Working with multiple appsrcs/cameras
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@ -1,19 +1,40 @@
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# Set up your streams to rtsp here.
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#
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# "type": ["cam" , "topic"]
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#
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# "source":
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# if type=cam, location of v4l2 camera
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# if type=topic, the ROS Image topic to subscribe to.
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#
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# Notes:
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# Use a lower framerate of 10/1 on ROS topics.
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# There may be issues with appsrc 'media not prepared' errors if the framerate is too high.
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streams:
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stream1:
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type: cam
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source: /dev/video1
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mountpoint: /back
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caps: video/x-raw,framerate=30/1,width=1280,height=720
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bitrate: 500
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stream2:
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# stream-x:
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# type: cam
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# source: "v4l2src device=/dev/video0 ! videoconvert ! videoscale ! video/x-raw,framerate=15/1,width=1280,height=720"
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# mountpoint: /front
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# bitrate: 500
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# stream1:
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# type: cam
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# source: "v4l2src device=/dev/video0 ! videoconvert ! videoscale ! video/x-raw,framerate=15/1,width=1280,height=720"
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# mountpoint: /back
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# bitrate: 500
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stream-a:
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type: topic
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source: /usb_cam/image_raw
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source: /usb_cam0/image_raw
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mountpoint: /front
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caps: video/x-raw,framerate=10/1,width=640,height=480
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bitrate: 500
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stream-yay:
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type: topic
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source: /usb_cam1/image_raw
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mountpoint: /back
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caps: video/x-raw,framerate=10/1,width=640,height=480
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bitrate: 500
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@ -12,11 +12,11 @@ namespace image2rtsp {
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void print_error(char *s);
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private:
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ros::Subscriber sub;
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GstAppSrc *appsrc;
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std::map<std::string, ros::Subscriber> subs;
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std::map<std::string, GstAppSrc*> appsrc;
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std::map<std::string, int> num_of_clients;
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GstCaps* gst_caps_new_from_image(const sensor_msgs::Image::ConstPtr &msg);
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void imageCallback(const sensor_msgs::Image::ConstPtr& msg);
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void imageCallback(const sensor_msgs::Image::ConstPtr& msg, const std::string& topic);
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void video_mainloop_start();
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void rtsp_server_add_url(const char *url, const char *sPipeline, GstElement **appsrc);
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GstRTSPServer *rtsp_server_create();
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@ -1,6 +1,6 @@
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<launch>
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<!-- Start the image publisher -->
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<node name="usb_cam" pkg="usb_cam" type="usb_cam_node" output="screen" >
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<!-- Start the image publisher/s if required -->
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<!-- <node name="usb_cam0" pkg="usb_cam" type="usb_cam_node" output="screen" >
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<param name="video_device" value="/dev/video0" />
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<param name="image_width" value="640" />
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<param name="image_height" value="480" />
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@ -9,6 +9,16 @@
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<param name="io_method" value="mmap"/>
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<param name="autofocus" value="true"/>
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</node>
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<node name="usb_cam1" pkg="usb_cam" type="usb_cam_node" output="screen" >
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<param name="video_device" value="/dev/video1" />
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<param name="image_width" value="640" />
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<param name="image_height" value="480" />
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<param name="pixel_format" value="yuyv" />
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<param name="camera_frame_id" value="yuyv" />
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<param name="io_method" value="mmap"/>
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<param name="autofocus" value="true"/>
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</node> -->
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<!-- <node pkg="ros_rtsp" name="camera_publisher" type="camera_publisher" args="0"/> -->
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<node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen"/>
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@ -26,7 +26,6 @@ void Image2RTSPNodelet::onInit() {
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putenv((char*)"GST_DEBUG=*:2");
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}
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appsrc = NULL;
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ros::NodeHandle& nh = getPrivateNodeHandle();
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video_mainloop_start();
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@ -48,12 +47,11 @@ void Image2RTSPNodelet::onInit() {
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// Convert to string for ease of use
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mountpoint = static_cast<std::string>(stream["mountpoint"]);
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bitrate = std::to_string(static_cast<int>(stream["bitrate"]));
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caps = static_cast<std::string>(stream["caps"]);
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// uvc camera?
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if (stream["type"]=="cam")
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{
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pipeline = "( v4l2src device=" + static_cast<std::string>(stream["source"]) + " ! videoconvert ! videoscale ! " + caps + " ! x264enc tune=zerolatency bitrate=" + bitrate + pipeline_tail;
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pipeline = "( " + static_cast<std::string>(stream["source"]) + " ! x264enc tune=zerolatency bitrate=" + bitrate + pipeline_tail;
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rtsp_server_add_url(mountpoint.c_str(), pipeline.c_str(), NULL);
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}
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@ -63,12 +61,14 @@ void Image2RTSPNodelet::onInit() {
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/* Keep record of number of clients connected to each topic.
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* so we know to stop subscribing when no-one is connected. */
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num_of_clients[mountpoint] = 0;
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appsrc[mountpoint] = NULL;
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caps = static_cast<std::string>(stream["caps"]);
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// Setup the full pipeline
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pipeline = "( appsrc name=imagesrc do-timestamp=true min-latency=0 max-latency=0 max-bytes=1000 is-live=true ! videoconvert ! videoscale ! " + caps + " ! x264enc tune=zerolatency bitrate=" + bitrate + pipeline_tail;
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// Add the pipeline to the rtsp server
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rtsp_server_add_url(mountpoint.c_str(), pipeline.c_str(), (GstElement **)&appsrc);
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rtsp_server_add_url(mountpoint.c_str(), pipeline.c_str(), (GstElement **)&(appsrc[mountpoint]));
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}
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else
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{
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@ -109,35 +109,33 @@ GstCaps* Image2RTSPNodelet::gst_caps_new_from_image(const sensor_msgs::Image::Co
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"format", G_TYPE_STRING, format->second.c_str(),
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"width", G_TYPE_INT, msg->width,
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"height", G_TYPE_INT, msg->height,
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"framerate", GST_TYPE_FRACTION, 10, 1, // 0/1 = dynamic
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"framerate", GST_TYPE_FRACTION, 10, 1,
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nullptr);
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}
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void Image2RTSPNodelet::imageCallback(const sensor_msgs::Image::ConstPtr& msg) {
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void Image2RTSPNodelet::imageCallback(const sensor_msgs::Image::ConstPtr& msg, const std::string& topic) {
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GstBuffer *buf;
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GstCaps *caps;
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char *gst_type, *gst_format=(char *)"";
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// g_print("Image encoding: %s\n", msg->encoding.c_str());
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if (appsrc != NULL) {
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if (appsrc[topic] != NULL) {
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// Set caps from message
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caps = gst_caps_new_from_image(msg);
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gst_app_src_set_caps(appsrc, caps);
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gst_app_src_set_caps(appsrc[topic], caps);
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buf = gst_buffer_new_allocate(nullptr, msg->data.size(), nullptr);
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gst_buffer_fill(buf, 0, msg->data.data(), msg->data.size());
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GST_BUFFER_FLAG_SET(buf, GST_BUFFER_FLAG_LIVE);
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gst_app_src_push_buffer(appsrc, buf);
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gst_app_src_push_buffer(appsrc[topic], buf);
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}
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}
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void Image2RTSPNodelet::url_connected(string url) {
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std::string mountpoint, source;
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std::string mountpoint, source, type;
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NODELET_INFO("Client connected: %s", url.c_str());
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ros::NodeHandle& nh = getPrivateNodeHandle();
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@ -151,15 +149,16 @@ void Image2RTSPNodelet::url_connected(string url) {
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for(XmlRpc::XmlRpcValue::ValueStruct::const_iterator it = streams.begin(); it != streams.end(); ++it)
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{
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XmlRpc::XmlRpcValue stream = streams[it->first];
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type = static_cast<std::string>(stream["type"]);
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mountpoint = static_cast<std::string>(stream["mountpoint"]);
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source = static_cast<std::string>(stream["source"]);
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// Check which stream the client has connected to
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if (url==mountpoint) {
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if (type=="topic" && url==mountpoint) {
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if (num_of_clients[url]==0) {
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// Subscribe to the ROS topic
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sub = nh.subscribe(source, 10, &Image2RTSPNodelet::imageCallback, this);
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subs[url] = nh.subscribe<sensor_msgs::Image>(source, 1, boost::bind(&Image2RTSPNodelet::imageCallback, this, _1, url));
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}
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num_of_clients[url]++;
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}
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@ -188,8 +187,8 @@ void Image2RTSPNodelet::url_disconnected(string url) {
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if (num_of_clients[url] > 0) num_of_clients[url]--;
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if (num_of_clients[url] == 0) {
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// No-one else is connected. Stop the subscription.
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sub.shutdown();
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appsrc = NULL;
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subs[url].shutdown();
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appsrc[url] = NULL;
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}
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}
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}
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@ -94,11 +94,11 @@ GstRTSPServer *Image2RTSPNodelet::rtsp_server_create() {
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/* called when a new media pipeline is constructed. We can query the
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* pipeline and configure our appsrc */
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static void media_configure(GstRTSPMediaFactory *factory, GstRTSPMedia *media, GstElement **appsrc)
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{
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if (appsrc) {
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{ if (appsrc) {
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GstElement *pipeline = gst_rtsp_media_get_element(media);
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*appsrc = gst_bin_get_by_name(GST_BIN(pipeline), "imagesrc");
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/* this instructs appsrc that we will be dealing with timed buffer */
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gst_util_set_object_arg(G_OBJECT(*appsrc), "format", "time");
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GstRTSPMountPoints *mounts;
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GstRTSPMediaFactory *factory;
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ROS_INFO("%s", url);
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ROS_INFO("%s", sPipeline);
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/* get the mount points for this server, every server has a default object
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* that be used to map uri mount points to media factories */
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mounts = gst_rtsp_server_get_mount_points(rtsp_server);
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