viamrtsp

README

Build

The binary is statically linked with FFmpeg v6.1, eliminating the need for separate FFmpeg installation on target machines.

• Build for Linux targets:
  • Install canon: go install github.com/viamrobotics/canon@latest
  • Startup canon dev container.
    • Linux/Arm64: canon -profile viam-rtsp-antique -arch arm64
    • Linux/Amd64: canon -profile viam-rtsp-antique -arch amd64
  • Build binary: make
• Build for MacOS target:
  • Build binary: make
• Binary will be in bin/<OS>-<CPU>/viamrtsp
• Clean up build artifacts: make clean
• Clean up all files not tracked in git: make clean-all

Sample Config

 {
  "name": "rtsp-1",
  "namespace": "rdk",
  "type": "camera",
  "model": "erh:viamrtsp:rtsp",
  "attributes": {
    "rtp_passthrough": true,
    "rtsp_address": "rtsp://foo:bar@192.168.10.10:554/stream"
  }
}

Models:

• erh:viamrtsp:rtsp - Codec agnostic. Will auto detect the codec of the rtsp_address.
• erh:viamrtsp:rtsp-h264 - Only supports H264 codec.
• erh:viamrtsp:rtsp-h265 - Only supports H265 codec.
• erh:viamrtsp:rtsp-mjpeg - Only supports M-JPEG codec.

Notes

• rtp_passthrough (which improves video streaming efficiency) is supported with the H264 codec if the rtp_passthrough attrbute is set to true
• Non fatal LibAV errors are suppressed unles the module is run in debug mode.
• Heavily cribbed from gortsplib examples:
  • H264 stream to JPEG
  • H265 stream to JPEG

Documentation

Overview

Package viamrtsp implements RTSP camera support in a Viam module

Index

• Constants
• Variables
• func H2645StartCode() []byte
• func SetLibAVLogLevelFatal()
• type Config
  • func (conf *Config) Validate(path string) ([]string, error)

Constants

const (
	// Unknown indicates an error when no available video codecs could be identified
	Unknown videoCodec = iota
	// Agnostic indicates that a discrete video codec has yet to be identified
	Agnostic
	// H264 indicates the h264 video codec
	H264
	// H265 indicates the h265 video codec
	H265
	// MJPEG indicates the mjpeg video codec
	MJPEG
)

Variables

var (

	// ModelAgnostic selects the best available codec.
	ModelAgnostic = family.WithModel("rtsp")
	// ModelH264 uses the h264 codec.
	ModelH264 = family.WithModel("rtsp-h264")
	// ModelH265 uses the h265 codec.
	ModelH265 = family.WithModel("rtsp-h265")
	// ModelMJPEG uses the mjpeg codec.
	ModelMJPEG = family.WithModel("rtsp-mjpeg")
	// Models is a slice containing the above available models.
	Models = []resource.Model{ModelAgnostic, ModelH264, ModelH265, ModelMJPEG}
	// ErrH264PassthroughNotEnabled is an error indicating H264 passthrough is not enabled.
	ErrH264PassthroughNotEnabled = errors.New("H264 passthrough is not enabled")
)

Functions

func H2645StartCode

func H2645StartCode() []byte

H2645StartCode is start code byte sequence for H264/H265 NALs.

func SetLibAVLogLevelFatal

func SetLibAVLogLevelFatal()

SetLibAVLogLevelFatal sets libav errors to fatal log level to cut down on log spam

Types

type Config

type Config struct {
	Address          string                             `json:"rtsp_address"`
	RTPPassthrough   bool                               `json:"rtp_passthrough"`
	IntrinsicParams  *transform.PinholeCameraIntrinsics `json:"intrinsic_parameters,omitempty"`
	DistortionParams *transform.BrownConrady            `json:"distortion_parameters,omitempty"`
}

Config are the config attributes for an RTSP camera model.

func (*Config) Validate

func (conf *Config) Validate(path string) ([]string, error)

Validate checks to see if the attributes of the model are valid.