Merge pull request #36 from k-okada/gstreamer-1-0-support

Gstreamer 1 0 support

CMakeLists.txt

@@ -4,8 +4,20 @@ project(gscam)
 
 # System Dependencies
 find_package(PkgConfig)
-pkg_check_modules(GSTREAMER REQUIRED gstreamer-0.10)
-pkg_check_modules(GST_APP REQUIRED gstreamer-app-0.10)
+
+pkg_check_modules(GSTREAMER QUIET gstreamer-0.10)
+if(NOT GSTREAMER_FOUND)
+  set(GSTREAMER_VERSION_1_x TRUE)
+endif()
+if(GSTREAMER_VERSION_1_x)
+  message(STATUS "gst 1.0")
+  pkg_check_modules(GSTREAMER REQUIRED gstreamer-1.0)
+  pkg_check_modules(GST_APP REQUIRED gstreamer-app-1.0)
+else()
+  message(STATUS "gst 0.1")
+  pkg_check_modules(GSTREAMER REQUIRED gstreamer-0.10)
+  pkg_check_modules(GST_APP REQUIRED gstreamer-app-0.10)
+endif()
 
 if(USE_ROSBUILD)
   # Use rosbuild

README.md

@@ -11,6 +11,47 @@ for more ROS-like configuration and more control over the GStreamer interface.
 
 Note that this pacakge can be built both in a rosbuild and catkin workspaces.
 
+GStreamer Library Support
+-------------------------
+
+gscam supports the following versions of GStreamer
+
+### 0.1.x: _Default_
+
+Install dependencies via `rosdep`.
+
+### 1.0.x: Experimental
+
+#### Dependencies:
+
+* gstreamer1.0-tools 
+* libgstreamer1.0-dev 
+* libgstreamer-plugins-base1.0-dev 
+* libgstreamer-plugins-good1.0-dev
+
+Ubuntu Install:
+
+##### 12.04
+
+```sh
+sudo add-apt-repository ppa:gstreamer-developers/ppa
+sudo apt-get install gstreamer1.0-tools libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev libgstreamer-plugins-good1.0-dev
+```
+
+##### 14.04
+
+```sh
+sudo apt-get install gstreamer1.0-tools libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev libgstreamer-plugins-good1.0-dev
+```
+
+#### Usage:
+* Use the CMake flag `-DGSTREAMER_VERSION_1_x=On` when building
+* See the [Video4Linux2 launchfile example](examples/v4l.launch) for
+  an example of the differences in the GStreamer config lines
+
+#### Notes:
+* This has been tested with `v4l2src`
+
 ROS API (stable)
 ----------------
 
@@ -19,22 +60,22 @@ ROS API (stable)
 This can be run as both a node and a nodelet.
 
 #### Nodes
- * `gscam`
+* `gscam`
 
 #### Topics
- * `camera/image_raw`
- * `camera/camera_info`
+* `camera/image_raw`
+* `camera/camera_info`
 
 #### Services
- * `camera/set_camera_info`
+* `camera/set_camera_info`
 
 #### Parameters
- * `~camera_name`: The name of the camera (corrsponding to the camera info)
- * `~camera_info_url`: A url (`file://path/to/file`, `package://pkg_name/path/to/file`) to the [camera calibration file](http://www.ros.org/wiki/camera_calibration_parsers#File_formats).
- * `~gscam_config`: The GStreamer [configuration string](http://wiki.oz9aec.net/index.php?title=Gstreamer_cheat_sheet&oldid=1829).
- * `~frame_id`: The [TF](http://www.ros.org/wiki/tf) frame ID.
- * `~reopen_on_eof`: Re-open the stream if it ends (EOF).
- * `~sync_sink`: Synchronize the app sink (sometimes setting this to `false` can resolve problems with sub-par framerates).
+* `~camera_name`: The name of the camera (corrsponding to the camera info)
+* `~camera_info_url`: A url (`file://path/to/file`, `package://pkg_name/path/to/file`) to the [camera calibration file](http://www.ros.org/wiki/camera_calibration_parsers#File_formats).
+* `~gscam_config`: The GStreamer [configuration string](http://wiki.oz9aec.net/index.php?title=Gstreamer_cheat_sheet&oldid=1829).
+* `~frame_id`: The [TF](http://www.ros.org/wiki/tf) frame ID.
+* `~reopen_on_eof`: Re-open the stream if it ends (EOF).
+* `~sync_sink`: Synchronize the app sink (sometimes setting this to `false` can resolve problems with sub-par framerates).
 
 C++ API (unstable)
 ------------------
@@ -46,11 +87,13 @@ Examples
 
 See example launchfiles and configs in the examples directory. Currently there
 are examples for:
- * [Video4Linux2](examples/v4l.launch): Standard
-   [video4linux](http://en.wikipedia.org/wiki/Video4Linux)-based cameras like
-   USB webcams
- * [Nodelet](examples/gscam_nodelet.launch): Run a V4L-based camera in a nodelet
- * [Video File](examples/videofile.launch): Any videofile readable by GStreamer
- * [DeckLink](examples/decklink.launch):
-   [BlackMagic](http://www.blackmagicdesign.com/products/decklink/models)
-   DeckLink SDI capture cards (note: this requires the `gst-plugins-bad` plugins)
+
+* [Video4Linux2](examples/v4l.launch): Standard
+  [video4linux](http://en.wikipedia.org/wiki/Video4Linux)-based cameras like
+  USB webcams.
+    * ***GST-1.0:*** Use the roslaunch argument `GST10:=True` for GStreamer 1.0 variant
+* [Nodelet](examples/gscam_nodelet.launch): Run a V4L-based camera in a nodelet
+* [Video File](examples/videofile.launch): Any videofile readable by GStreamer
+* [DeckLink](examples/decklink.launch):
+  [BlackMagic](http://www.blackmagicdesign.com/products/decklink/models)
+  DeckLink SDI capture cards (note: this requires the `gst-plugins-bad` plugins)

examples/v4l.launch

@@ -6,11 +6,13 @@
   <!-- The GStreamer framerate needs to be an integral fraction -->
   <arg name="FPS" default="30/1"/>
   <arg name="PUBLISH_FRAME" default="false"/>
+  <arg name="GST10" default="false"/>
 
   <node ns="v4l" name="gscam_driver_v4l" pkg="gscam" type="gscam" output="screen">
     <param name="camera_name" value="default"/>
     <param name="camera_info_url" value="package://gscam/examples/uncalibrated_parameters.ini"/>
-    <param name="gscam_config" value="v4l2src device=$(arg DEVICE) ! video/x-raw-rgb,framerate=$(arg FPS) ! ffmpegcolorspace"/>
+    <param unless="$(arg GST10)" name="gscam_config" value="v4l2src device=$(arg DEVICE) ! video/x-raw-rgb,framerate=$(arg FPS) ! ffmpegcolorspace"/>
+    <param if="$(arg GST10)" name="gscam_config" value="v4l2src device=$(arg DEVICE) ! video/x-raw,format=RGBx,framerate=$(arg FPS) ! ffmpegcolorspace"/>
     <param name="frame_id" value="/v4l_frame"/>
     <param name="sync_sink" value="true"/>
   </node>

package.xml

@@ -15,8 +15,8 @@
 
   <buildtool_depend>catkin</buildtool_depend>
 
-  <build_depend>libgstreamer0.10-dev</build_depend>
-  <build_depend>libgstreamer-plugins-base0.10-dev</build_depend>
+  <build_depend>libgstreamer1.0-dev</build_depend>
+  <build_depend>libgstreamer-plugins-base1.0-dev</build_depend>
 
   <build_depend>nodelet</build_depend>
   <build_depend>cv_bridge</build_depend>

src/gscam.cpp

@@ -127,14 +127,31 @@ namespace gscam {
 
     // Create RGB sink
     sink_ = gst_element_factory_make("appsink",NULL);
-    GstCaps * caps = NULL;
+    GstCaps * caps = gst_app_sink_get_caps(GST_APP_SINK(sink_));
+
+#if (GST_VERSION_MAJOR == 1)
+    // http://gstreamer.freedesktop.org/data/doc/gstreamer/head/pwg/html/section-types-definitions.html
+    if (image_encoding_ == sensor_msgs::image_encodings::RGB8) {
+        caps = gst_caps_new_simple( "video/x-raw", 
+            "format", G_TYPE_STRING, "RGB",
+            NULL); 
+    } else if (image_encoding_ == sensor_msgs::image_encodings::MONO8) {
+        caps = gst_caps_new_simple( "video/x-raw", 
+            "format", G_TYPE_STRING, "GRAY8",
+            NULL); 
+    } else if (image_encoding_ == "jpeg") {
+        caps = gst_caps_new_simple("image/jpeg", NULL, NULL);
+    }
+#else
     if (image_encoding_ == sensor_msgs::image_encodings::RGB8) {
-        caps = gst_caps_new_simple("video/x-raw-rgb", NULL); 
+        caps = gst_caps_new_simple( "video/x-raw-rgb", NULL,NULL); 
     } else if (image_encoding_ == sensor_msgs::image_encodings::MONO8) {
-        caps = gst_caps_new_simple("video/x-raw-gray", NULL);
+        caps = gst_caps_new_simple("video/x-raw-gray", NULL, NULL);
     } else if (image_encoding_ == "jpeg") {
-        caps = gst_caps_new_simple("image/jpeg", NULL);
+        caps = gst_caps_new_simple("image/jpeg", NULL, NULL);
     }
+#endif
+
     gst_app_sink_set_caps(GST_APP_SINK(sink_), caps);
     gst_caps_unref(caps);
 
@@ -246,11 +263,29 @@ namespace gscam {
     ROS_INFO("Started stream.");
 
     // Poll the data as fast a spossible
-    while(ros::ok()) {
+    while(ros::ok()) 
+    {
       // This should block until a new frame is awake, this way, we'll run at the
       // actual capture framerate of the device.
       // ROS_DEBUG("Getting data...");
+#if (GST_VERSION_MAJOR == 1)
+      GstSample* sample = gst_app_sink_pull_sample(GST_APP_SINK(sink_));
+      if(!sample) {
+        ROS_ERROR("Could not get gstreamer sample.");
+        break;
+      }
+      GstBuffer* buf = gst_sample_get_buffer(sample);
+      GstMemory *memory = gst_buffer_get_memory(buf, 0);
+      GstMapInfo info;
+
+      gst_memory_map(memory, &info, GST_MAP_READ);
+      gsize &buf_size = info.size;
+      guint8* &buf_data = info.data;
+#else
       GstBuffer* buf = gst_app_sink_pull_buffer(GST_APP_SINK(sink_));
+      guint &buf_size = buf->size;
+      guint8* &buf_data = buf->data;
+#endif
       GstClockTime bt = gst_element_get_base_time(pipeline_);
       // ROS_INFO("New buffer: timestamp %.6f %lu %lu %.3f",
       //         GST_TIME_AS_USECONDS(buf->timestamp+bt)/1e6+time_offset_, buf->timestamp, bt, time_offset_);
@@ -276,16 +311,25 @@ namespace gscam {
 
       // Get the image width and height
       GstPad* pad = gst_element_get_static_pad(sink_, "sink");
+#if (GST_VERSION_MAJOR == 1)
+      const GstCaps *caps = gst_pad_get_current_caps(pad);
+#else
       const GstCaps *caps = gst_pad_get_negotiated_caps(pad);
+#endif
       GstStructure *structure = gst_caps_get_structure(caps,0);
       gst_structure_get_int(structure,"width",&width_);
       gst_structure_get_int(structure,"height",&height_);
 
       // Update header information
+      sensor_msgs::CameraInfo cur_cinfo = camera_info_manager_.getCameraInfo();
       sensor_msgs::CameraInfoPtr cinfo;
-      cinfo.reset(new sensor_msgs::CameraInfo(camera_info_manager_.getCameraInfo()));
+      cinfo.reset(new sensor_msgs::CameraInfo(cur_cinfo));
       if (use_gst_timestamps_) {
+#if (GST_VERSION_MAJOR == 1)
+          cinfo->header.stamp = ros::Time(GST_TIME_AS_USECONDS(buf->pts+bt)/1e6+time_offset_);
+#else
           cinfo->header.stamp = ros::Time(GST_TIME_AS_USECONDS(buf->timestamp+bt)/1e6+time_offset_);
+#endif
       } else {
           cinfo->header.stamp = ros::Time::now();
       }
@@ -295,8 +339,8 @@ namespace gscam {
           sensor_msgs::CompressedImagePtr img(new sensor_msgs::CompressedImage());
           img->header = cinfo->header;
           img->format = "jpeg";
-          img->data.resize(buf->size);
-          std::copy(buf->data, (buf->data)+(buf->size),
+          img->data.resize(buf_size);
+          std::copy(buf_data, (buf_data)+(buf_size),
                   img->data.begin());
           jpeg_pub_.publish(img);
           cinfo_pub_.publish(cinfo);
@@ -307,10 +351,10 @@ namespace gscam {
               ? width_ * height_ * 3
               : width_ * height_;
 
-          if (buf->size < expected_frame_size) {
+          if (buf_size < expected_frame_size) {
               ROS_WARN_STREAM( "GStreamer image buffer underflow: Expected frame to be "
                       << expected_frame_size << " bytes but got only "
-                      << (buf->size) << " bytes. (make sure frames are correctly encoded)");
+                      << (buf_size) << " bytes. (make sure frames are correctly encoded)");
           }
 
           // Construct Image message
@@ -334,16 +378,22 @@ namespace gscam {
               img->step = width_;
           }
           std::copy(
-                  buf->data,
-                  (buf->data)+(buf->size),
+                  buf_data,
+                  (buf_data)+(buf_size),
                   img->data.begin());
 
           // Publish the image/info
           camera_pub_.publish(img, cinfo);
       }
 
       // Release the buffer
-      gst_buffer_unref(buf);
+      if(buf) {
+#if (GST_VERSION_MAJOR == 1)
+        gst_memory_unmap(memory, &info);
+        gst_memory_unref(memory);
+#endif
+        gst_buffer_unref(buf);
+      }
 
       ros::spinOnce();
     }