Camera 4.0

Dockerfile.rov

@@ -1,4 +1,5 @@
-FROM osrf/ros:humble-desktop-full
+ARG BASE_IMAGE=osrf/ros:humble-desktop-full
+FROM ${BASE_IMAGE}
 
 ENV DEBIAN_FRONTEND noninteractive
 ENV SHELL /bin/bash
@@ -16,17 +17,16 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
 # install gstreamer
 RUN add-apt-repository universe && apt-get update && \
     apt-get install -y --no-install-recommends \
-    libgstreamer1.0-0 \
-    libgstreamer1.0-dev \
-    libgstreamer-plugins-bad1.0-0 \
-    libgstreamer-plugins-base1.0-0 \
-    libgstreamer-plugins-base1.0-dev \
-    libgstreamer1.0 \
     libgstreamer1.0-dev \
+    libgstreamer-plugins-bad1.0-dev \
+    libgstreamer-plugins-good1.0-dev \
     libgstreamer-plugins-base1.0-dev \
+    libgstrtspserver-1.0-dev \
+    libsrtp2-dev \
+    gstreamer1.0-rtsp \
     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 \

docker-compose.yml

@@ -27,28 +27,21 @@ services:
       - /run/systemd/system:/run/systemd/system
       - /var/run/dbus/system_bus_socket:/var/run/dbus/system_bus_socket
       - /sys:/sys:ro
-      - /usr/lib/gstreamer-1.0/:/usr/lib/gstreamer-1.0
       - /dev:/dev
       - /run/udev:/run/udev:ro
       - /tmp/.X11-unix:/tmp/.X11-unix
+      - /usr/lib/gstreamer-1.0/:/usr/lib/gstreamer-1.0
       - /usr/lib/aarch64-linux-gnu/gstreamer-1.0/libgstnvcompositor.so:/usr/lib/aarch64-linux-gnu/gstreamer-1.0/libgstnvcompositor.so
     restart: "no"
 
   rov_amd64:
+    extends: 
+      service: rov
     image: csmmaterobotics/rov:amd64
+    platform: linux/amd64
     build:
-      context: .
-      dockerfile: Dockerfile.rov.amd64
-      platforms:
-        - linux/amd64
-    environment:
-      - DISPLAY=${DISPLAY}
-      - LD_PRELOAD=/usr/lib/aarch64-linux-gnu/libgomp.so.1
-    # For future me when you're trying to set these variables:
-    # echo 'export DOCKER_USER="$(id -u):$(id -g)"' >> ~/.bash_profile
-    user: ${DOCKER_USER}
-    pid: host
-    ipc: host
+      args:
+        - BASE_IMAGE=osrf/ros:humble-desktop-full
     volumes:
       - /dev/shm:/dev/shm
       - /bin/systemctl:/bin/systemctl

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/include/rov_cameras/cameras.hpp

@@ -0,0 +1,50 @@
+#ifndef CAMERAS_HPP
+#define CAMERAS_HPP
+
+#include "gst/gst.h"
+
+#include <thread>
+#include <unordered_map>
+#include <cstdint>
+
+#include <rclcpp/rclcpp.hpp>
+
+enum class CameraSensor : uint8_t {
+    MIPI_0 = 0,
+    MIPI_1 = 1,
+    TEST = 255
+};
+
+class Camera {
+public:
+    Camera() = default;
+    Camera(int argc, char** argv, CameraSensor sensorID);
+private:
+    void run_rtsp_stream(int argc, char** argv, CameraSensor sensorID);
+
+    std::thread gst_rtsp_server_thread;
+};
+
+class CameraManager {
+public:
+    static CameraManager* getInstance(int argc, char** argv);
+
+    bool addCamera(CameraSensor sensorID);
+private:
+    CameraManager(int argc, char** argv);
+
+    int argc;
+    char** argv;
+
+    std::unordered_map<CameraSensor, Camera> cameras;
+};
+
+class CameraNode : public rclcpp::Node {
+public:
+    CameraNode(int argc, char** argv);
+private:
+    CameraManager* manager;
+};
+
+
+#endif