gst camera: add RTMP streaming and nvidia encoding (#727)

* gst camera: add RTMP streaming and nvidia encoding * disable GPU encoding by default * completed nvh264enc installation instructions
PX4 · Mar 18, 2021 · 1b1afca · 1b1afca
1 parent b195315
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diff --git a/README.md b/README.md
@@ -127,6 +127,34 @@ make install
 
 When writing test it’s important to be careful which API functions of Gazebo are called. As no Gazebo server is running during the tests some functions can produce undefined behaviour (e.g. segfaults).
 
+## CUDA Hardware Accelerated H264 encoding (optional)
+
+1. Download CUDA 10.0 from https://developer.nvidia.com/cuda-toolkit-archive.
+2. Download Video Codec SDK 9.0 from https://developer.nvidia.com/video-codec-sdk-archive.
+3. Install both archives:
+
+```bash
+wget https://raw.githubusercontent.com/jackersson/env-setup/master/gst-nvidia-docker/install_video_codec_sdk.sh
+chmod +x install_video_codec_sdk.sh
+sudo ./install_video_codec_sdk.sh
+sudo dpkg -i cuda-repo-ubuntu*.deb
+sudo apt-key add /var/cuda-repo-<version>/7fa2af80.pub
+sudo apt-get update
+sudo apt-get install cuda
+```
+
+4. Reboot your system and run the command `nvidia-smi` to verify the successul installation of CUDA.
+5. Install GStreamer 1.18.3:
+
+```bash
+git clone https://github.com/GStreamer/gst-build -b 1.18.3
+cd gst-build
+meson -Dbuildtype=release -Dstrip=true -Dgst-plugins-bad:introspection=enabled -Dgst-plugins-bad:nvcodec=enabled builddir
+ninja -C builddir
+sudo meson install -C builddir
+```
+
+6. Add `<useCuda>true</useCuda>` to any `gazebo_gst_camera_plugin` in a SDF file. For example `./models/fpv_cam/fpv_cam.sdf`.
 
 #### *catkin tools*
 

diff --git a/include/gazebo_gst_camera_plugin.h b/include/gazebo_gst_camera_plugin.h
@@ -65,8 +65,12 @@ class GAZEBO_VISIBLE GstCameraPlugin : public SensorPlugin
   float rate;
   protected: std::string format;
 
-  protected: std::string udpHost;
-  protected: int udpPort;
+  protected:
+    std::string udpHost;
+    int udpPort;
+    bool useRtmp;
+    std::string rtmpLocation;
+    bool useCuda;
 
   protected: sensors::CameraSensorPtr parentSensor;
   protected: rendering::CameraPtr camera;

diff --git a/src/gazebo_gst_camera_plugin.cpp b/src/gazebo_gst_camera_plugin.cpp
@@ -97,10 +97,39 @@ void GstCameraPlugin::startGstThread() {
   GstElement* dataSrc = gst_element_factory_make("appsrc", "AppSrc");
   GstElement* testSrc = gst_element_factory_make("videotestsrc", "FileSrc");
   GstElement* conv  = gst_element_factory_make("videoconvert", "Convert");
-  GstElement* encoder = gst_element_factory_make("x264enc", "AvcEncoder");
+
+  GstElement* encoder;
+  if (useCuda) {
+    encoder = gst_element_factory_make("nvh264enc", "AvcEncoder");
+    g_object_set(G_OBJECT(encoder), "bitrate", 800, NULL);
+    g_object_set(G_OBJECT(encoder), "preset", 1, NULL); //lower = faster, 6=medium
+  } else {
+    encoder = gst_element_factory_make("x264enc", "AvcEncoder");
+    g_object_set(G_OBJECT(encoder), "bitrate", 800, NULL);
+    g_object_set(G_OBJECT(encoder), "speed-preset", 2, NULL); //lower = faster, 6=medium
+    //g_object_set(G_OBJECT(encoder), "tune", "zerolatency", NULL);
+    //g_object_set(G_OBJECT(encoder), "low-latency", 1, NULL);
+    //g_object_set(G_OBJECT(encoder), "control-rate", 2, NULL);
+  }
   GstElement* parser  = gst_element_factory_make("h264parse", "Parser");
-  GstElement* payload = gst_element_factory_make("rtph264pay", "PayLoad");
-  GstElement* sink  = gst_element_factory_make("udpsink", "UdpSink");
+  GstElement* payload;
+  GstElement* sink;
+
+  if (useRtmp) {
+    g_object_set(G_OBJECT(parser), "config-interval", 1, NULL);
+    payload = gst_element_factory_make("flvmux", "FLVMux");
+    sink = gst_element_factory_make("rtmpsink", "RtmpSink");
+    g_object_set(G_OBJECT(sink), "location", this->rtmpLocation.c_str(), NULL);
+  } else {
+    payload = gst_element_factory_make("rtph264pay", "PayLoad");
+    g_object_set(G_OBJECT(payload), "config-interval", 1, NULL);
+    sink  = gst_element_factory_make("udpsink", "UdpSink");
+    g_object_set(G_OBJECT(sink), "host", this->udpHost.c_str(), NULL);
+    g_object_set(G_OBJECT(sink), "port", this->udpPort, NULL);
+    //g_object_set(G_OBJECT(sink), "sync", false, NULL);
+    //g_object_set(G_OBJECT(sink), "async", false, NULL);
+  }
+
   if (!dataSrc || !testSrc || !conv || !encoder || !parser || !payload || !sink) {
     gzerr << "ERR: Create elements failed. \n";
     return;
@@ -121,22 +150,6 @@ void GstCameraPlugin::startGstThread() {
       "is-live", TRUE,
       NULL);
 
-  // Config encoder
-  g_object_set(G_OBJECT(encoder), "bitrate", 800, NULL);
-  g_object_set(G_OBJECT(encoder), "speed-preset", 2, NULL); //lower = faster, 6=medium
-  //g_object_set(G_OBJECT(encoder), "tune", "zerolatency", NULL);
-  //g_object_set(G_OBJECT(encoder), "low-latency", 1, NULL);
-  //g_object_set(G_OBJECT(encoder), "control-rate", 2, NULL);
-
-  // Config payload
-  g_object_set(G_OBJECT(payload), "config-interval", 1, NULL);
-
-  // Config udpsink
-  g_object_set(G_OBJECT(sink), "host", this->udpHost.c_str(), NULL);
-  g_object_set(G_OBJECT(sink), "port", this->udpPort, NULL);
-  //g_object_set(G_OBJECT(sink), "sync", false, NULL);
-  //g_object_set(G_OBJECT(sink), "async", false, NULL);
-
   // Connect all elements to pipeline
   gst_bin_add_many(GST_BIN(pipeline), dataSrc, conv, encoder, parser, payload, sink, NULL);
 
@@ -253,12 +266,26 @@ void GstCameraPlugin::Load(sensors::SensorPtr sensor, sdf::ElementPtr sdf)
 
   this->udpHost = "127.0.0.1";
   if (sdf->HasElement("udpHost")) {
-	this->udpHost = sdf->GetElement("udpHost")->Get<string>();
+    this->udpHost = sdf->GetElement("udpHost")->Get<string>();
   }
 
   this->udpPort = 5600;
   if (sdf->HasElement("udpPort")) {
-	this->udpPort = sdf->GetElement("udpPort")->Get<int>();
+    this->udpPort = sdf->GetElement("udpPort")->Get<int>();
+  }
+
+  if (sdf->HasElement("rtmpLocation")) {
+    this->rtmpLocation = sdf->GetElement("rtmpLocation")->Get<string>();
+    this->useRtmp = true;
+  } else {
+    this->useRtmp = false;
+  }
+
+  // Use CUDA for video encoding
+  if (sdf->HasElement("useCuda")) {
+    this->useCuda = sdf->GetElement("useCuda")->Get<bool>();
+  } else {
+    this->useCuda = false;
   }
 
   node_handle_ = transport::NodePtr(new transport::Node());