Merge pull request #2 from maladzenkau/development

Adding the camera from the dev

README.md

@@ -77,4 +77,4 @@ ros2 launch image2rtsp rtsp.launch.py
 ## To Do
 - Add the camera directly as a source
 - Add web camera ros2 topic formats
-- Add compressed images formats (jpeg, png)
+- Add compressed images formats (jpeg, png)

config/parameters.yaml

@@ -1,6 +1,14 @@
 /image2rtsp:
    ros__parameters:
+
+      # If camera serves as a source
+      camera: True
+      source: "v4l2src device=/dev/video0"
+
+      # If the source is a ros2 topic
       topic: "/color/image_raw"
+
+      # General setup
       mountpoint: "/back"
       bitrate: "500"
       framerate: "30"

include/image2rtsp.hpp

@@ -15,6 +15,7 @@ public:
     GstRTSPServer *rtsp_server;
 
 private:
+    string source;
     string topic;
     string mountpoint;
     string bitrate;
@@ -26,6 +27,7 @@ private:
     string pipeline_head;
     string pipeline_tail;
     bool local_only;
+    bool camera;
     GstAppSrc *appsrc;
 
     void video_mainloop_start();

src/image2rtsp.cpp

@@ -9,6 +9,7 @@ using std::placeholders::_1;
 
 Image2rtsp::Image2rtsp() : Node("image2rtsp"){
     // Declare and get the parameters
+    this->declare_parameter("source", "v4l2src device=/dev/video0");
     this->declare_parameter("topic", "/color/image_raw");
     this->declare_parameter("mountpoint", "/back");
     this->declare_parameter("bitrate", "500");
@@ -17,7 +18,9 @@ Image2rtsp::Image2rtsp() : Node("image2rtsp"){
     this->declare_parameter("caps_2", "/1,width=640,height=480");
     this->declare_parameter("port", "8554");
     this->declare_parameter("local_only", true);
+    this->declare_parameter("camera", false);
 
+    source = this->get_parameter("source").as_string();
     topic = this->get_parameter("topic").as_string();
     mountpoint = this->get_parameter("mountpoint").as_string();
     bitrate = this->get_parameter("bitrate").as_string();
@@ -26,6 +29,7 @@ Image2rtsp::Image2rtsp() : Node("image2rtsp"){
     caps_2 = this->get_parameter("caps_2").as_string();
     port = this->get_parameter("port").as_string();
     local_only = this->get_parameter("local_only").as_bool();
+    camera = this->get_parameter("camera").as_bool();
 
     // Start the subscription
     subscription_ = this->create_subscription<sensor_msgs::msg::Image>(topic, 10, std::bind(&Image2rtsp::topic_callback, this, _1));
@@ -35,10 +39,16 @@ Image2rtsp::Image2rtsp() : Node("image2rtsp"){
     rtsp_server = rtsp_server_create(port, local_only);
     appsrc = NULL;
     // Setup the pipeline
-    pipeline_head = "( appsrc name=imagesrc do-timestamp=true min-latency=0 max-latency=0 max-bytes=1000 is-live=true ! videoconvert ! videoscale ! ";
     pipeline_tail = "key-int-max=30 ! video/x-h264, profile=baseline ! rtph264pay name=pay0 pt=96 )";
-    pipeline = pipeline_head + caps_1 + framerate + caps_2 + " ! x264enc tune=zerolatency bitrate=" + bitrate + pipeline_tail;
+    if (camera == false){
-    rtsp_server_add_url(mountpoint.c_str(), pipeline.c_str(), (GstElement **)&(appsrc));
+        pipeline_head = "( appsrc name=imagesrc do-timestamp=true min-latency=0 max-latency=0 max-bytes=1000 is-live=true ! videoconvert ! videoscale ! ";
+        pipeline = pipeline_head + caps_1 + framerate + caps_2 + " ! x264enc tune=zerolatency bitrate=" + bitrate + pipeline_tail;
+        rtsp_server_add_url(mountpoint.c_str(), pipeline.c_str(), (GstElement **)&(appsrc));
+    }
+    else {
+        pipeline = "( " + source + " ! videoconvert ! videoscale ! " + caps_1 + framerate + caps_2 + " ! x264enc tune=zerolatency bitrate=" + bitrate + pipeline_tail;
+        rtsp_server_add_url(mountpoint.c_str(), pipeline.c_str(), NULL);
+    }
     RCLCPP_INFO(this->get_logger(), "Stream available at rtsp://%s:%s%s", gst_rtsp_server_get_address(rtsp_server), port.c_str(), mountpoint.c_str());
 }