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add convertation from YUYV to h264, now QGroundControl can see our st… #369

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add convertation from YUYV to h264, now QGroundControl can see our st… #369

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4 changes: 2 additions & 2 deletions Cargo.lock
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2 changes: 1 addition & 1 deletion Cargo.toml
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Expand Up @@ -69,7 +69,7 @@ ts-rs = "7.1"
cached = { version = "0.48", features = ["serde", "serde_json", "async_tokio_rt_multi_thread"] }

## Mavlink
mavlink = { version = "0.10.6", features = ["default", "emit-extensions"] }
mavlink = { version = "0.10.7", features = ["default", "emit-extensions"] }

## WebRTC
async-tungstenite = { version = "0.25", features = ["tokio-runtime", "tokio-native-tls"] }
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3 changes: 3 additions & 0 deletions Cross.toml
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Expand Up @@ -6,3 +6,6 @@ image = "joaoantoniocardoso/cross-rs:armv7-unknown-linux-gnueabihf-bullseye-slim

[target.aarch64-unknown-linux-gnu]
image = "joaoantoniocardoso/cross-rs:aarch64-unknown-linux-gnu-bullseye-slim-with-gstreamer"

[target.aarch64-buildroot-linux-gnu]
image = "joaoantoniocardoso/companion-base:update-gstreamer"
10 changes: 5 additions & 5 deletions docker/Dockerfile
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@@ -1,4 +1,4 @@
from ubuntu:22.04
FROM ubuntu:22.04

RUN apt update -y && \
apt install -y --no-install-recommends \
Expand All @@ -15,10 +15,10 @@ RUN apt update -y && \

# We need libssl.so.1.1
# Note: if the link breaks, find it here: http://nz2.archive.ubuntu.com/ubuntu/pool/main/o/openssl/?C=M;O=D
RUN wget http://nz2.archive.ubuntu.com/ubuntu/pool/main/o/openssl/libssl1.1_1.1.1f-1ubuntu2.21_amd64.deb && \
dpkg -i libssl1.1_1.1.1f-1ubuntu2.21_amd64.deb ; \
rm -rf libssl1.1_1.1.1f-1ubuntu2.21_amd64.deb
RUN wget http://nz2.archive.ubuntu.com/ubuntu/pool/main/o/openssl/libssl1.1_1.1.1f-1ubuntu2.22_amd64.deb && \
dpkg -i libssl1.1_1.1.1f-1ubuntu2.22_amd64.deb ; \
rm -rf libssl1.1_1.1.1f-1ubuntu2.22_amd64.deb

COPY ./target/x86_64-unknown-linux-gnu/release/mavlink-camera-manager /

ENTRYPOINT ./mavlink-camera-manager --mavlink=tcpout:192.168.2.2:5777 --verbose --reset
ENTRYPOINT ./mavlink-camera-manager --mavlink=tcpout:0.0.0.0:5777 --verbose --reset
7 changes: 6 additions & 1 deletion docker/build_and_run.sh
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Expand Up @@ -9,4 +9,9 @@ cross build --release --target=x86_64-unknown-linux-gnu
docker build -t $USER/mavlink-camera-manager:$(git rev-parse HEAD) -f ./docker/Dockerfile .

# Run
docker run -it --net=host $USER/mavlink-camera-manager:$(git rev-parse HEAD)
docker run -it --rm --network host\
--privileged\
-v /dev:/dev\
-v /sys/devices:/sys/devices\
-v ./logs:/logs\
$USER/mavlink-camera-manager:$(git rev-parse HEAD)\
8 changes: 5 additions & 3 deletions src/mavlink/mavlink_camera.rs
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Expand Up @@ -138,9 +138,8 @@ impl MavlinkCameraInner {
let component_id = camera.component.component_id;
let system_id = camera.component.system_id;

let mut period = tokio::time::interval(tokio::time::Duration::from_secs(1));
loop {
period.tick().await;
tokio::time::sleep(tokio::time::Duration::from_secs(1)).await;

let header = mavlink::MavHeader {
system_id,
Expand Down Expand Up @@ -277,7 +276,10 @@ impl MavlinkCameraInner {
focal_length: 0.0,
sensor_size_h: 0.0,
sensor_size_v: 0.0,
flags: mavlink::common::CameraCapFlags::CAMERA_CAP_FLAGS_HAS_VIDEO_STREAM,
flags: mavlink::common::CameraCapFlags::CAMERA_CAP_FLAGS_HAS_VIDEO_STREAM |
mavlink::common::CameraCapFlags::CAMERA_CAP_FLAGS_CAN_CAPTURE_IMAGE_IN_VIDEO_MODE |
mavlink::common::CameraCapFlags::CAMERA_CAP_FLAGS_HAS_BASIC_ZOOM |
mavlink::common::CameraCapFlags::CAMERA_CAP_FLAGS_HAS_BASIC_FOCUS,
resolution_h: camera.component.resolution_h,
resolution_v: camera.component.resolution_v,
cam_definition_version: 0,
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8 changes: 5 additions & 3 deletions src/stream/pipeline/v4l_pipeline.rs
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Expand Up @@ -78,9 +78,11 @@ impl V4lPipeline {
concat!(
"v4l2src device={device} do-timestamp=true",
" ! videoconvert",
" ! capsfilter name={filter_name} caps=video/x-raw,format=I420,width={width},height={height},framerate={interval_denominator}/{interval_numerator}",
" ! x264enc",
" ! h264parse",
" ! capsfilter name={filter_name} caps=video/x-h264,stream-format=avc,alignment=au,width={width},height={height},framerate={interval_denominator}/{interval_numerator}",
Comment on lines -81 to +83
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I believe that we can accomplish the same thing with decodebin3 here, and letting it taking decision over the encoders. @joaoantoniocardoso what you think ?

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Yeah, we could use encodebin/encodebin2 to be more robust.

I believe transcoding should be an option, and not change today's default behavior, as people might be using raw video streams right now.

" ! tee name={video_tee_name} allow-not-linked=true",
" ! rtpvrawpay pt=96",
" ! rtph264pay aggregate-mode=zero-latency config-interval=10 pt=96",
" ! tee name={rtp_tee_name} allow-not-linked=true"
),
device = device,
Expand Down Expand Up @@ -120,7 +122,7 @@ impl V4lPipeline {
}
};

debug!("pipeline_description: {description:#?}");
debug!("pipeline_description: {description:?}");

let pipeline = gst::parse::launch(&description)?;

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14 changes: 13 additions & 1 deletion src/stream/sink/image_sink.rs
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Expand Up @@ -352,7 +352,19 @@ impl ImageSink {
decoder.has_property("discard-corrupted-frames", None).then(|| decoder.set_property("discard-corrupted-frames", true));
_transcoding_elements.push(decoder);
}
VideoEncodeType::Yuyv => {}
VideoEncodeType::Yuyv => {
// For h264, we need to filter-out unwanted non-key frames here, before decoding it.
let filter = gst::ElementFactory::make("identity")
.property("drop-buffer-flags", gst::BufferFlags::DELTA_UNIT)
.property("sync", false)
.build()?;
let decoder = gst::ElementFactory::make("avdec_h264")
.property_from_str("lowres", "2") // (0) is 'full'; (1) is '1/2-size'; (2) is '1/4-size'
.build()?;
decoder.has_property("discard-corrupted-frames", None).then(|| decoder.set_property("discard-corrupted-frames", true));
_transcoding_elements.push(filter);
_transcoding_elements.push(decoder);
}
_ => return Err(anyhow!("Unsupported video encoding for ImageSink: {encoding:?}. The supported are: H264, MJPG and YUYV")),
};

Expand Down