mirror of https://github.com/ArduPilot/ardupilot
133 lines
4.2 KiB
Python
133 lines
4.2 KiB
Python
"""
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Capture a UDP video stream and pipe to an GStreamer RTSP server
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The Gazebo GStreamerPlugin with <use_basic_pipeline>1</use_basic_pipeline>
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has elements:
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source: appsrc
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caps='video/x-raw, format=I420, width=640, height=480, framerate=50'
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is-live=1
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do-timestamp=1
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stream-type=0
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queue: queue
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converter: videoconvert
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encoder: x264enc bitrate=800 speed-preset=6 tune=4 key-int-max=10
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payloader: rtph264pay
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sink: udpsink host=127.0.0.1 port=5600
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A udpsink example streaming a test pattern using the same settings as the basic
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pipeline in the Gazebo GstCameraPlugin.
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1. udpsink
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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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2a. Display the udpsink directly
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udpsrc
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gst-launch-1.0 -v udpsrc address=127.0.0.1 port=5600 caps='application/x-rtp, media=(string)video, clock-rate=(int)90000, encoding-name=(string)H264' ! rtph264depay ! avdec_h264 ! videoconvert ! autovideosink sync=false
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2b. Or run the udpsink, this script to convert to RTSP, and view the RTSP stream:
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python ./gst_udp_to_rtsp.py
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3. rtspsrc
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gst-launch-1.0 rtspsrc location=rtsp://localhost:8554/camera latency=50 ! decodebin ! autovideosink
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Acknowledgments
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---------------
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GStreamer RTSP server example adapted from code by Jerome Carretero (Tamaggo)
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https://github.com/tamaggo/gstreamer-examples
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https://github.com/tamaggo/gstreamer-examples/blob/master/test_gst_rtsp_server.py
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"""
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# Copyright (c) 2015 Tamaggo Inc.
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#
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# Permission is hereby granted, free of charge, to any person obtaining a copy
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# of this software and associated documentation files (the "Software"), to deal
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# in the Software without restriction, including without limitation the rights
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# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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# copies of the Software, and to permit persons to whom the Software is
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# furnished to do so, subject to the following conditions:
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#
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# The above copyright notice and this permission notice shall be included in all
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# copies or substantial portions of the Software.
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#
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# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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# SOFTWARE.
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#
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import gi
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gi.require_version("Gst", "1.0")
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gi.require_version("GstRtspServer", "1.0")
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from gi.repository import Gst
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from gi.repository import GstRtspServer
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from gi.repository import GLib
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class GstUdpMediaFactory(GstRtspServer.RTSPMediaFactory):
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"""
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Create a GStreamer pipeline for a udpsrc source.
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"""
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def __init__(self, address="127.0.0.1", port="5600"):
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GstRtspServer.RTSPMediaFactory.__init__(self)
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# udpsrc options
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self.address = address
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self.port = port
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def do_create_element(self, url):
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source = f"udpsrc address={self.address} port={self.port}"
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codec = "application/x-rtp, payload=96 ! rtph264depay ! h264parse ! avdec_h264"
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s_h264 = "x264enc tune=zerolatency"
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pipeline_str = f"( {source} ! {codec} ! queue max-size-buffers=1 name=q_enc ! {s_h264} ! rtph264pay name=pay0 pt=96 )"
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print(pipeline_str)
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return Gst.parse_launch(pipeline_str)
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class GstServer:
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"""
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A GStreamer RTSP server streaming a udpsrc to:
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rtsp://127.0.0.1:8554/camera
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"""
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def __init__(self):
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self.server = GstRtspServer.RTSPServer()
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self.server.set_address("127.0.0.1")
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self.server.set_service("8554")
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media_factory = GstUdpMediaFactory(address="127.0.0.1", port="5600")
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media_factory.set_shared(True)
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mount_points = self.server.get_mount_points()
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mount_points.add_factory("/camera", media_factory)
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self.server.attach(None)
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def main():
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Gst.init(None)
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server = GstServer()
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loop = GLib.MainLoop()
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loop.run()
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if __name__ == "__main__":
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main()
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