Merge branch 'master' into gps_check_diff_fix

libraries/AP_Camera/examples/README.md

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+# AP_Camera examples
+
+
+## GStreamer examples
+
+The following examples demonstrate how to manipulate GStreamer pipelines to
+capture and display video streams from a UDP or RTSP source. They are useful
+for providing test images to camera algorithms, or forwarding streams from
+simulators such as Gazebo to ground control stations.  
+
+For further details see:
+
+- [GStreamer tutorials](https://gstreamer.freedesktop.org/documentation/tutorials/index.html?gi-language=c)
+
+
+### Install dependencies
+
+#### Ubuntu
+
+```bash
+sudo apt install libopencv-dev libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev gstreamer1.0-plugins-bad gstreamer1.0-libav gstreamer1.0-gl gstreamer1.0-tools gstreamer1.0-plugins-ugly libgstrtspserver-1.0-dev
+```
+
+#### macOS
+
+```bash
+brew install gstreamer opencv
+```
+
+### `gst_rtsp_server.py`
+
+The example provides a number of test images as an RTSP stream that may be accessed at:
+
+- rtsp://127.0.0.1:8554/camera
+- rtsp://127.0.0.1:8554/ball
+- rtsp://127.0.0.1:8554/snow
+
+
+Start the RTSP server:
+
+```bash
+python ./gst_rtsp_server.py
+```
+
+Display the RTSP stream:
+
+```bash
+gst-launch-1.0 rtspsrc location=rtsp://localhost:8554/camera latency=50 ! decodebin ! autovideosink
+```
+
+### `gst_rtsp_to_wx.py`
+
+The example displays an RTSP stream in a wxPython application.
+
+Start the RTSP server:
+
+```bash
+python ./gst_rtsp_server.py
+```
+
+Display the RTSP stream in wxPython
+
+```bash
+python ./gst_rtsp_to_wx.py
+```
+
+### `gst_udp_to_rtsp.py`
+
+Convert a UDP stream to RTSP. This example is configured to use the same UDP
+pipeline provided by the ArduPilot Gazebo [`GstCameraPlugin`](https://github.com/ArduPilot/ardupilot_gazebo?tab=readme-ov-file#3-streaming-camera-video). By converting the
+UDP stream to RTSP is may be consumed by multiple applications
+(e.g. a camera tracking algorithm and a GCS).
+
+Create a UDP video stream
+
+```bash
+gst-launch-1.0 -v videotestsrc ! 'video/x-raw,format=I420,width=640,height=480,framerate=50/1' ! queue ! videoconvert ! x264enc bitrate=800 speed-preset=6 tune=4 key-int-max=10 ! rtph264pay ! udpsink host=127.0.0.1 port=5600
+```
+
+Convert to RTSP:
+
+```bash
+python ./gst_udp_to_rtsp.py
+```
+
+Display the RTSP stream:
+
+```bash
+gst-launch-1.0 rtspsrc location=rtsp://localhost:8554/camera latency=50 ! decodebin ! autovideosink
+```
+
+### `gst_udp_to_wx.py`
+
+The example displays a UDP video stream in a wxPython application.
+
+Create a UDP video stream:
+
+```bash
+gst-launch-1.0 -v videotestsrc ! 'video/x-raw,format=I420,width=640,height=480,framerate=50/1' ! queue ! videoconvert ! x264enc bitrate=800 speed-preset=6 tune=4 key-int-max=10 ! rtph264pay ! udpsink host=127.0.0.1 port=5600
+```
+
+Display the UDP video stream in wxPython:
+
+```bash
+python ./gst_udp_to_wx.py
+```

libraries/AP_Camera/examples/gst_rtsp_server.py

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+"""
+GST RTSP Server Example
+
+Usage
+-----
+
+1. Start the server:
+
+python ./gst_rtsp_server.py
+
+2. Display the RTSP stream
+
+gst-launch-1.0 rtspsrc location=rtsp://localhost:8554/camera latency=50 ! decodebin ! autovideosink
+
+
+Acknowledgments
+---------------
+
+GStreamer RTSP server example adapted from code by Jerome Carretero (Tamaggo)
+
+https://github.com/tamaggo/gstreamer-examples
+https://github.com/tamaggo/gstreamer-examples/blob/master/test_gst_rtsp_server.py
+"""
+
+# Copyright (c) 2015 Tamaggo Inc.
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in all
+# copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+# SOFTWARE.
+#
+
+import sys
+import gi
+
+gi.require_version("Gst", "1.0")
+gi.require_version("GstRtspServer", "1.0")
+from gi.repository import Gst
+from gi.repository import GstRtspServer
+from gi.repository import GLib
+
+
+class VideoTestMediaFactory(GstRtspServer.RTSPMediaFactory):
+    """
+    Create a GStreamer pipeline for a videotestsrc source.
+
+    The default videotestsrc uses the smpte test pattern. Other test patterns
+    may be specified when initialising the class.
+    """
+    def __init__(self, pattern="smpte"):
+        GstRtspServer.RTSPMediaFactory.__init__(self)
+        self.pattern = pattern
+
+    def do_create_element(self, url):
+        s_src = f"videotestsrc pattern={self.pattern} ! video/x-raw,rate=30,width=640,height=480,format=I420"
+        s_h264 = "x264enc tune=zerolatency"
+        pipeline_str = f"( {s_src} ! queue max-size-buffers=1 name=q_enc ! {s_h264} ! rtph264pay name=pay0 pt=96 )"
+        if len(sys.argv) > 1:
+            pipeline_str = " ".join(sys.argv[1:])
+        print(pipeline_str)
+        return Gst.parse_launch(pipeline_str)
+
+
+class GstServer:
+    """
+    A GStreamer RTSP server streaming three different test patterns:
+
+    rtsp://127.0.0.1:8554/camera
+    rtsp://127.0.0.1:8554/ball
+    rtsp://127.0.0.1:8554/snow
+    """
+    def __init__(self):
+        self.server = GstRtspServer.RTSPServer()
+        self.server.set_address("127.0.0.1")
+        self.server.set_service("8554")
+
+        media_factory1 = VideoTestMediaFactory()
+        media_factory1.set_shared(True)
+
+        media_factory2 = VideoTestMediaFactory("ball")
+        media_factory2.set_shared(True)
+
+        media_factory3 = VideoTestMediaFactory("snow")
+        media_factory3.set_shared(True)
+
+        mount_points = self.server.get_mount_points()
+        mount_points.add_factory("/camera", media_factory1)
+        mount_points.add_factory("/ball", media_factory2)
+        mount_points.add_factory("/snow", media_factory3)
+
+        self.server.attach(None)
+
+
+def main():
+    Gst.init(None)
+    server = GstServer()
+    loop = GLib.MainLoop()
+    loop.run()
+
+
+if __name__ == "__main__":
+    main()