rpi4 camera module 2.1 stream ubuntu 20.04

rpi4 camera module 2.1 stream

cat /boot/firmware/config.txt
```
[pi4]
max_framebuffers=2

[all]
kernel=vmlinuz
cmdline=cmdline.txt
initramfs initrd.img followkernel

# Enable the audio output, I2C and SPI interfaces on the GPIO header
dtparam=audio=on
dtparam=i2c_arm=on
dtparam=spi=on

# Enable the serial pins
enable_uart=1

# Comment out the following line if the edges of the desktop appear outside
# the edges of your display
disable_overscan=1

# If you have issues with audio, you may try uncommenting the following line
# which forces the HDMI output into HDMI mode instead of DVI (which doesn't
# support audio output)
#hdmi_drive=2

# If you have a CM4, uncomment the following line to enable the USB2 outputs
# on the IO board (assuming your CM4 is plugged into such a board)
#dtoverlay=dwc2,dr_mode=host

# Config settings specific to arm64
arm_64bit=1
dtoverlay=dwc2

dtoverlay=vc4-fkms-v3d, cma-512
max_framebuffers=1
gpu_mem=256
hdmi_enable_4kp60=1

# must configure hdmi_force_hotplug when v3d is enabled, otherwise pi won't boot when hdmi disconnected
# uncomment if hdmi display is not detected and composite is being output
hdmi_force_hotplug=1

dtoverlay=rpivid-v4l2


start_x=1
```



sudo apt install gstreamer1.0-plugins-bad gstreamer1.0-plugins-good gstreamer1.0-plugins-ugly



Sender:
gst-launch-1.0 -e v4l2src ! video/x-h264,width=1280,height=720,framerate=60/1 ! h264parse ! rtph264pay pt=96 ! udpsink host=10.100.102.5 port=5001

Receiver:
gst-launch-1.0 -v udpsrc port=5001 ! application/x-rtp,clock-rate=90000,payload=96 ! rtph264depay ! h264parse ! avdec_h264 ! autovideosink sync=false




note:
v4l2-ctl --set-ctrl=auto_exposure=1 --set-ctrl=scene_mode=11 --set-ctrl=exposure_dynamic_framerate=1 --set-ctrl=auto_exposure_bias=16 --set-ctrl=exposure_metering_mode=0 --set-ctrl=exposure_time_absolute=10