'" << std::endl;
+    }
+
+    GstStateChangeReturn ret;
+
+    int fake_argc = 1;
+//    gst_init (&fake_argc, &argv);
+    gst_init (&fake_argc, &argv);
+
+    /*
+    s_pipeline = f'ndisrc ndi-name="{ndi_name}" ! ndisrcdemux name=demux   ' \
+                 f'demux.video ! queue ! tee name=my_tee   ' \
+                 f'my_tee. ! queue ! videoconvert ! autovideosink ' \
+                 f'my_tee. ! queue ! videoconvert ! appsink name=my_sink'
+    */
+    std::stringstream ss;
+    ss << "ndisrc ndi-name=\"" << ndi_name << "\" ! ndisrcdemux name=demux "
+       << "demux.video ! queue ! tee name=my_tee "
+       << "my_tee. ! queue ! videoconvert ! autovideosink "
+       << "my_tee. ! queue ! videoconvert ! appsink name=my_sink";
+    std::string my_pipeline = ss.str();
+
+//    GstElement *my_src = nullptr;
+//    my_src = gst_element_factory_make ("ndisrc", "my_ndi_src");
+//    std::cout << my_src << std::endl;
+//    if (!my_src) {
+//        std::cerr << "Can't create ndivideosrc" << std::endl;
+//        return -1;
+//    }
+//    std::cerr << "ndivideosrc is created with success!" << std::endl;
+
+//    GstElement *my_sink = nullptr;
+//    my_sink = gst_element_factory_make ("appsink", "my_sink");
+//    std::cout << my_sink << std::endl;
+//    if (!my_sink) {
+//        std::cerr << "Can't create appsink" << std::endl;
+//        return -1;
+//    }
+//    std::cerr << "appsink is created with success!" << std::endl;
+
+    GstElement *pipeline = gst_parse_launch(my_pipeline.c_str(), nullptr);
+
+//    GstElement *pipeline = nullptr;
+//    pipeline = gst_pipeline_new ("test-pipeline");
+//    std::cout << my_sink << std::endl;
+//    if (!pipeline) {
+//        std::cerr << "Can't create pipeline" << std::endl;
+//        return -1;
+//    }
+//    std::cerr << "pipeline is created with success!" << std::endl;
+
+//    gst_bin_add_many (GST_BIN (pipeline), my_src, my_sink, NULL);
+//    std::cout << "here!" << std::endl;
+//    if (!gst_element_link_many (my_src, my_sink, NULL)) {
+//        g_printerr ("Elements could not be linked.\n");
+//        gst_object_unref (pipeline);
+//        return -1;
+//    }
+//    std::cout << "here -2 !" << std::endl;
+
+    // g_object_set (my_src, "ndi-name", "ADMIN (lafvi 29.97fps)", NULL);
+    /*
+    [libndi_newtek @ 0x556ab959f400] Found 4 NDI sources:
+    [libndi_newtek @ 0x556ab959f400] 'DESKTOP-O5PNOBN (CameraVegasAR)'       '185.41.112.227:5962'
+    [libndi_newtek @ 0x556ab959f400] 'DESKTOP-O5PNOBN (NVIDIA Quadro RTX 5000 1)'    '185.41.112.227:5961'
+    [libndi_newtek @ 0x556ab959f400] 'DESKTOP-O5PNOBN (NVIDIA Quadro RTX 5000 2)'    '185.41.112.227:5963'
+    [libndi_newtek @ 0x556ab959f400] 'DESKTOP-O5PNOBN (Test Pattern)'        '185.41.112.227:5964'
+     */
+//    g_object_set (my_src, "ndi-name", ndi_name, NULL);
+
+    /* get sink */
+    GstElement *sink = gst_bin_get_by_name (GST_BIN (pipeline), "my_sink");
+
+    gst_app_sink_set_emit_signals((GstAppSink*)sink, true);
+    gst_app_sink_set_drop((GstAppSink*)sink, true);
+    gst_app_sink_set_max_buffers((GstAppSink*)sink, 1);
+    GstAppSinkCallbacks callbacks = { NULL, new_preroll, new_sample };
+    gst_app_sink_set_callbacks (GST_APP_SINK(sink), &callbacks, NULL, NULL);
+
+    GstBus *bus;
+    guint bus_watch_id;
+    bus = gst_pipeline_get_bus (GST_PIPELINE (pipeline));
+    bus_watch_id = gst_bus_add_watch (bus, my_bus_callback, NULL);
+    gst_object_unref (bus);
+
+    /* Start playing */
+    ret = gst_element_set_state (pipeline, GST_STATE_PLAYING);
+    if (ret == GST_STATE_CHANGE_FAILURE) {
+        g_printerr ("Unable to set the pipeline to the playing state.\n");
+        gst_object_unref (pipeline);
+        return -1;
+    }
+
+#ifdef MY_GST_USE_OPENCV
+//    auto lambda_1 = [] (char** argv) {
+        std::cout << "The path to settings: " << argv[2] << std::endl;
+        std::cout << "The path to vocabulary: " << argv[1] << std::endl;
+        ORB_SLAM3::System SLAM(argv[1], argv[2], ORB_SLAM3::System::STEREO, false);
+        std::printf("SLAM system initialized \n");
+
+        while (true) {
+            if (use_gui) {
+                cv::namedWindow("preview", 1);
+            } else {
+                // cv::namedWindow("no preview", 1);
+            }
+            cv::Mat frame;
+            double ts;
+
+//            char * buffer = nullptr;
+//            {
+//                int length;
+//                std::cout << "trying to open example.bin" << std::endl;
+//                std::ifstream is;
+//                is.open("example.bin", std::ios::binary);
+//                is.seekg(0, std::ios::end);
+//                length = is.tellg();
+//                is.seekg(0, std::ios::beg);
+//                buffer = new char [length];
+//                is.read(buffer, length);
+//                is.close();
+//                frame = cv::Mat(cv::Size(1920, 1080), CV_8UC4, (char*)buffer, cv::Mat::AUTO_STEP);
+//            }
+            {
+                std::lock_guard<std::mutex> guard(g_mutex);
+                if (frameQueue.size() > 0) {
+                    frame = frameQueue.front();
+                    ts = timestampsQueue.front();
+                    frameQueue.pop_front();
+                    timestampsQueue.pop_front();
+                    std::cout << "we have a frame to process..." << std::endl;
+                }
+            }
+            if (!frame.empty()){
+                cv::Rect leftROI(0, 0, frame.cols/2, frame.rows);
+                cv::Rect rightROI(frame.cols/2, 0, frame.cols, frame.rows);
+                cv::Mat imLeft = frame(leftROI);
+                std::printf("The Left Image width and height: %d %d", imLeft.cols, imLeft.rows);
+                cv::Mat imRight = frame(rightROI);
+                std::printf("The Right Image width and height: %d %d", imRight.cols, imRight.rows);
+                std::printf("The timestamp is: ", ts);
+                Sophus::SE3f Tcw = SLAM.TrackStereo(imLeft, imRight, ts);
+                Sophus::SE3f Twc = Tcw.inverse();
+                Eigen::Matrix<float, 3, 3> Rwc = Twc.rotationMatrix();
+                Eigen::Matrix<float, 3, 1> twc = Twc.translation();
+                // TODO: Send the Twc matrix with the saving format you've seen in System.h to the Visualizer.
+                // TODO: add the loading of Atlas
+                // TODO: implement according to the checklist.
+
+                UdpTransmitSocket transmitSocket(IpEndpointName(ADDRESS, PORT));
+                char buffer[OUTPUT_BUFFER_SIZE];
+                osc::OutboundPacketStream p(buffer, OUTPUT_BUFFER_SIZE);
+
+                std::stringstream ss;
+                ss << setprecision(9) << ts << Rwc(0,0) << " " << Rwc(0,1)  << " " << Rwc(0,2) << " "  << twc(0) << " " <<
+                   Rwc(1,0) << " " << Rwc(1,1)  << " " << Rwc(1,2) << " "  << twc(1) << " " <<
+                   Rwc(2,0) << " " << Rwc(2,1)  << " " << Rwc(2,2) << " "  << twc(2) << endl;
+                char msg[100];
+                strcpy(msg, ss.str().c_str());
+
+                p << osc::BeginBundleImmediate
+                  << osc::BeginMessage("/test3") << msg << osc::EndMessage << osc::EndBundle;
+
+                transmitSocket.Send(p.Data(), p.Size());
+                std::cout << "Message sent!" << std::endl;
+
+                if (use_gui) {
+                    if (!frame.empty()) {
+                        cv::Mat edges;
+                        cvtColor(frame, edges, cv::COLOR_BGR2BGRA);
+                        cv::imshow("preview", frame);
+                    }
+                    cv::waitKey(30);
+                }
+//            delete [] buffer;
+            }
+        }
+//    };
+
+//    std::thread t1(lambda_1, argv);
+
+
+    bool is_terminated = false;
+    while (!is_terminated) {
+        // g_main_iteration(false);
+        g_main_context_iteration(NULL, false);
+    }
+//    t1.join();
+#else
+    bool is_terminated = false;
+    while (!is_terminated) {
+        g_main_context_iteration(NULL, false);
+    }
+#endif // MY_GST_USE_OPENCV
+    gst_element_set_state (GST_ELEMENT (pipeline), GST_STATE_NULL);
+    gst_object_unref (GST_OBJECT (pipeline));
+
+    return 0;
+}