RSDK-4370 Expand GST pipeline generator to handle libcamera source (#7)

* support libcamera gst pipeline
viam-modules · Oct 19, 2023 · a59475f · a59475f
1 parent 95158b9
commit a59475f
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Showing 8 changed files with 105 additions and 45 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -33,7 +33,7 @@ link_directories(
 )
 
 # Main executable
-add_executable(${PROJECT_NAME} main.cpp csi_camera.cpp)
+add_executable(${PROJECT_NAME} main.cpp csi_camera.cpp utils.cpp)
 
 target_link_libraries(${PROJECT_NAME} 
         ${GSTREAMER_LIBRARIES} 

diff --git a/constraints.h b/constraints.h
@@ -11,16 +11,25 @@
 #define GST_GET_STATE_TIMEOUT 1 
 #define GST_CHANGE_STATE_TIMEOUT 5
 
-// Camera
-#define DEFAULT_INPUT_SOURCE "nvarguscamerasrc"
+// Pipeline
+#define DEFAULT_INPUT_SOURCE "libcamerasrc"
 #define DEFAULT_INPUT_SENSOR "0"
-#define DEFAULT_INPUT_FORMAT "video/x-raw(memory:NVMM)"
+#define DEFAULT_INPUT_FORMAT "video/x-raw"
 #define DEFAULT_INPUT_WIDTH 1920
 #define DEFAULT_INPUT_HEIGHT 1080
 #define DEFAULT_INPUT_FRAMERATE 30
-#define DEFAULT_INPUT_FLIP_METHOD "0"
-#define DEFAULT_OUTPUT_FORMAT "video/x-raw"
-#define DEFAULT_OUTPUT_WIDTH 960
-#define DEFAULT_OUTPUT_HEIGHT 540
+#define DEFAULT_VIDEO_CONVERTER "videoconvert"
 #define DEFAULT_OUTPUT_ENCODER "nvjpegenc"
 #define DEFAULT_OUTPUT_MIMETYPE "image/jpeg"
+
+// Jetson
+#define JETSON_INPUT_SOURCE "nvarguscamerasrc"
+#define JETSON_INPUT_FORMAT "video/x-raw(memory:NVMM)"
+#define JETSON_VIDEO_CONVERTER "nvvidconv"
+#define JETSON_OUTPUT_ENCODER "nvjpegenc"
+
+// Pi
+#define PI_INPUT_SOURCE "libcamerasrc"
+#define PI_INPUT_FORMAT "video/x-raw"
+#define PI_VIDEO_CONVERTER "videoconvert"
+#define PI_OUTPUT_ENCODER "jpegenc"
diff --git a/csi_camera.cpp b/csi_camera.cpp
@@ -7,14 +7,13 @@
 
 #include "constraints.h"
 #include "csi_camera.h"
-#include "utils.h"
 
 using namespace viam::sdk;
 
 CSICamera::CSICamera(const std::string name, const AttributeMap attrs) : Camera(std::move(name)) {
-    device_type device = get_device_type();
-    std::cout << "Device type: " << device.name << std::endl;
+    device = get_device_type();
     std::cout << "Creating CSICamera with name: " << name << std::endl;
+    std::cout << "Device type: " << device.name << std::endl;
     init(attrs);
 }
 
@@ -288,19 +287,20 @@ std::vector<unsigned char> CSICamera::get_csi_image() {
 }
 
 std::string CSICamera::create_pipeline() const {
-    std::ostringstream oss;
+    auto device_params = get_device_params(device);
+    std::string input_sensor = (device.value == device_type::jetson) ? (" sensor-id="+video_path) : "";
 
-    oss << DEFAULT_INPUT_SOURCE << " sensor_id=" << video_path
-        << " ! " << DEFAULT_INPUT_FORMAT
+    std::ostringstream oss;
+    oss << device_params.input_source
+        << input_sensor
+        << " ! " << device_params.input_format
         << ",width=" << std::to_string(width_px)
         << ",height=" << std::to_string(height_px)
         << ",framerate=" << std::to_string(frame_rate)
-        << "/1 ! nvvidconv flip-method=" << DEFAULT_INPUT_FLIP_METHOD
-        << " ! " << DEFAULT_OUTPUT_FORMAT
-        << ",width=" << std::to_string(DEFAULT_OUTPUT_WIDTH)
-        << ",height=" << std::to_string(DEFAULT_OUTPUT_HEIGHT)
-        << " ! " << DEFAULT_OUTPUT_ENCODER
-        << " ! " << DEFAULT_OUTPUT_MIMETYPE
+        << "/1 ! " << device_params.video_converter
+        << " ! " << device_params.output_encoder
+        << " ! " << "image/jpeg"
+        << " ! queue"
         << " ! appsink name=appsink0 max-buffers=1";
 
     return oss.str();

diff --git a/csi_camera.h b/csi_camera.h
@@ -10,10 +10,15 @@
 #include <viam/sdk/components/camera/camera.hpp>
 #include <viam/api/component/camera/v1/camera.grpc.pb.h>
 
+#include "utils.h"
+
 using namespace viam::sdk;
 
 class CSICamera : public Camera {
 private:
+    // Device
+    device_type device;
+
     // Camera
     bool debug;
     int width_px = 0;

diff --git a/test/test_csi_camera.cpp b/test/test_csi_camera.cpp
@@ -3,6 +3,7 @@
 #include <viam/sdk/components/camera/camera.hpp>
 
 #include "../csi_camera.cpp"
+#include "../utils.cpp"
 #include "../constraints.h"
 
 using namespace viam::sdk;

diff --git a/test/test_pi_pipeline.sh b/test/test_pi_pipeline.sh
@@ -0,0 +1,4 @@
+gst-launch-1.0 libcamerasrc \
+    ! 'video/x-raw,width=1920,height=1080,framerate=30/1' \
+    ! videoconvert \
+    ! jpegenc ! image/jpeg ! appsink name=appsink0 max-buffers=1
diff --git a/utils.cpp b/utils.cpp
@@ -0,0 +1,55 @@
+#include <fstream> 
+#include <algorithm>
+
+#include "utils.h"
+
+device_type get_device_type() {
+    std::ifstream device_name(DEVICE_PATH);
+    if (device_name.is_open()) {
+        std::string line;
+        while (std::getline(device_name, line)) {
+            std::string lowercase_line = line;
+            std::transform(lowercase_line.begin(), lowercase_line.end(), lowercase_line.begin(), ::tolower);
+            // Check for specific terms in a case-insensitive manner
+            if (lowercase_line.find("nvidia") != std::string::npos &&
+                (lowercase_line.find("orin") != std::string::npos ||
+                 lowercase_line.find("nano") != std::string::npos ||
+                 lowercase_line.find("agx") != std::string::npos ||
+                 lowercase_line.find("jetson") != std::string::npos)) {
+                return device_type(device_type::jetson, "Jetson");
+            } else if (lowercase_line.find("raspberry") != std::string::npos &&
+                lowercase_line.find("pi") != std::string::npos) {
+                return device_type(device_type::pi, "Raspberry Pi");
+            }
+        }
+        device_name.close();
+    }
+
+    return device_type(device_type::unknown, "unkwnown");
+}
+
+device_params get_device_params(device_type device) {
+    switch (device.value) {
+        case device_type::jetson:
+            return device_params {
+                .input_source = JETSON_INPUT_SOURCE,
+                .input_format = JETSON_INPUT_FORMAT,
+                .video_converter = JETSON_VIDEO_CONVERTER,
+                .output_encoder = JETSON_OUTPUT_ENCODER
+            };
+        case device_type::pi:
+            return device_params {
+                .input_source = PI_INPUT_SOURCE,
+                .input_format = PI_INPUT_FORMAT,
+                .video_converter = PI_VIDEO_CONVERTER,
+                .output_encoder = PI_OUTPUT_ENCODER
+            };
+        default:
+            return device_params {
+                .input_source = DEFAULT_INPUT_SOURCE,
+                .input_format = DEFAULT_INPUT_FORMAT,
+                .video_converter = DEFAULT_VIDEO_CONVERTER,
+                .output_encoder = DEFAULT_OUTPUT_ENCODER
+            };
+    }
+}
diff --git a/utils.h b/utils.h
@@ -1,8 +1,8 @@
 #pragma once
 
-#include <iostream>
 #include <string>
-#include <fstream> 
+
+#include "constraints.h"
 
 #define DEVICE_PATH "/proc/device-tree/model"
 
@@ -15,30 +15,16 @@ struct device_type {
     type value;
     std::string name;
 
+    device_type() : value(unknown), name("unknown") {} // Default constructor
     device_type(type value, std::string name) : value(value), name(name) {}
 };
 
-device_type get_device_type() {
-    std::ifstream device_name(DEVICE_PATH);
-    if (device_name.is_open()) {
-        std::string line;
-        while (std::getline(device_name, line)) {
-            std::string lowercase_line = line;
-            std::transform(lowercase_line.begin(), lowercase_line.end(), lowercase_line.begin(), ::tolower);
-            // Check for specific terms in a case-insensitive manner
-            if (lowercase_line.find("nvidia") != std::string::npos &&
-                (lowercase_line.find("orin") != std::string::npos ||
-                 lowercase_line.find("nano") != std::string::npos ||
-                 lowercase_line.find("agx") != std::string::npos ||
-                 lowercase_line.find("jetson") != std::string::npos)) {
-                return device_type(device_type::jetson, "Jetson");
-            } else if (lowercase_line.find("raspberry") != std::string::npos &&
-                lowercase_line.find("pi") != std::string::npos) {
-                return device_type(device_type::pi, "Raspberry Pi");
-            }
-        }
-        device_name.close();
-    }
+struct device_params {
+    std::string input_source;
+    std::string input_format;
+    std::string video_converter;
+    std::string output_encoder;
+};
 
-    return device_type(device_type::unknown, "unkwnown");
-}
+device_type get_device_type();
+device_params get_device_params(device_type device);