> For clean Markdown of any page, append .md to the page URL. > For a complete documentation index, see https://docs.stereolabs.com/llms.txt. > For AI client integration (Claude Code, Cursor, etc.), connect to the MCP server at https://docs.stereolabs.com/_mcp/server. # GStreamer - ZED Camera Source The **ZED Camera Source**, `zedsrc` GStreamer element, is the main plugin of the package. It allows injecting ZED data into a GStreamer pipeline and accessing the information provided by the ZED SDK. ## Properties The following listing is the output of `gst-inspect-1.0 zedsrc` on a desktop Linux machine with ZED SDK 5.5. ```bash area-file-path : Area localization file that describes the surroundings, saved from a previous tracking session. flags: readable, writable String. Default: "" async-grab-camera-recovery: Async Grab Camera Recovery flags: readable, writable Boolean. Default: false async-image-retrieval: Async Image Retrieval flags: readable, writable Boolean. Default: false blocksize : Size in bytes to read per buffer (-1 = default) flags: readable, writable Unsigned Integer. Range: 0 - 4294967295 Default: 4096 bt-allow-red-prec : Set to TRUE to enable Body Tracking reduced inference precision flags: readable, writable Boolean. Default: false bt-body-fitting : Set to TRUE to enable Body Tracking model fitting flags: readable, writable Boolean. Default: true bt-body-tracking : Set to TRUE to enable body tracking across images flow flags: readable, writable Boolean. Default: true bt-confidence : Minimum Detection Confidence flags: readable, writable Float. Range: 0 - 100 Default: 20 bt-detection-model : Body Tracking Model flags: readable, writable Enum "GstZedSrcBtModel" Default: 1, "Body Tracking MEDIUM" (0): Body Tracking FAST - Keypoints based, specific to human skeleton, real time performance even on Jetson or low end GPU cards (1): Body Tracking MEDIUM - Keypoints based, specific to human skeleton, compromise between accuracy and speed (2): Body Tracking ACCURATE - Keypoints based, specific to human skeleton, state of the art accuracy, requires powerful GPU bt-enabled : Set to TRUE to enable Body Tracking flags: readable, writable Boolean. Default: false bt-format : Body Tracking format flags: readable, writable Enum "GstZedSrcBtFormat" Default: 1, "Body 34 Key Points" (0): Body 18 Key Points - 18 keypoints format. Basic Body format (1): Body 34 Key Points - 34 keypoints format. Body format, requires body fitting enabled (2): Body 38 Key Points - 38 keypoints format. Body format, including feet simplified face and hands bt-max-range : Maximum Detection Range flags: readable, writable Float. Range: -1 - 20000 Default: 20000 bt-min-keypoints : Specify the Minimum keypoints threshold. flags: readable, writable Integer. Range: 0 - 70 Default: 5 bt-prediction-timeout-s: Body Tracking prediction timeout (sec) flags: readable, writable Float. Range: 0 - 1 Default: 0.2 bt-smoothing : Smoothing of the fitted fused skeleton flags: readable, writable Float. Range: 0 - 1 Default: 0 camera-disable-self-calib: Disable the self calibration processing when the camera is opened flags: readable, writable Boolean. Default: false camera-fps : Camera frame rate flags: readable, writable Enum "GstZedSrcFPS" Default: 15, "15 FPS" (120): 120 FPS - only SVGA (GMSL2) resolution (100): 100 FPS - only VGA (USB3) resolution (60): 60 FPS - VGA (USB3), HD720, HD1080 (GMSL2), and HD1200 (GMSL2) resolutions (30): 30 FPS - VGA (USB3), HD720 (USB3) and HD1080 (USB3/GMSL2) resolutions (15): 15 FPS - all resolutions (NO GMSL2) camera-id : Select camera from cameraID flags: readable, writable Integer. Range: 0 - 255 Default: 0 camera-image-flip : Use the camera in forced flip/no flip or automatic mode flags: readable, writable Enum "GstZedSrcFlip" Default: 2, "Auto" (0): No Flip - Force no flip (1): Flip - Force flip (2): Auto - Auto mode (ZED2/ZED2i/ZED-M only) camera-resolution : Camera Resolution flags: readable, writable Enum "GstZedSrcRes" Default: 6, "Default value for the camera model" (0): HD2K (USB3) - 2208x1242 (1): HD1080 (USB3/GMSL2) - 1920x1080 (2): HD1200 (GMSL2) - 1920x1200 (3): HD720 (USB3) - 1280x720 (4): SVGA (GMSL2) - 960x600 (5): VGA (USB3) - 672x376 (6): Default value for the camera model - Automatic camera-sn : Select camera from camera serial number flags: readable, writable Integer64. Range: 0 - 9223372036854775807 Default: 0 confidence-threshold: Specify the Depth Confidence Threshold flags: readable, writable Integer. Range: 0 - 100 Default: 50 coordinate-system : 3D Coordinate System flags: readable, writable Enum "GstZedsrcCoordSys" Default: 0, "Image" (0): Image - Standard coordinates system in computer vision. Used in OpenCV. (1): Left handed, Y up - Left-Handed with Y up and Z forward. Used in Unity with DirectX. (2): Right handed, Y up - Right-Handed with Y pointing up and Z backward. Used in OpenGL. (3): Right handed, Z up - Right-Handed with Z pointing up and Y forward. Used in 3DSMax. (4): Left handed, Z up - Left-Handed with Z axis pointing up and X forward. Used in Unreal Engine. (5): Right handed, Z up, X fwd - Right-Handed with Z pointing up and X forward. Used in ROS (REP 103). ctrl-aec-agc : Camera automatic gain and exposure flags: readable, writable Boolean. Default: true ctrl-aec-agc-roi-h : Auto gain/exposure ROI height (-1 to not set ROI) flags: readable, writable Integer. Range: -1 - 1242 Default: -1 ctrl-aec-agc-roi-side: Auto gain/exposure ROI side flags: readable, writable Enum "GstZedsrcSide" Default: 2, "BOTH" (0): LEFT - Left side only (1): RIGHT - Right side only (2): BOTH - Left and Right side ctrl-aec-agc-roi-w : Auto gain/exposure ROI width (-1 to not set ROI) flags: readable, writable Integer. Range: -1 - 2208 Default: -1 ctrl-aec-agc-roi-x : Auto gain/exposure ROI top left 'X' coordinate (-1 to not set ROI) flags: readable, writable Integer. Range: -1 - 2208 Default: -1 ctrl-aec-agc-roi-y : Auto gain/exposure ROI top left 'Y' coordinate (-1 to not set ROI) flags: readable, writable Integer. Range: -1 - 1242 Default: -1 ctrl-brightness : Image brightness flags: readable, writable Integer. Range: 0 - 8 Default: 4 ctrl-contrast : Image contrast flags: readable, writable Integer. Range: 0 - 8 Default: 4 ctrl-exposure : Camera exposure flags: readable, writable Integer. Range: 0 - 100 Default: 80 ctrl-exposure-range-max: Maximum exposure time in microseconds for the automatic exposure setting flags: readable, writable Integer. Range: 28 - 66000 Default: 66000 ctrl-exposure-range-min: Minimum exposure time in microseconds for the automatic exposure setting flags: readable, writable Integer. Range: 28 - 66000 Default: 28 ctrl-gain : Camera gain flags: readable, writable Integer. Range: 0 - 100 Default: 60 ctrl-gamma : Image gamma flags: readable, writable Integer. Range: 1 - 9 Default: 8 ctrl-hue : Image hue flags: readable, writable Integer. Range: 0 - 11 Default: 0 ctrl-led-status : Camera LED on/off flags: readable, writable Boolean. Default: true ctrl-saturation : Image saturation flags: readable, writable Integer. Range: 0 - 8 Default: 4 ctrl-sharpness : Image sharpness flags: readable, writable Integer. Range: 0 - 8 Default: 4 ctrl-whitebalance-auto: Image automatic white balance flags: readable, writable Boolean. Default: true ctrl-whitebalance-temperature: Image white balance temperature flags: readable, writable Integer. Range: 2800 - 6500 Default: 4600 depth-maximum-distance: Maximum depth value flags: readable, writable Float. Range: 500 - 40000 Default: 20000 depth-minimum-distance: Minimum depth value flags: readable, writable Float. Range: 100 - 3000 Default: 300 depth-mode : Depth Mode flags: readable, writable Enum "GstZedsrcDepthMode" Default: 0, "NONE" (6): NEURAL_PLUS - More accurate Neural disparity estimation, Requires AI module. (5): NEURAL - End to End Neural disparity estimation, requires AI module (4): NEURAL_LIGHT - End to End Neural disparity estimation (light), requires AI module (3): ULTRA - Computation mode favorising edges and sharpness. Requires more GPU memory and computation power. (2): QUALITY - Computation mode designed for challenging areas with untextured surfaces. (1): PERFORMANCE - Computation mode optimized for speed. (0): NONE - This mode does not compute any depth map. Only rectified stereo images will be available. depth-stabilization : Enable depth stabilization flags: readable, writable Integer. Range: 0 - 100 Default: 1 do-timestamp : Apply current stream time to buffers flags: readable, writable Boolean. Default: false enable-area-memory : This mode enables the camera to remember its surroundings. This helps correct positional tracking drift, and can be helpful for positioning different cameras relative to one other in space. flags: readable, writable Boolean. Default: true enable-image-enhancement: Enable Image Enhancement flags: readable, writable Boolean. Default: true enable-image-validity-check: Enable Image Validity Check flags: readable, writable Boolean. Default: true enable-imu-fusion : This setting allows you to enable or disable IMU fusion. When set to false, only the optical odometry will be used. flags: readable, writable Boolean. Default: true enable-pose-smoothing: This mode enables smooth pose correction for small drift correction. flags: readable, writable Boolean. Default: true enable-positional-tracking: Enable positional tracking flags: readable, writable Boolean. Default: false fill-mode : Specify the Depth Fill Mode flags: readable, writable Boolean. Default: false grab-compute-capping-fps: Grab Compute Capping FPS flags: readable, writable Float. Range: 0 - 1000 Default: 0 initial-world-transform-pitch: Pitch orientation of the camera in the world frame when the camera is started flags: readable, writable Float. Range: 0 - 360 Default: 0 initial-world-transform-roll: Roll orientation of the camera in the world frame when the camera is started flags: readable, writable Float. Range: 0 - 360 Default: 0 initial-world-transform-x: X position of the camera in the world frame when the camera is started flags: readable, writable Float. Range: -3.402823e+38 - 3.402823e+38 Default: 0 initial-world-transform-y: Y position of the camera in the world frame when the camera is started flags: readable, writable Float. Range: -3.402823e+38 - 3.402823e+38 Default: 0 initial-world-transform-yaw: Yaw orientation of the camera in the world frame when the camera is started flags: readable, writable Float. Range: 0 - 360 Default: 0 initial-world-transform-z: Z position of the camera in the world frame when the camera is started flags: readable, writable Float. Range: -3.402823e+38 - 3.402823e+38 Default: 0 input-stream-ip : Specify IP address when using streaming input flags: readable, writable String. Default: "" input-stream-port : Specify port when using streaming input flags: readable, writable Integer. Range: 1 - 65535 Default: 30000 max-working-res-h : Maximum Working Resolution Height flags: readable, writable Integer. Range: 0 - 10000 Default: 0 max-working-res-w : Maximum Working Resolution Width flags: readable, writable Integer. Range: 0 - 10000 Default: 0 measure3D-reference-frame: Specify the 3D Reference Frame flags: readable, writable Enum "GstZedsrc3dMeasRefFrame" Default: 0, "WORLD" (0): WORLD - The positional tracking pose transform will contains the motion with reference to the world frame. (1): CAMERA - The pose transform will contains the motion with reference to the previous camera frame. name : The name of the object flags: readable, writable, 0x2000 String. Default: "zedsrc0" num-buffers : Number of buffers to output before sending EOS (-1 = unlimited) flags: readable, writable Integer. Range: -1 - 2147483647 Default: -1 od-allow-reduced-precision-inference: Set to TRUE to allow inference to run at a lower precision to improve runtime flags: readable, writable Boolean. Default: false od-conf-animal : Animal Detection Confidence Threshold flags: readable, writable Float. Range: -1 - 100 Default: 35 od-conf-bag : Bag Detection Confidence Threshold flags: readable, writable Float. Range: -1 - 100 Default: 35 od-conf-electronics : Electronics Detection Confidence Threshold flags: readable, writable Float. Range: -1 - 100 Default: 35 od-conf-fruit-vegetables: Fruit/Vegetables Detection Confidence Threshold flags: readable, writable Float. Range: -1 - 100 Default: 35 od-conf-people : People Detection Confidence Threshold flags: readable, writable Float. Range: -1 - 100 Default: 35 od-conf-sport : Sport Detection Confidence Threshold flags: readable, writable Float. Range: -1 - 100 Default: 35 od-conf-vehicle : Vehicle Detection Confidence Threshold flags: readable, writable Float. Range: -1 - 100 Default: 35 od-confidence : Minimum Detection Confidence flags: readable, writable Float. Range: 0 - 100 Default: 50 od-custom-onnx-dynamic-input-shape-h: Object Detection Custom ONNX Dynamic Input Shape Height flags: readable, writable Integer. Range: 0 - 10000 Default: 512 od-custom-onnx-dynamic-input-shape-w: Object Detection Custom ONNX Dynamic Input Shape Width flags: readable, writable Integer. Range: 0 - 10000 Default: 512 od-custom-onnx-file : Object Detection Custom ONNX File flags: readable, writable String. Default: "" od-detection-filter-mode: Object Detection Filter Mode flags: readable, writable Enum "GstZedSrcOdFilterMode" Default: 2, "NMS3D_PER_CLASS" (0): NONE - SDK will not apply any preprocessing to the detected objects (1): NMS3D - SDK will remove objects that are in the same 3D position as an already tracked object (independant of class ID) (2): NMS3D_PER_CLASS - SDK will remove objects that are in the same 3D position as an already tracked object of the same class ID. od-detection-model : Object Detection Model flags: readable, writable Enum "GstZedSrcOdModel" Default: 1, "Object Detection Multi class MEDIUM" (0): Object Detection Multi class FAST - Any objects, bounding box based (1): Object Detection Multi class MEDIUM - Any objects, bounding box based, compromise between accuracy and speed (2): Object Detection Multi class ACCURATE - Any objects, bounding box based, more accurate but slower than the base model (3): Person Head FAST - Bounding Box detector specialized in person heads, particularly well suited for crowded environments, the person localization is also improved (4): Person Head ACCURATE - Bounding Box detector specialized in person heads, particularly well suited for crowded environments, the person localization is also improved, more accurate but slower than the base model (6): Custom YOLO-like Box Objects - For internal inference using your own custom YOLO-like model. Requires od-custom-onnx-file property to be set. od-enable-tracking : Set to TRUE to enable tracking for the detected objects flags: readable, writable Boolean. Default: true od-enabled : Set to TRUE to enable Object Detection flags: readable, writable Boolean. Default: false od-instance-id : Object Detection Instance ID flags: readable, writable Unsigned Integer. Range: 0 - 4294967295 Default: 0 od-max-range : Maximum Detection Range flags: readable, writable Float. Range: -1 - 20000 Default: 20000 od-prediction-timeout-s: Object prediction timeout (sec) flags: readable, writable Float. Range: 0 - 1 Default: 0.2 open-timeout-sec : Open Timeout Seconds flags: readable, writable Float. Range: 0 - 600 Default: 5 opencv-calibration-file: Optional OpenCV Calibration File flags: readable, writable String. Default: "" optional-settings-path: Optional Settings Path flags: readable, writable String. Default: "" parent : The parent of the object flags: readable, writable, 0x2000 Object of type "GstObject" pos-depth-min-range : This setting allows you to change the minmum depth used by the SDK for Positional Tracking. flags: readable, writable Float. Range: -1 - 65535 Default: -1 positional-tracking-mode: Positional tracking mode flags: readable, writable Enum "GstZedsrcPtMode" Default: 0, "GEN_1" (0): GEN_1 - Generation 1 (1): GEN_2 - Generation 2 (2): GEN_3 - Generation 3 remove-saturated-areas: Remove Saturated Areas flags: readable, writable Boolean. Default: false roi : Enable region of interest filtering flags: readable, writable Boolean. Default: false roi-h : Region of interest height (-1 to not set ROI) flags: readable, writable Integer. Range: -1 - 1242 Default: -1 roi-w : Region of interest width (-1 to not set ROI) flags: readable, writable Integer. Range: -1 - 2208 Default: -1 roi-x : Region of interest top left 'X' coordinate (-1 to not set ROI) flags: readable, writable Integer. Range: -1 - 2208 Default: -1 roi-y : Region of interest top left 'Y' coordinate (-1 to not set ROI) flags: readable, writable Integer. Range: -1 - 1242 Default: -1 sdk-gpu-id : SDK GPU ID flags: readable, writable Integer. Range: -1 - 128 Default: -1 sdk-verbose : ZED SDK Verbose level flags: readable, writable Integer. Range: 0 - 1000 Default: 0 sdk-verbose-log-file: SDK Verbose Log File flags: readable, writable String. Default: "" sensors-required : Sensors Required flags: readable, writable Boolean. Default: false set-as-static : Set to TRUE if the camera is static flags: readable, writable Boolean. Default: false set-floor-as-origin : This mode initializes the tracking to be aligned with the floor plane to better position the camera in space. flags: readable, writable Boolean. Default: false set-gravity-as-origin: This setting allows you to override of 2 of the 3 rotations from initial-world-transform using the IMU gravity default: true flags: readable, writable Boolean. Default: true stream-type : Image stream type flags: readable, writable Enum "GstZedSrcStreamType" Default: -1, "Auto [prefer NV12 zero-copy]" (-1): Auto [prefer NV12 zero-copy] - Auto-negotiate format based on downstream (prefer NV12 zero-copy) (0): Left image [BGRA] - 8 bits- 4 channels Left image (1): Right image [BGRA] - 8 bits- 4 channels Right image (2): Stereo couple up/down [BGRA] - 8 bits- 4 channels bit Left and Right (3): Depth image [GRAY16_LE] - 16 bits depth (4): Left and Depth up/down [BGRA] - 8 bits- 4 channels Left and Depth(image) (5): Stereo couple left/right [BGRA] - 8 bits- 4 channels Left and Right side-by-side svo-file-path : Input from SVO file flags: readable, writable String. Default: "" svo-real-time-mode : SVO Real Time Mode flags: readable, writable Boolean. Default: false svo-recording-compression: Compression mode for SVO recording flags: readable, writable Enum "GstZedsrcSvoCompression" Default: 2, "H265" (0): LOSSLESS - Lossless (PNG/ZSTD, CPU) (1): H264 - H264 (GPU) (2): H265 - H265/HEVC (GPU) (3): H264_LOSSLESS - H264 Lossless (GPU) (4): H265_LOSSLESS - H265 Lossless (GPU) svo-recording-enable: Start/stop SVO recording at runtime (requires svo-recording-filename to be set) flags: readable, writable Boolean. Default: false svo-recording-filename: Output filename for SVO recording (.svo2 extension recommended) flags: readable, writable String. Default: "" texture-confidence-threshold: Specify the Texture Confidence Threshold flags: readable, writable Integer. Range: 0 - 100 Default: 100 typefind : Run typefind before negotiating (deprecated, non-functional) flags: readable, writable, deprecated Boolean. Default: false ``` ### Jetson zero-copy NV12 stream types On NVIDIA® Jetson™ platforms, when the plugin is built against ZED SDK v5.2 or newer, `zedsrc` exposes three extra `stream-type` values that deliver NV12 buffers in `memory:NVMM` without any CPU copy. They only work with GMSL2 cameras (ZED X, ZED X Mini, ZED X Nano): * `(6)`: `Raw NV12 zero-copy [NV12]` - left image only * `(7)`: `Raw NV12 stereo zero-copy [NV12]` - left and right images side-by-side * `(8)`: `Raw NV12 right zero-copy [NV12]` - right image only The default `stream-type` value `(-1)` (`Auto [prefer NV12 zero-copy]`) negotiates the format with the downstream element and selects the zero-copy NV12 path automatically when the pipeline and the camera support it, falling back to `Left image [BGRA]` otherwise. > **Note** > > `stream-type=7` additionally requires the `nvbufsurftransform` library from the Jetson Multimedia API. If it is missing at build time, only `stream-type=6` and `stream-type=8` are available. ## Example pipelines ### Display the left image on the screen This simple pipeline starts the ZED grabbing using the default parameters of the `zedsrc` element and automatically converts ([autovideoconvert](https://gstreamer.freedesktop.org/documentation/autoconvert/autovideoconvert.html?gi-language=c)) the frames to the correct format for the `fpsdisplaysink` element so they can be displayed on the screen with FPS information. ```bash gst-launch-1.0 zedsrc ! autovideoconvert ! queue ! fpsdisplaysink ``` The [queue](https://gstreamer.freedesktop.org/documentation/coreelements/queue.html?gi-language=c) element is used to decouple frames into a separate queue thread, which is useful for data synchronization in more complex pipelines. ![Pipeline graph: zedsrc to autovideoconvert to queue to fpsdisplaysink](/_fern-files/stereolabs.docs.buildwithfern.com/f67070cee3ed24e5676c5ad64fefa1e2b1ed77f267dede895ed30324524eeff3/docs/software-integration/gstreamer/images/simple_pipeline.svg) ### Display color stereo couple with VGA resolution at 100 FPS This pipeline is the same as the previous example, but the properties of `zedsrc` are changed to set VGA resolution and 100 FPS while retrieving the synchronized stereo image. ```bash gst-launch-1.0 zedsrc camera-resolution=5 camera-fps=100 stream-type=2 ! autovideoconvert ! queue ! fpsdisplaysink ``` ![Pipeline graph: zedsrc to autovideoconvert to queue to fpsdisplaysink](/_fern-files/stereolabs.docs.buildwithfern.com/f67070cee3ed24e5676c5ad64fefa1e2b1ed77f267dede895ed30324524eeff3/docs/software-integration/gstreamer/images/simple_pipeline.svg) ### Display depth map with HD720 resolution at 60 FPS Again the same pipeline, but the parameters are changed to retrieve only the non-normalized depth map with HD720 resolution at 60 FPS. ```bash gst-launch-1.0 zedsrc camera-resolution=3 camera-fps=60 stream-type=3 ! autovideoconvert ! queue ! fpsdisplaysink ``` ![Pipeline graph: zedsrc to autovideoconvert to queue to fpsdisplaysink](/_fern-files/stereolabs.docs.buildwithfern.com/f67070cee3ed24e5676c5ad64fefa1e2b1ed77f267dede895ed30324524eeff3/docs/software-integration/gstreamer/images/simple_pipeline.svg) ### H264 streaming over UDP on the local network GStreamer is well known for providing an easy way to transmit media data over networks. TCP, UDP, RTP, and many other protocols are available, together with many encoding algorithms such as H264, H265, VP8, VP9, etc., and container formats such as Matroska. The following gst-launch pipeline acquires an RGB stream from a ZED camera, displays it on the local machine and sends it over the network using the UDP protocol with H264 encoding: ```bash gst-launch-1.0 zedsrc ! timeoverlay ! tee name=split has-chain=true ! \ queue ! autovideoconvert ! fpsdisplaysink \ split. ! queue max-size-time=0 max-size-bytes=0 max-size-buffers=0 ! autovideoconvert ! \ x264enc byte-stream=true tune=zerolatency speed-preset=ultrafast bitrate=3000 ! \ h264parse ! rtph264pay config-interval=-1 pt=96 ! queue ! \ udpsink clients=192.168.1.169:5000 max-bitrate=3000000 sync=false async=false ``` ![Pipeline graph: zedsrc and timeoverlay split by a tee into a local display branch and an H264 over UDP branch](/_fern-files/stereolabs.docs.buildwithfern.com/dcf707162b6542c4791bbe856d2ad7ef42fc37b6b872683420cdd43262949135/docs/software-integration/gstreamer/images/rgb_h264_udp_pipeline.svg) * **Line 1**: the `zedsrc` element is left at its default configuration, so it acquires the left camera RGB data at the default resolution of the connected camera model. The timestamp is printed on the image using the [timeoverlay](https://gstreamer.freedesktop.org/documentation/pango/timeoverlay.html?gi-language=c) element and the pipeline is split into two branches using [tee](https://gstreamer.freedesktop.org/documentation/coreelements/tee.html?gi-language=c). * **Line 2**: the first branch of the pipeline is used to display the frames on the local machine with FPS and timestamp information. * **Line 3**: the second branch of the pipeline is decoupled with a [queue](https://gstreamer.freedesktop.org/documentation/coreelements/queue.html?gi-language=c) and converted to a format suitable for the encoder. * **Line 4**: the stream is encoded using the H264 encoder ([x264enc](https://gstreamer.freedesktop.org/documentation/x264/index.html?gi-language=c)) configured to reduce the latency to the minimum possible. * **Line 5**: the H264 stream is parsed ([h264parse](https://gstreamer.freedesktop.org/documentation/videoparsersbad/h264parse.html?gi-language=c)) and an RTP payload is created ([rtph264pay](https://gstreamer.freedesktop.org/documentation/rtp/rtph264pay.html?gi-language=c)). * **Line 6**: the RTP payload is sent using UDP ([udpsink](https://gstreamer.freedesktop.org/documentation/udp/udpsink.html?gi-language=c)) to the client at address **192.168.1.169** (*change the address according to your listener IP*), which will be listening on port 5000. > **Note** > > The element `queue max-size-time=0 max-size-bytes=0 max-size-buffers=0` is necessary to synchronize the two branches generated by the tee element, otherwise the stream gets frozen after a few milliseconds. The receiver machine can acquire the stream using this simple pipeline: ```bash gst-launch-1.0 udpsrc port=5000 ! application/x-rtp,clock-rate=90000,payload=96 ! \ queue ! rtph264depay ! h264parse ! avdec_h264 ! \ queue ! autovideoconvert ! fpsdisplaysink ``` ![Pipeline graph: udpsrc to rtph264depay, h264parse and avdec\_h264, then to fpsdisplaysink](/_fern-files/stereolabs.docs.buildwithfern.com/dce17c8449babca7db3654b0ca6ec16efcc255fe2d6888de7ceacb6e512b1be6/docs/software-integration/gstreamer/images/udp_h264_receiver_pipeline.svg) * **Line 1**: a UDP source ([udpsrc](https://gstreamer.freedesktop.org/documentation/udp/udpsrc.html?gi-language=c)) is configured to listen on port 5000 for an RTP payload of type 96. * **Line 2**: the payload is processed ([rtph264depay](https://gstreamer.freedesktop.org/documentation/rtp/rtph264depay.html?gi-language=c)) to extract the H264 data, which is then parsed ([h264parse](https://gstreamer.freedesktop.org/documentation/videoparsersbad/h264parse.html?gi-language=c)) and decoded ([avdec\_h264](https://gstreamer.freedesktop.org/documentation/libav/avdec_h264.html?gi-language=c)). * **Line 3**: the decoded stream is finally converted and displayed on the screen with FPS information. By visually comparing the timestamp printed on each frame on the sender and receiver machines, you can roughly estimate the network latency.