mirror of https://github.com/ArduPilot/ardupilot
106 lines
2.7 KiB
Markdown
106 lines
2.7 KiB
Markdown
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# AP_Camera examples
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## GStreamer examples
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The following examples demonstrate how to manipulate GStreamer pipelines to
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capture and display video streams from a UDP or RTSP source. They are useful
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for providing test images to camera algorithms, or forwarding streams from
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simulators such as Gazebo to ground control stations.
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For further details see:
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- [GStreamer tutorials](https://gstreamer.freedesktop.org/documentation/tutorials/index.html?gi-language=c)
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### Install dependencies
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#### Ubuntu
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```bash
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sudo apt install libopencv-dev libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev gstreamer1.0-plugins-bad gstreamer1.0-libav gstreamer1.0-gl gstreamer1.0-tools gstreamer1.0-plugins-ugly libgstrtspserver-1.0-dev
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```
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#### macOS
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```bash
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brew install gstreamer opencv
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```
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### `gst_rtsp_server.py`
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The example provides a number of test images as an RTSP stream that may be accessed at:
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- rtsp://127.0.0.1:8554/camera
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- rtsp://127.0.0.1:8554/ball
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- rtsp://127.0.0.1:8554/snow
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Start the RTSP server:
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```bash
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python ./gst_rtsp_server.py
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```
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Display the RTSP stream:
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```bash
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gst-launch-1.0 rtspsrc location=rtsp://localhost:8554/camera latency=50 ! decodebin ! autovideosink
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```
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### `gst_rtsp_to_wx.py`
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The example displays an RTSP stream in a wxPython application.
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Start the RTSP server:
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```bash
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python ./gst_rtsp_server.py
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```
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Display the RTSP stream in wxPython
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```bash
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python ./gst_rtsp_to_wx.py
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```
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### `gst_udp_to_rtsp.py`
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Convert a UDP stream to RTSP. This example is configured to use the same UDP
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pipeline provided by the ArduPilot Gazebo [`GstCameraPlugin`](https://github.com/ArduPilot/ardupilot_gazebo?tab=readme-ov-file#3-streaming-camera-video). By converting the
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UDP stream to RTSP is may be consumed by multiple applications
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(e.g. a camera tracking algorithm and a GCS).
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Create a UDP video stream
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```bash
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gst-launch-1.0 -v videotestsrc ! 'video/x-raw,format=I420,width=640,height=480,framerate=50/1' ! queue ! videoconvert ! x264enc bitrate=800 speed-preset=6 tune=4 key-int-max=10 ! rtph264pay ! udpsink host=127.0.0.1 port=5600
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```
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Convert to RTSP:
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```bash
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python ./gst_udp_to_rtsp.py
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```
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Display the RTSP stream:
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```bash
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gst-launch-1.0 rtspsrc location=rtsp://localhost:8554/camera latency=50 ! decodebin ! autovideosink
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```
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### `gst_udp_to_wx.py`
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The example displays a UDP video stream in a wxPython application.
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Create a UDP video stream:
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```bash
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gst-launch-1.0 -v videotestsrc ! 'video/x-raw,format=I420,width=640,height=480,framerate=50/1' ! queue ! videoconvert ! x264enc bitrate=800 speed-preset=6 tune=4 key-int-max=10 ! rtph264pay ! udpsink host=127.0.0.1 port=5600
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```
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Display the UDP video stream in wxPython:
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```bash
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python ./gst_udp_to_wx.py
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```
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