Camera 4.0

Dockerfile.rov

@@ -27,7 +27,6 @@ RUN add-apt-repository universe && apt-get update && \
     libgtk-3-dev \
     libgtk2.0-dev \
     gstreamer1.0-x && \
-# install v4l2
     apt-get install -y libv4l-dev v4l-utils && \
     apt-get install -y libopenjp2-7 \
     libopenjp2-7-dev \

libraries.txt

@@ -1,2 +1,3 @@
 OpenCV4 >= 4.2
-Eigen3 >= 3.3.7
+Eigen3 >= 3.3.7
+libi2c >= 4.3

src/rov/rov_cameras/CMakeLists.txt

@@ -1,66 +1,52 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.8)
 project(rov_cameras)
 
-# Default to C99
-if(NOT CMAKE_C_STANDARD)
-  set(CMAKE_C_STANDARD 99)
-endif()
-
-# Default to C++14
-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 14)
-endif()
-
-if(DEBUG_OUTPUT)
-  add_compile_definitions(DEBUG_OUTPUT=true)
-endif()
-
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
 # find dependencies
 find_package(ament_cmake REQUIRED)
+find_package(rov_interfaces REQUIRED)
 find_package(rclcpp REQUIRED)
-find_package(sensor_msgs REQUIRED)
-find_package(std_msgs REQUIRED)
-find_package(cv_bridge REQUIRED)
-find_package(compressed_image_transport REQUIRED)
-find_package(OpenCV REQUIRED)
-
-add_executable(rov_cameras src/main.cpp src/mjpeg_camera.cpp src/h264_camera.cpp src/camera_to_file.cpp)
+find_package(PkgConfig REQUIRED)
+pkg_search_module(GST REQUIRED gstreamer-1.0>=1.4
+    gstreamer-sdp-1.0>=1.4
+    gstreamer-video-1.0>=1.4
+    gstreamer-app-1.0>=1.4)
+pkg_search_module(GST_RTSP REQUIRED gstreamer-rtsp-server-1.0)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+add_executable(rov_cameras src/cameras.cpp src/main.cpp)
 target_include_directories(rov_cameras PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-  $<INSTALL_INTERFACE:include>
-  ${OpenCV_INCLUDE_DIRS})
-ament_target_dependencies(
-  rov_cameras
-  "rclcpp"
-  "sensor_msgs"
-  "std_msgs"
-  "cv_bridge"
-  "compressed_image_transport"
+  $<INSTALL_INTERFACE:include>)
+target_compile_features(rov_cameras PUBLIC c_std_99 cxx_std_17)  # Require C99 and C++17
+target_include_directories(rov_cameras PRIVATE ${GST_INCLUDE_DIRS} ${GST_RTSP_INCLUDE_DIRS})
+target_link_libraries(rov_cameras ${GST_LIBRARIES} ${GST_RTSP_LIBRARIES} gstrtsp-1.0 gstsdp-1.0 gstreamer-1.0 gio-2.0 gobject-2.0 glib-2.0)
+
+ament_target_dependencies(rov_cameras
+  rclcpp
+  rov_interfaces
 )
 
-target_link_libraries(rov_cameras ${OpenCV_LIBS} udev pthread)
-
 install(TARGETS rov_cameras
   DESTINATION lib/${PROJECT_NAME})
 
-install(DIRECTORY include/
-  DESTINATION include/)
-
-install(DIRECTORY launch/
-  DESTINATION share/${PROJECT_NAME})
+install(DIRECTORY config/
+  DESTINATION share/${PROJECT_NAME}/config)
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   # the following line skips the linter which checks for copyrights
-  # uncomment the line when a copyright and license is not present in all source files
-  #set(ament_cmake_copyright_FOUND TRUE)
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
   # the following line skips cpplint (only works in a git repo)
-  # uncomment the line when this package is not in a git repo
-  #set(ament_cmake_cpplint_FOUND TRUE)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
   ament_lint_auto_find_test_dependencies()
 endif()
 

src/rov/rov_cameras/config/params.yaml

@@ -0,0 +1,13 @@
+rov_cameras:
+  ros__parameters:
+    # cameras: ["test", "front", "transect"]
+    cameras: ["test"]
+    test:
+      port: "8809"
+      pipeline: videotestsrc is-live=true ! x264enc speed-preset=ultrafast tune=zerolatency ! rtph264pay name=pay0 pt=96
+    front:
+      port: "8554"
+      pipeline: nvarguscamerasrc sensor-id=0 ! video/x-raw(memory:NVMM),width=1920,height=1080 ! nvvidconv ! nvv4l2h264enc ! h264parse ! rtph264pay name=pay0 pt=96
+    transect:
+      port: "8555"
+      pipeline: nvarguscamerasrc sensor-id=1 ! video/x-raw(memory:NVMM),width=1920,height=1080 ! nvvidconv ! nvv4l2h264enc ! h264parse ! rtph264pay name=pay0 pt=96

src/rov/rov_cameras/include/rov_cameras/cameras.hpp

@@ -0,0 +1,52 @@
+#ifndef CAMERAS_HPP
+#define CAMERAS_HPP
+
+#include "gst/gst.h"
+
+#include <cstdint>
+#include <thread>
+#include <unordered_map>
+
+#include <rclcpp/rclcpp.hpp>
+
+struct CameraConfig {
+  std::string id;
+  std::string port;
+  std::string pipeline;
+};
+
+class Camera {
+public:
+  Camera() = default;
+  Camera(int argc, char **argv, CameraConfig sensorConfig);
+
+private:
+  void run_rtsp_stream(int argc, char **argv, CameraConfig sensorConfig);
+
+  std::thread gst_rtsp_server_thread;
+};
+
+class CameraManager {
+public:
+  static CameraManager *getInstance(int argc, char **argv);
+
+  bool addCamera(CameraConfig sensorConfig);
+
+private:
+  CameraManager(int argc, char **argv);
+
+  int argc;
+  char **argv;
+
+  std::unordered_map<std::string, Camera> cameras;
+};
+
+class CameraNode : public rclcpp::Node {
+public:
+  CameraNode(int argc, char **argv);
+
+private:
+  CameraManager *manager;
+};
+
+#endif

src/rov/rov_cameras/package.xml

@@ -2,20 +2,14 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>rov_cameras</name>
-  <version>0.0.0</version>
-  <description>TODO: Package description</description>
+  <version>1.0.0</version>
+  <description>Configurable node which uses GStreamer and Nvidia Acceleration (targetting the Orin) to expose cameras over RTSP</description>
   <maintainer email="zac71113@gmail.com">yameat</maintainer>
   <license>TODO: License declaration</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <depend>rclcpp</depend>
-  <depend>sensor_msgs</depend>
-  <depend>std_msgs</depend>
-  <depend>cv_bridge</depend>
-  <depend>compressed_image_transport</depend>
-  <depend>h264_msgs</depend>
-  <depend>opencv2</depend>
+  <depend>rov_interfaces</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>