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Add more video streaming info #2231

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Add more video streaming info #2231

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02853b2
Add more video streaming info
tbago Feb 23, 2024
5a4025e
Add camera cap flags in camera information
tbago Feb 27, 2024
148358f
system test: add camera information test
tbago Feb 27, 2024
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8 changes: 8 additions & 0 deletions examples/camera_server/camera_client.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -50,6 +50,14 @@ int main(int argc, const char* argv[])
std::cout << info << std::endl;
});

camera.subscribe_video_stream_info(
[](std::vector<mavsdk::Camera::VideoStreamInfo> video_stream_infos) {
std::cout << "Camera Video stream information:" << std::endl;
for (auto& stream_info : video_stream_infos) {
std::cout << stream_info << std::endl;
}
});

camera.subscribe_status([](mavsdk::Camera::Status status) {
std::cout << "Camera status:" << std::endl;
std::cout << status << std::endl;
Expand Down
52 changes: 49 additions & 3 deletions examples/camera_server/camera_server.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -6,6 +6,7 @@
#include <mavsdk/plugins/camera_server/camera_server.h>

static void subscribe_camera_operation(mavsdk::CameraServer& camera_server);
static void SetVideoStreamInfo(mavsdk::CameraServer& camera_server);

int main(int argc, char** argv)
{
Expand Down Expand Up @@ -33,17 +34,27 @@ int main(int argc, char** argv)
auto ret = camera_server.set_information({
.vendor_name = "MAVSDK",
.model_name = "Example Camera Server",
.firmware_version = "1.0.0",
.firmware_version = "0.1.0.12",
.focal_length_mm = 3.0,
.horizontal_sensor_size_mm = 3.68,
.vertical_sensor_size_mm = 2.76,
.horizontal_resolution_px = 3280,
.vertical_resolution_px = 2464,
.lens_id = 0,
.definition_file_version = 0, // TODO: add this
.definition_file_uri = "", // TODO: implement this using MAVLink FTP
.definition_file_version = 1,
.definition_file_uri = "http://192.168.0.1/demo.xml",
.camera_cap_flags =
{
mavsdk::CameraServer::Information::CameraCapFlags::CaptureImage,
mavsdk::CameraServer::Information::CameraCapFlags::CaptureVideo,
mavsdk::CameraServer::Information::CameraCapFlags::HasModes,
mavsdk::CameraServer::Information::CameraCapFlags::HasVideoStream,
},
});

// set video stream info
SetVideoStreamInfo(camera_server);

if (ret != mavsdk::CameraServer::Result::Success) {
std::cerr << "Failed to set camera info, exiting" << std::endl;
return 2;
Expand Down Expand Up @@ -175,4 +186,39 @@ static void subscribe_camera_operation(mavsdk::CameraServer& camera_server)
std::cout << "reset camera settings" << std::endl;
camera_server.respond_reset_settings(mavsdk::CameraServer::CameraFeedback::Ok);
});
}

static void SetVideoStreamInfo(mavsdk::CameraServer& camera_server)
{
mavsdk::CameraServer::VideoStreamInfo normal_video_stream;
normal_video_stream.stream_id = 1;

normal_video_stream.settings.frame_rate_hz = 60.0;
normal_video_stream.settings.horizontal_resolution_pix = 1920;
normal_video_stream.settings.vertical_resolution_pix = 1080;
normal_video_stream.settings.bit_rate_b_s = 4 * 1024 * 1024;
normal_video_stream.settings.rotation_deg = 1;
normal_video_stream.settings.uri = "rtsp://192.168.0.1/live";
normal_video_stream.settings.horizontal_fov_deg = 1;
normal_video_stream.status =
mavsdk::CameraServer::VideoStreamInfo::VideoStreamStatus::InProgress;
normal_video_stream.spectrum =
mavsdk::CameraServer::VideoStreamInfo::VideoStreamSpectrum::VisibleLight;

mavsdk::CameraServer::VideoStreamInfo infrared_video_stream;
infrared_video_stream.stream_id = 2;

infrared_video_stream.settings.frame_rate_hz = 24.0;
infrared_video_stream.settings.horizontal_resolution_pix = 1280;
infrared_video_stream.settings.vertical_resolution_pix = 720;
infrared_video_stream.settings.bit_rate_b_s = 4 * 1024;
infrared_video_stream.settings.rotation_deg = 2;
infrared_video_stream.settings.uri = "rtsp://192.168.0.1/live2";
infrared_video_stream.settings.horizontal_fov_deg = 2;
infrared_video_stream.status =
mavsdk::CameraServer::VideoStreamInfo::VideoStreamStatus::NotRunning;
infrared_video_stream.spectrum =
mavsdk::CameraServer::VideoStreamInfo::VideoStreamSpectrum::Infrared;

auto ret = camera_server.set_video_stream_info({normal_video_stream, infrared_video_stream});
}
56 changes: 52 additions & 4 deletions src/mavsdk/plugins/camera/camera.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -162,7 +162,7 @@ void Camera::unsubscribe_video_stream_info(VideoStreamInfoHandle handle)
_impl->unsubscribe_video_stream_info(handle);
}

Camera::VideoStreamInfo Camera::video_stream_info() const
std::vector<Camera::VideoStreamInfo> Camera::video_stream_info() const
{
return _impl->video_stream_info();
}
Expand Down Expand Up @@ -437,14 +437,15 @@ std::ostream& operator<<(
}
bool operator==(const Camera::VideoStreamInfo& lhs, const Camera::VideoStreamInfo& rhs)
{
return (rhs.settings == lhs.settings) && (rhs.status == lhs.status) &&
(rhs.spectrum == lhs.spectrum);
return (rhs.stream_id == lhs.stream_id) && (rhs.settings == lhs.settings) &&
(rhs.status == lhs.status) && (rhs.spectrum == lhs.spectrum);
}

std::ostream& operator<<(std::ostream& str, Camera::VideoStreamInfo const& video_stream_info)
{
str << std::setprecision(15);
str << "video_stream_info:" << '\n' << "{\n";
str << " stream_id: " << video_stream_info.stream_id << '\n';
str << " settings: " << video_stream_info.settings << '\n';
str << " status: " << video_stream_info.status << '\n';
str << " spectrum: " << video_stream_info.spectrum << '\n';
Expand Down Expand Up @@ -578,9 +579,42 @@ std::ostream& operator<<(std::ostream& str, Camera::SettingOptions const& settin
return str;
}

std::ostream&
operator<<(std::ostream& str, Camera::Information::CameraCapFlags const& camera_cap_flags)
{
switch (camera_cap_flags) {
case Camera::Information::CameraCapFlags::CaptureVideo:
return str << "Capture Video";
case Camera::Information::CameraCapFlags::CaptureImage:
return str << "Capture Image";
case Camera::Information::CameraCapFlags::HasModes:
return str << "Has Modes";
case Camera::Information::CameraCapFlags::CanCaptureImageInVideoMode:
return str << "Can Capture Image In Video Mode";
case Camera::Information::CameraCapFlags::CanCaptureVideoInImageMode:
return str << "Can Capture Video In Image Mode";
case Camera::Information::CameraCapFlags::HasImageSurveyMode:
return str << "Has Image Survey Mode";
case Camera::Information::CameraCapFlags::HasBasicZoom:
return str << "Has Basic Zoom";
case Camera::Information::CameraCapFlags::HasBasicFocus:
return str << "Has Basic Focus";
case Camera::Information::CameraCapFlags::HasVideoStream:
return str << "Has Video Stream";
case Camera::Information::CameraCapFlags::HasTrackingPoint:
return str << "Has Tracking Point";
case Camera::Information::CameraCapFlags::HasTrackingRectangle:
return str << "Has Tracking Rectangle";
case Camera::Information::CameraCapFlags::HasTrackingGeoStatus:
return str << "Has Tracking Geo Status";
default:
return str << "Unknown";
}
}
bool operator==(const Camera::Information& lhs, const Camera::Information& rhs)
{
return (rhs.vendor_name == lhs.vendor_name) && (rhs.model_name == lhs.model_name) &&
(rhs.firmware_version == lhs.firmware_version) &&
((std::isnan(rhs.focal_length_mm) && std::isnan(lhs.focal_length_mm)) ||
rhs.focal_length_mm == lhs.focal_length_mm) &&
((std::isnan(rhs.horizontal_sensor_size_mm) &&
Expand All @@ -589,7 +623,11 @@ bool operator==(const Camera::Information& lhs, const Camera::Information& rhs)
((std::isnan(rhs.vertical_sensor_size_mm) && std::isnan(lhs.vertical_sensor_size_mm)) ||
rhs.vertical_sensor_size_mm == lhs.vertical_sensor_size_mm) &&
(rhs.horizontal_resolution_px == lhs.horizontal_resolution_px) &&
(rhs.vertical_resolution_px == lhs.vertical_resolution_px);
(rhs.vertical_resolution_px == lhs.vertical_resolution_px) &&
(rhs.lens_id == lhs.lens_id) &&
(rhs.definition_file_version == lhs.definition_file_version) &&
(rhs.definition_file_uri == lhs.definition_file_uri) &&
(rhs.camera_cap_flags == lhs.camera_cap_flags);
}

std::ostream& operator<<(std::ostream& str, Camera::Information const& information)
Expand All @@ -598,11 +636,21 @@ std::ostream& operator<<(std::ostream& str, Camera::Information const& informati
str << "information:" << '\n' << "{\n";
str << " vendor_name: " << information.vendor_name << '\n';
str << " model_name: " << information.model_name << '\n';
str << " firmware_version: " << information.firmware_version << '\n';
str << " focal_length_mm: " << information.focal_length_mm << '\n';
str << " horizontal_sensor_size_mm: " << information.horizontal_sensor_size_mm << '\n';
str << " vertical_sensor_size_mm: " << information.vertical_sensor_size_mm << '\n';
str << " horizontal_resolution_px: " << information.horizontal_resolution_px << '\n';
str << " vertical_resolution_px: " << information.vertical_resolution_px << '\n';
str << " lens_id: " << information.lens_id << '\n';
str << " definition_file_version: " << information.definition_file_version << '\n';
str << " definition_file_uri: " << information.definition_file_uri << '\n';
str << " camera_cap_flags: [";
for (auto it = information.camera_cap_flags.begin(); it != information.camera_cap_flags.end();
++it) {
str << *it;
str << (it + 1 != information.camera_cap_flags.end() ? ", " : "]\n");
}
str << '}';
return str;
}
Expand Down
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