[percep, ansible] percep upgraded streaming (#1132)

ansible/roles/base_station_services/files/rover-base_station_gstreamer@.service

@@ -0,0 +1,10 @@
+[Unit]
+Description=Base Station Video Stream %I
+
+[Service]
+Environment="DISPLAY=:0"
+Environment="XAUTHORITY=/home/mrover/.Xauthority"
+EnvironmentFile=/etc/default/rover.env
+User={{ running_user }}
+ExecStart=/usr/bin/gst-launch-1.0 -v udpsrc port=%i caps="application/x-rtp, media=(string)video, clock-rate=(int)90000, encoding-name=(string)H264, payload=(int)96" ! rtph264depay ! decodebin ! videoconvert ! autovideosink
+Restart=always

ansible/roles/base_station_services/files/rover.env

@@ -1 +1,4 @@
 LCM_DEFAULT_URL="udpm://239.255.76.67:7667?ttl=255"
+usbcam0=5000
+usbcam1=5001
+zed=5002

ansible/roles/base_station_services/tasks/main.yml

@@ -10,12 +10,10 @@
     dest: "/etc/systemd/system/{{ item }}"
   with_items:
     - rover-base_station_gui.service
-    - rover-base_station_gstreamer.service
-    - rover-base_station_gstreamer_2.service
+    - [email protected]
     - rover-lcm_bridge_server.service
     - rover-base_station_kineval.service
-    - rover-base_station_gstreamer.timer
-    - rover-base_station_gstreamer_2.timer
+    - [email protected]
 
 - name: Copy environment variable definitions
   copy:
@@ -29,9 +27,11 @@
   systemd: name={{item}} enabled=yes
   with_items:
     - rover-base_station_gui.service
-    - rover-base_station_gstreamer.service
-    - rover-base_station_gstreamer_2.service
+    - [email protected]
+    - [email protected]
+    - [email protected]
     - rover-lcm_bridge_server.service
     - rover-base_station_kineval.service
-    - rover-base_station_gstreamer.timer
-    - rover-base_station_gstreamer_2.timer
+    - [email protected]
+    - [email protected]
+    - [email protected]

ansible/roles/science_services/files/rover-science-gstreamer@.service

@@ -0,0 +1,9 @@
+[Unit]
+Description=Base Station Video Stream %I
+
+[Service]
+Environment="DISPLAY=:0"
+Environment="XAUTHORITY=/home/mrover/.Xauthority"
+User={{ running_user }}
+ExecStart=/usr/bin/gst-launch-1.0 -v udpsrc port=%i caps="application/x-rtp, media=(string)video, clock-rate=(int)90000, encoding-name=(string)H264, payload=(int)96" ! rtph264depay ! decodebin ! videoconvert ! autovideosink
+Restart=always

ansible/roles/science_services/tasks/main.yml

@@ -4,10 +4,8 @@
     dest: "/etc/systemd/system/{{ item }}"
   with_items:
     - rover-lcm-bridge-server.service
-    - rover-science-gstreamer.service
-    - rover-science-gstreamer-2.service
-    - rover-science-gstreamer.timer
-    - rover-science-gstreamer-2.timer
+    - [email protected]
+    - [email protected]
     - rover-science-gui.service
     - rover-science-raman.service
 
@@ -23,9 +21,9 @@
   systemd: name={{ item }} enabled=yes
   with_items:
     - rover-lcm-bridge-server.service
-    - rover-science-gstreamer.service
-    - rover-science-gstreamer-2.service
-    - rover-science-gstreamer.timer
-    - rover-science-gstreamer-2.timer
+    - rover-science-gstreamer@5000.service
+    - rover-science-gstreamer@5001.service
+    - rover-science-gstreamer@5000.timer
+    - rover-science-gstreamer@5001.timer
     - rover-science-gui.service
     - rover-science-raman.service

jetson/percep/config.h.in

@@ -5,6 +5,7 @@
 #mesondefine OBS_RECORD
 #mesondefine ZED_SDK_PRESENT
 #mesondefine PERCEPTION_DEBUG
+#mesondefine STREAM_ZED
 #mesondefine WRITE_CURR_FRAME_TO_DISK
 #mesondefine DEFAULT_ONLINE_DATA_FOLDER
 

jetson/percep/main.cpp

@@ -130,8 +130,20 @@ int main() {
         DoubleTrack(&detector.getAlvarParams()->maxErroneousBitsInBorderRate).setup("maxErroneousBitsInBorderRate", "ARUCO Debug", 1);
         DoubleTrack(&detector.getAlvarParams()->minOtsuStdDev).setup("minOtsuStdDev", "ARUCO Debug", 20);
         DoubleTrack(&detector.getAlvarParams()->errorCorrectionRate).setup("errorCorrectionRate", "ARUCO Debug", 1);
+
     #endif
 
+    #if AR_DETECTION && STREAM_ZED
+        std::string const gstLaunch = "appsrc ! video/x-raw, format=BGR !"
+                                    "queue ! videoconvert ! x264enc tune=zerolatency bitrate=500000 speed-preset=superfast !"
+                                    "rtph264pay ! udpsink host=10.0.0.1 port=5002";
+
+        cv::Size streamSize(256, 144);
+        cv::VideoWriter writer(gstLaunch, 0, 30, streamSize);
+        cv::Mat send(streamSize, CV_8UC3);
+
+    #endif 
+
     /* --- Main Processing Stuff --- */
     while (true) {
         //Check to see if we were able to grab the frame
@@ -143,6 +155,7 @@ int main() {
         cv::Mat src = cam.image();
         cv::Mat depth_img = cam.depth();
         cv::Mat xyz_img = cam.xyz();
+
 #endif
 
 #if OBSTACLE_DETECTION
@@ -170,11 +183,17 @@ int main() {
 #if AR_RECORD
         cam.record_ar(rgb);
 #endif
+#if STREAM_ZED
+        cv::Mat bgr, sendMat;
+        cv::cvtColor(rgb, bgr, cv::COLOR_RGB2BGR);
+        cv::resize(bgr, sendMat, streamSize);
+        writer.write(sendMat);
+#endif
 
         detector.updateDetectedTagInfo(arTags, tagPair, depth_img, xyz_img);
 
 #if PERCEPTION_DEBUG && AR_DETECTION
-//        cv::imshow("depth", depth_img);
+        cv::imshow("depth", depth_img);
         cv::waitKey(1);
 #endif
 

jetson/percep/meson.build

@@ -66,6 +66,7 @@ obs_record = get_option('obs_record')
 perception_debug = get_option('perception_debug')
 write_frame = get_option('write_frame')
 data_folder = get_option('data_folder')
+stream_zed = get_option('stream_zed')
 
 conf_data = configuration_data()
 conf_data.set10('AR_DETECTION', ar_detection)
@@ -74,6 +75,7 @@ conf_data.set10('OBSTACLE_DETECTION', obs_detection)
 conf_data.set10('OBSTACLE_RECORD', obs_record)
 conf_data.set10('ZED_SDK_PRESENT', with_zed)
 conf_data.set10('PERCEPTION_DEBUG', perception_debug)
+conf_data.set10('STREAM_ZED', stream_zed)
 conf_data.set10('WRITE_CURR_FRAME_TO_DISK', write_frame)
 conf_data.set10('VIRTUAL_MACHINE_CONFIG', vm_config)
 conf_data.set_quoted('DEFAULT_ONLINE_DATA_FOLDER', data_folder)

jetson/percep/meson_options.txt

@@ -2,8 +2,9 @@ option('ar_detection', type: 'boolean', value : true)
 option('ar_record', type: 'boolean', value : false)
 option('obs_detection', type: 'boolean', value: false)
 option('obs_record', type: 'boolean', value : false)
+option('stream_zed', type: 'boolean', value: false)
 option('with_zed', type: 'boolean', value : true)
-option('perception_debug', type: 'boolean', value: true)
+option('perception_debug', type: 'boolean', value: false)
 option('write_frame', type: 'boolean', value: false)
 option('data_folder', type: 'string', value: '/home/jessica/auton_data/')
 option('vm_config',type: 'boolean', value: false)