Add flip method

viam-modules · Apr 2, 2024 · ab11248 · ab11248
1 parent 28447d5
commit ab11248
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Showing 6 changed files with 15 additions and 4 deletions.
diff --git a/README.md b/README.md
@@ -39,6 +39,7 @@ On the new component panel, copy and paste the following attribute template into
   "width_px": <int>,
   "height_px": <int>,
   "frame_rate": <int>,
+  "flip_method": <string>,
   "debug": <bool>
 }
 ```
@@ -60,6 +61,7 @@ The following attributes are available for `viam:camera:csi` cameras:
 | `height_px` | int | Optional | Height of the image this camera captures in pixels. <br> Default: `1080` |
 | `frame_rate` | int | Optional | The image capture frame rate this camera should use. <br> Default: `30` |
 | `video_path` | string | Optional | The filepath to the input sensor of this camera on your board. If none is given, your robot will attempt to detect the video path automatically. <br> Default: `"0"` </br>  |
+| `flip_method` | string | Optional | The flip method this camera should use. See flip method options [here](https://gstreamer.freedesktop.org/documentation/videofilter/videoflip.html?gi-language=c#members). <br> Default: `none` |
 | `debug` | boolean | Optional | Whether or not you want debug input from this camera in your robot's logs. <br> Default: `false` |
 
 Once configured, check the [Logs tab](https://docs.viam.com/program/debug/) of your robot in the Viam app to make sure your camera has connected and no errors are being raised.

diff --git a/constraints.h b/constraints.h
@@ -21,6 +21,8 @@
 #define DEFAULT_VIDEO_CONVERTER "videoconvert"
 #define DEFAULT_OUTPUT_ENCODER "nvjpegenc"
 #define DEFAULT_OUTPUT_MIMETYPE "image/jpeg"
+#define DEFAULT_FLIP "videoflip"
+#define DEFAULT_FLIP_METHOD "none"
 
 // Jetson
 #define JETSON_API_SUBTYPE "csi"

diff --git a/csi_camera.cpp b/csi_camera.cpp
@@ -36,6 +36,7 @@ void CSICamera::validate_attrs(const AttributeMap attrs) {
     set_attr<int>(attrs, "height_px", &CSICamera::height_px, DEFAULT_INPUT_HEIGHT);
     set_attr<int>(attrs, "frame_rate", &CSICamera::frame_rate, DEFAULT_INPUT_FRAMERATE);
     set_attr<std::string>(attrs, "video_path", &CSICamera::video_path, DEFAULT_INPUT_SENSOR);
+    set_attr<std::string>(attrs, "flip_method", &CSICamera::flip_method, DEFAULT_FLIP_METHOD);
     set_attr<bool>(attrs, "debug", &CSICamera::debug, false);
 }
 
@@ -299,8 +300,9 @@ std::string CSICamera::create_pipeline() const {
         << " ! " << device_params.input_format
         << ",width=" << std::to_string(width_px)
         << ",height=" << std::to_string(height_px)
-        << ",framerate=" << std::to_string(frame_rate)
-        << "/1 ! " << device_params.video_converter
+        << ",framerate=" << std::to_string(frame_rate) << "/1"
+        << " ! " << device_params.flipper << " method=" << flip_method
+        << " ! " << device_params.video_converter
         << " ! " << device_params.output_encoder
         << " ! " << "image/jpeg"
         << " ! appsink name=appsink0 sync=false max-buffers=1 drop=true";

diff --git a/csi_camera.h b/csi_camera.h
@@ -25,6 +25,7 @@ class CSICamera : public Camera {
     int height_px = 0;
     int frame_rate = 0;
     std::string video_path;
+    std::string flip_method;
 
     // GST
     GstElement *pipeline = nullptr;

diff --git a/utils.cpp b/utils.cpp
@@ -35,14 +35,16 @@ device_params get_device_params(device_type device) {
                 .input_source = JETSON_INPUT_SOURCE,
                 .input_format = JETSON_INPUT_FORMAT,
                 .video_converter = JETSON_VIDEO_CONVERTER,
-                .output_encoder = JETSON_OUTPUT_ENCODER
+                .output_encoder = JETSON_OUTPUT_ENCODER,
+                .flipper = DEFAULT_FLIP
             };
         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
+                .output_encoder = PI_OUTPUT_ENCODER,
+                .flipper = DEFAULT_FLIP
             };
         default:
             return device_params {

diff --git a/utils.h b/utils.h
@@ -30,6 +30,8 @@ struct device_params {
     std::string input_format;
     std::string video_converter;
     std::string output_encoder;
+    std::string flipper;
+    std::string flip_method;
 };
 
 device_type get_device_type();