How to support CompressedImage ?

[iceriver97]

I made the following changes to the code:

1. in image2rtsp.h:

   // GstCaps* gst_caps_new_from_image(const sensor_msgs::Image::ConstPtr &msg);
   GstCaps* gst_caps_new_from_image(const sensor_msgs::CompressedImageConstPtr &msg); //my_test
   //void imageCallback(const sensor_msgs::Image::ConstPtr& msg, const std::string& topic);
   void CompressedImageCallback(const sensor_msgs::CompressedImageConstPtr& msg, const std::string& topic); //my_test

2. in image2rtsp.cpp 2.1 Use fixed parameters

   
   GstCaps* Image2RTSPNodelet::gst_caps_new_from_image(const sensor_msgs::CompressedImageConstPtr &msg)
   {
   // http://gstreamer.freedesktop.org/data/doc/gstreamer/head/pwg/html/section-types-definitions.html
   
   // static const ros::M_string known_formats = {{
   //     {sensor_msgs::image_encodings::RGB8, "RGB"},
   //     {sensor_msgs::image_encodings::RGB16, "RGB16"},
   //     {sensor_msgs::image_encodings::RGBA8, "RGBA"},
   //     {sensor_msgs::image_encodings::RGBA16, "RGBA16"},
   //     {sensor_msgs::image_encodings::BGR8, "BGR"},
   //     {sensor_msgs::image_encodings::BGR16, "BGR16"},
   //     {sensor_msgs::image_encodings::BGRA8, "BGRA"},
   //     {sensor_msgs::image_encodings::BGRA16, "BGRA16"},
   //     {sensor_msgs::image_encodings::MONO8, "GRAY8"},
   //     {sensor_msgs::image_encodings::MONO16, "GRAY16_LE"},
   // }};
   
   // if (msg->is_bigendian) {
   //     ROS_ERROR("GST: big endian image format is not supported");
   //     return nullptr;
   // }
   
   // auto format = known_formats.find(msg->encoding);
   // if (format == known_formats.end()) {
   //     ROS_ERROR("GST: image format '%s' unknown", msg->encoding.c_str());
   //     return nullptr;
   // }
   
   // return gst_caps_new_simple("video/x-raw",
   //         "format", G_TYPE_STRING, format->second.c_str(),
   //         "width", G_TYPE_INT, msg->width,
   //         "height", G_TYPE_INT, msg->height,
   //         "framerate", GST_TYPE_FRACTION, 10, 1,
   //         nullptr);
   return gst_caps_new_simple("video/x-raw",
           "format", G_TYPE_STRING, "RGB",
           "width", G_TYPE_INT, 1280,
           "height", G_TYPE_INT, 720,
           "framerate", GST_TYPE_FRACTION, 10, 1,
           nullptr);
   }

2.2  change bufsize=720*1280

// my_test satrt void Image2RTSPNodelet::CompressedImageCallback(const sensor_msgs::CompressedImageConstPtr& msg, const std::string& topic) { GstBuffer *buf;

GstCaps *caps;
char *gst_type, *gst_format=(char *)"";
// g_print("Image encoding: %s\n", msg->encoding.c_str());
if (appsrc[topic] != NULL) {
    // Set caps from message
    caps = gst_caps_new_from_image(msg);
    gst_app_src_set_caps(appsrc[topic], caps);

    // buf = gst_buffer_new_allocate(nullptr, msg->data.size(), nullptr);
    //gst_buffer_fill(buf, 0, msg->data.data(), msg->data.size());
    //std::cout<< msg->data.size()<<std::endl;
    gsize data_size = 2764800;
    buf = gst_buffer_new_allocate(nullptr, data_size, nullptr);
    gst_buffer_fill(buf, 0, msg->data.data(), 2764800);
    GST_BUFFER_FLAG_SET(buf, GST_BUFFER_FLAG_LIVE);

    gst_app_src_push_buffer(appsrc[topic], buf);
}

} // my_test end

if no changes as 2.2, will get Error : 80000 <  2764800. i guess 80000 means the size of the CompressedImage.
Apply all the changes, the process will be killed.

[iceriver97]

@CircusMonkey

[iceriver97]

@CircusMonkey do u have any ideas?

[zeesee]

Hi, is there any update on this? need some help how to stream compressedimage from rtsp

[CircusMonkey]

I'm sure that you are aware that I no longer have time to develop this project. I'm happy to merge any pull requests you make to get this working.

Sorry, but in the meantime, this doesn't support compressed images.