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Welcome to the gst-rpicamsrc wiki!
Follow the instructions in the readme. If you are using the regualar Raspbian you likely do not have all the dependencies installed, and the autogen.sh script will fail. Install each of the dependencies in the REQUIREMENTS file e.g.
sudo apt-get install autoreconf
To use the gst-rpicamsrc command line arguments, you need to put them in before the gstreamer pipe.
E.g. to turn off the preview window and use a 1.5Mbps bitrate, to view the UDP stream performance using the RPi hardware to decode, you would use:
Sender:
gst-launch-1.0 rpicamsrc preview=0 bitrate=1500000 ! 'video/x-h264, width=1280, height=720, framerate=30/1,profile=high' ! h264parse ! rtph264pay ! udpsink host=127.0.0.1 port=5200 &
Receiver:
gst-launch-1.0 udpsrc port=5200 ! application/x-rtp, encoding-name=H264,payload=96 ! rtph264depay ! h264parse ! omxh264dec ! autovideosink &
This does not work with the raspbian stretch lite image because there is no fast video sink available without an X dependency.