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support multi video stream info and add camera cap flags #330

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support multi video stream info and add camera cap flags #330

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a257e2d
add more camera video stream info
tbago Feb 22, 2024
1b73c09
Camera server: add camera cap flags in Information
tbago Feb 27, 2024
a63875b
Camera: unify camera information
tbago Feb 27, 2024
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62 changes: 51 additions & 11 deletions protos/camera/camera.proto
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Original file line number Diff line number Diff line change
Expand Up @@ -190,7 +190,7 @@ message ModeResponse {

message SubscribeVideoStreamInfoRequest {}
message VideoStreamInfoResponse {
VideoStreamInfo video_stream_info = 1; // Video stream info
repeated VideoStreamInfo video_stream_infos = 1; // Video stream infos
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How does this work when it's repeated? Do you get multiple video stream infos, one per video stream?

}

message SubscribeCaptureInfoRequest {}
Expand Down Expand Up @@ -356,9 +356,10 @@ message VideoStreamInfo {
VIDEO_STREAM_SPECTRUM_INFRARED = 2; // Infrared
}

VideoStreamSettings settings = 1; // Video stream settings
VideoStreamStatus status = 2; // Current status of video streaming
VideoStreamSpectrum spectrum = 3; // Light-spectrum of the video stream
int32 stream_id = 1; // stream unique id
VideoStreamSettings settings = 2; // Video stream settings
VideoStreamStatus status = 3; // Current status of video streaming
VideoStreamSpectrum spectrum = 4; // Light-spectrum of the video stream
}

// Information about the camera status.
Expand Down Expand Up @@ -421,11 +422,50 @@ message SettingOptions {

// Type to represent a camera information.
message Information {
string vendor_name = 1; // Name of the camera vendor
string model_name = 2; // Name of the camera model
float focal_length_mm = 3; // Focal length
float horizontal_sensor_size_mm = 4; // Horizontal sensor size
float vertical_sensor_size_mm = 5; // Vertical sensor size
uint32 horizontal_resolution_px = 6; // Horizontal image resolution in pixels
uint32 vertical_resolution_px = 7; // Vertical image resolution in pixels
enum CameraCapFlags {
CAMERA_CAP_FLAGS_CAPTURE_VIDEO = 0; // Camera is able to record video
CAMERA_CAP_FLAGS_CAPTURE_IMAGE = 1; // Camera is able to capture images
CAMERA_CAP_FLAGS_HAS_MODES =
2; // Camera has separate Video and Image/Photo modes
// (MAV_CMD_SET_CAMERA_MODE)
CAMERA_CAP_FLAGS_CAN_CAPTURE_IMAGE_IN_VIDEO_MODE =
3; // Camera can capture images while in video mode
CAMERA_CAP_FLAGS_CAN_CAPTURE_VIDEO_IN_IMAGE_MODE =
4; // Camera can capture videos while in Photo/Image mode
CAMERA_CAP_FLAGS_HAS_IMAGE_SURVEY_MODE =
5; // Camera has image survey mode (MAV_CMD_SET_CAMERA_MODE)
CAMERA_CAP_FLAGS_HAS_BASIC_ZOOM =
6; // Camera has basic zoom control (MAV_CMD_SET_CAMERA_ZOOM)
CAMERA_CAP_FLAGS_HAS_BASIC_FOCUS =
7; // Camera has basic focus control (MAV_CMD_SET_CAMERA_FOCUS)
CAMERA_CAP_FLAGS_HAS_VIDEO_STREAM =
8; // Camera has video streaming capabilities (request
// VIDEO_STREAM_INFORMATION with MAV_CMD_REQUEST_MESSAGE for
// video streaming info)
CAMERA_CAP_FLAGS_HAS_TRACKING_POINT =
9; // Camera supports tracking of a point on the camera view.
CAMERA_CAP_FLAGS_HAS_TRACKING_RECTANGLE =
10; // Camera supports tracking of a selection rectangle on the
// camera view.
CAMERA_CAP_FLAGS_HAS_TRACKING_GEO_STATUS =
11; // Camera supports tracking geo status
// (CAMERA_TRACKING_GEO_STATUS).
};
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The capture flags should only be internally used. They should not be visible to the user. And if we need to expose specific ones, then they have to just be boolean flags.

string vendor_name = 1; // Name of the camera vendor
string model_name = 2; // Name of the camera model
string firmware_version =
3; // Camera firmware version in major[.minor[.patch[.dev]]] format
float focal_length_mm = 4; // Focal length
float horizontal_sensor_size_mm = 5; // Horizontal sensor size
float vertical_sensor_size_mm = 6; // Vertical sensor size
uint32 horizontal_resolution_px =
7; // Horizontal image resolution in pixels
uint32 vertical_resolution_px = 8; // Vertical image resolution in pixels
uint32 lens_id = 9; // Lens ID
uint32 definition_file_version =
10; // Camera definition file version (iteration)
string definition_file_uri =
11; // Camera definition URI (http or mavlink ftp)
Comment on lines +465 to +468
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This is also only to be used internally.

repeated CameraCapFlags camera_cap_flags =
12; // Camera capability flags (Array)
}
76 changes: 66 additions & 10 deletions protos/camera_server/camera_server.proto
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Original file line number Diff line number Diff line change
Expand Up @@ -12,8 +12,8 @@ service CameraServerService {
// Sets the camera information. This must be called as soon as the camera server is created.
rpc SetInformation(SetInformationRequest) returns(SetInformationResponse) { option (mavsdk.options.async_type) = SYNC; }

// Sets video streaming settings.
rpc SetVideoStreaming(SetVideoStreamingRequest) returns(SetVideoStreamingResponse) { option (mavsdk.options.async_type) = SYNC; }
// Sets video stream info.
rpc SetVideoStreamInfo(SetVideoStreamInfoRequest) returns(SetVideoStreamInfoResponse) { option (mavsdk.options.async_type) = SYNC; }

// Sets image capture in progress status flags. This should be set to true when the camera is busy taking a photo and false when it is done.
rpc SetInProgress(SetInProgressRequest) returns(SetInProgressResponse) { option (mavsdk.options.async_type) = SYNC; }
Expand Down Expand Up @@ -87,11 +87,11 @@ message SetInformationResponse {
CameraServerResult camera_server_result = 1;
}

message SetVideoStreamingRequest {
VideoStreaming video_streaming = 1; // information about the video stream
message SetVideoStreamInfoRequest {
repeated VideoStreamInfo video_stream_infos = 1; // Video stream infos
}

message SetVideoStreamingResponse {
message SetVideoStreamInfoResponse {
CameraServerResult camera_server_result = 1;
}

Expand Down Expand Up @@ -236,6 +236,35 @@ enum CameraFeedback {

// Type to represent a camera information.
message Information {
enum CameraCapFlags {
CAMERA_CAP_FLAGS_CAPTURE_VIDEO = 0; // Camera is able to record video
CAMERA_CAP_FLAGS_CAPTURE_IMAGE = 1; // Camera is able to capture images
CAMERA_CAP_FLAGS_HAS_MODES =
2; // Camera has separate Video and Image/Photo modes
// (MAV_CMD_SET_CAMERA_MODE)
CAMERA_CAP_FLAGS_CAN_CAPTURE_IMAGE_IN_VIDEO_MODE =
3; // Camera can capture images while in video mode
CAMERA_CAP_FLAGS_CAN_CAPTURE_VIDEO_IN_IMAGE_MODE =
4; // Camera can capture videos while in Photo/Image mode
CAMERA_CAP_FLAGS_HAS_IMAGE_SURVEY_MODE =
5; // Camera has image survey mode (MAV_CMD_SET_CAMERA_MODE)
CAMERA_CAP_FLAGS_HAS_BASIC_ZOOM =
6; // Camera has basic zoom control (MAV_CMD_SET_CAMERA_ZOOM)
CAMERA_CAP_FLAGS_HAS_BASIC_FOCUS =
7; // Camera has basic focus control (MAV_CMD_SET_CAMERA_FOCUS)
CAMERA_CAP_FLAGS_HAS_VIDEO_STREAM =
8; // Camera has video streaming capabilities (request
// VIDEO_STREAM_INFORMATION with MAV_CMD_REQUEST_MESSAGE for video
// streaming info)
CAMERA_CAP_FLAGS_HAS_TRACKING_POINT =
9; // Camera supports tracking of a point on the camera view.
CAMERA_CAP_FLAGS_HAS_TRACKING_RECTANGLE =
10; // Camera supports tracking of a selection rectangle on the
// camera view.
CAMERA_CAP_FLAGS_HAS_TRACKING_GEO_STATUS =
11; // Camera supports tracking geo status
// (CAMERA_TRACKING_GEO_STATUS).
};
string vendor_name = 1; // Name of the camera vendor
string model_name = 2; // Name of the camera model
string firmware_version = 3; // Camera firmware version in major[.minor[.patch[.dev]]] format
Expand All @@ -247,12 +276,39 @@ message Information {
uint32 lens_id = 9; // Lens ID
uint32 definition_file_version = 10; // Camera definition file version (iteration)
string definition_file_uri = 11; // Camera definition URI (http or mavlink ftp)
}
repeated CameraCapFlags camera_cap_flags = 12; // Camera capability flags
}

// Type for video stream settings.
message VideoStreamSettings {
float frame_rate_hz = 1; // Frames per second
uint32 horizontal_resolution_pix = 2; // Horizontal resolution (in pixels)
uint32 vertical_resolution_pix = 3; // Vertical resolution (in pixels)
uint32 bit_rate_b_s = 4; // Bit rate (in bits per second)
uint32 rotation_deg = 5; // Video image rotation (clockwise, 0-359 degrees)
string uri = 6; // Video stream URI
float horizontal_fov_deg = 7; // Horizontal fov in degrees
}

// Information about the video stream.
message VideoStreamInfo {
// Video stream status type.
enum VideoStreamStatus {
VIDEO_STREAM_STATUS_NOT_RUNNING = 0; // Video stream is not running
VIDEO_STREAM_STATUS_IN_PROGRESS = 1; // Video stream is running
}

// Video stream light spectrum type
enum VideoStreamSpectrum {
VIDEO_STREAM_SPECTRUM_UNKNOWN = 0; // Unknown
VIDEO_STREAM_SPECTRUM_VISIBLE_LIGHT = 1; // Visible light
VIDEO_STREAM_SPECTRUM_INFRARED = 2; // Infrared
}

// Type to represent video streaming settings
message VideoStreaming {
bool has_rtsp_server = 1; // True if the capture was successful
string rtsp_uri = 2; // RTSP URI (e.g. rtsp://192.168.1.42:8554/live)
int32 stream_id = 1; // stream unique id
VideoStreamSettings settings = 2; // Video stream settings
VideoStreamStatus status = 3; // Current status of video streaming
VideoStreamSpectrum spectrum = 4; // Light-spectrum of the video stream
}

// Position type in global coordinates.
Expand Down
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