Let's Make Robots!

Raspberry Pi Sandwich

Standalone system based on Raspberry Pi. Now with a laser cut frame and video streaming working.

Status as of 2012.09.14

I could not make the old webcam (Microsoft VX-1000) to work in Raspbian or Arch (tried mjpg-streamer, ffserver+ffmpeg, motion) so I have tried a new one Microsoft Lifecam HD-3000. This one is able to stream directly in MJPG format (v4l2-ctl --list-formats).

This one worked with my modified mjpg-streamer so, needing audio, I have tried gstreamer (just video for now) and it works under Raspbian.

In Raspbian, I have installed gstreamer with this command:

apt-get install gstreamer-tools gstreamer0.10-plugins-bad gstreamer0.10-plugins-good

For some reason, gstreamer did not worked with the better quality formats reported by v4l2-ctl --list-formats-ext command.

The streaming with 640x480 and 15fps used like 2% of the CPU. The command used was:

gst-launch -v v4l2src ! image/jpeg,width=640,height=480,framerate=\(fraction\)15/1 ! tcpserversink host=<raspberry pi's IP address> port=5555 sync=false

The streaming with 800x600 and 30fps used like 10% - 13% of the CPU. The command used was:

gst-launch -v v4l2src ! image/jpeg,width=800,height=600,framerate=\(fraction\)30/1 ! tcpserversink host=<raspberry pi's IP address> port=5555 sync=false

I have displayed the video stream on a remote PC with VLC (tcp://<raspberry pi's IP address>:5555)



  • streaming video with audio;
  • stream with H.264 hardware encoding (I have no ideea how it can be done now);
  • modify/adapt the system for robotic usage - remove the USB current limitation, get rid of the hub and, maybe, make an adapter board.


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Oooh pretty. What's the dimensions? Can we get a better view of the size scale?

Like 12 by 12 cm. More details next week.

You could add sides on the cube and make it more solid and pretty ....

... if everything will work OK, but I have serious doubts now, what is in the picture will go inside a plastic cube like box.

Thankyou very much for the information you provided.

I managed to get GStreamer working with acceptable framerates on RPI and can now view my webcam from my phone when I'm away from the house.

I'm still going to tweak and try different things with it to get the most from it but you provided me with the information to get it started.