camera

#!/usr/bin/env bash
# Camera startup script
# Note: front camera is port 8 and back camera is port 11

# Networking
IPH="192.168.88.2" # Topsides ip address
IPF="192.168.88.4" # Front camera ip address
IPB="192.168.88.5" # Back camera ip address
PORTF="5002" # Front camera port
PORTB="5003" # Back camera port
PORTO="5004" # OpenCV camera port

# Defaults
FPS="30" # Open with lower fps for stability
HEIGHT="720" # Use 720p video
WIDTH="1280"
ORIENTATIONB="" # Back camera orientation
ORIENTATIONF="-vf -hf" # Front camera orientation

# Handle command line arguments
for i in "$@"
do
case $i in
    # Run for image recognition
    -cv*|--opencv*)
    FPS="10"
    HEIGHT="480"
    WIDTH="640"
    shift
    ;;
    # Change video fps
    -f=*|--fps=*)
    FPS="${i#*=}"
    shift
    ;;
    # Change video height
    -h=*|--height=*)
    HEIGHT="${i#*=}"
    shift
    ;;
    # Change video width
    -w=*|--width=*)
    WIDTH="${i#*=}"
    shift
    ;;
    # Flip back camera orientation
    -bo*|--backorientation*)
    ORIENTATIONB="-vf -hf"
    shift
    ;;
    # Flip front camera orientation
    -fo*|--frontorientation*)
    ORIENTATIONF=""
    shift
    ;;
    *)
          # Unknown option
    ;;
esac
done

# Open topsides camera capture if it is not already running
if ps ax | grep -v grep | grep "gst-launch-1.0 udpsrc port=${PORTF} ! application/x-rtp,encoding-name=H264,payload=96 ! rtph264depay ! avdec_h264 ! videoconvert ! autovideosink" > /dev/null
then
    echo "Topsides capture is already running."
else
    setsid xterm -geometry 93x31+0+0 -e gst-launch-1.0 udpsrc port=${PORTF} ! application/x-rtp,encoding-name=H264,payload=96 ! rtph264depay ! avdec_h264 ! videoconvert ! autovideosink &
fi

if ps ax | grep -v grep | grep "gst-launch-1.0 udpsrc port=${PORTB} ! application/x-rtp,encoding-name=H264,payload=96 ! rtph264depay ! avdec_h264 ! videoconvert ! autovideosink" > /dev/null
then
    echo "Topsides capture is already running."
else
    setsid xterm -geometry 93x31+0+0 -e gst-launch-1.0 udpsrc port=${PORTB} ! application/x-rtp,encoding-name=H264,payload=96 ! rtph264depay ! avdec_h264 ! videoconvert ! autovideosink &
fi

# Start back camera
sshpass -p raspberry ssh pi@${IPB} raspivid -t 0 ${ORIENTATIONB} -n -h ${HEIGHT} -w ${WIDTH} -fps ${FPS} -b 3000000 -o - | gst-launch-1.0 -v fdsrc ! h264parse config-interval=1 ! rtph264pay ! udpsink host=${IPH} port=${PORTB} &

# Start front camera with split streams
sshpass -p raspberry ssh pi@${IPF} raspivid -t 0 ${ORIENTATIONF} -n -h ${HEIGHT} -w ${WIDTH} -fps ${FPS} -b 3000000 -o - | gst-launch-1.0 -v fdsrc ! h264parse config-interval=1 ! rtph264pay ! tee name=t \
t. ! queue ! udpsink host=${IPH} port=${PORTF} \
t. ! queue ! udpsink host=${IPH} port=${PORTO} &

# Keep running till closed
read -n1 -r -p "Press any key to close..." key