compAIR/compLIB
compAIR/compLIB
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compLIB

Rewrite for ROS is the live packaged version since 18.07.2023.

Dependencies

TODO: document

Building documentation

pip install sphinx-rtd-theme

Writing docs

Inline documentation example reStructured Text

ENV Variables

  • DEBUG, default="0", If set to != "0" (default), debug prints will be enabled
  • API_URL, default="http://localhost:5000/"
  • API_FORCE, default="", if set to !="" (default), it will replace the API_URL env variable
  • FORCE_SEED, default="-1", if set to !="-1" (default), the seeding seed supplied by the user will be ignored and this seed will be used instead

Stream Video

sudo raspivid -t 0 -b 10000000 -w 1920 -h 1080 -fps 30 -n -o - | gst-launch-1.0 fdsrc ! video/x-h264,width=1280,height=720,framerate=30/1,noise-reduction=1,profile=high,stream-format=byte-stream  ! h264parse ! queue ! flvmux streamable=true ! rtmpsink location=\"rtmp://10.1.1.68/live/stream\"```

Stream video from generic USB camera

with gst, very cpu heavy

gst-launch-1.0 v4l2src ! image/jpeg,width=640,height=480,framerate=30/1  ! jpegdec ! x264enc ! flvmux streamable=true ! rtmpsink location="rtmp://10.20.86.88/live/stream"

with ffmpeg, cpu friendly

ffmpeg -f v4l2  -framerate 30 -video_size 640x480 -i /dev/video0 -b:v 2M -f flv rtmp://10.20.86.88/live/stream

Bullseye now only supports libcamera

https://www.raspberrypi.com/news/bullseye-camera-system/

(This can still be mitigated by enabling "old camera support" in the raspi-config settings. (This is done automatically in the postinstallscript)