diff --git a/bundle/h264_video_encoder/CMakeLists.txt b/bundle/h264_video_encoder/CMakeLists.txt new file mode 100644 index 00000000..832094aa --- /dev/null +++ b/bundle/h264_video_encoder/CMakeLists.txt @@ -0,0 +1,103 @@ +cmake_minimum_required(VERSION 2.8) +project(h264_video_encoder) + +## Compile as C++11, supported in ROS Kinetic and newer +set(CMAKE_CXX_STANDARD 11) + +find_package(catkin REQUIRED COMPONENTS + h264_encoder_core + aws_common + aws_ros1_common + image_transport + message_generation + sensor_msgs + kinesis_video_msgs +) + +catkin_package(CATKIN_DEPENDS + aws_ros1_common + image_transport + message_runtime +) + + +############# +## Compile ## +############# + +set(h264_video_encoder_SRCS + src/h264_video_encoder.cpp +) +set(h264_video_encoder_INCS + include + ${aws_common_INCLUDE_DIRS} + ${catkin_INCLUDE_DIRS} +) +set(h264_video_encoder_LIBS + ${catkin_LIBRARIES} + aws_common +) + +# add the publisher example +add_executable(${PROJECT_NAME} src/main.cpp ${h264_video_encoder_SRCS}) +add_library(${PROJECT_NAME}_lib STATIC ${h264_video_encoder_SRCS}) + +target_include_directories(${PROJECT_NAME} PRIVATE ${h264_video_encoder_INCS}) +target_include_directories(${PROJECT_NAME}_lib PUBLIC ${h264_video_encoder_INCS}) + +target_link_libraries(${PROJECT_NAME} ${h264_video_encoder_LIBS}) +target_link_libraries(${PROJECT_NAME}_lib ${h264_video_encoder_LIBS}) + +add_dependencies(${PROJECT_NAME} + ${catkin_EXPORTED_TARGETS} + ${${PROJECT_NAME}_EXPORTED_TARGETS} +) + + +############# +## Install ## +############# + +# Mark executables and/or libraries for installation +install(TARGETS ${PROJECT_NAME} + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) +install(DIRECTORY launch/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch) +install(DIRECTORY config/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/config) + + +############# +## Tests ## +############# + +## Add gtest based cpp test target and link libraries +if(CATKIN_ENABLE_TESTING) + find_package(rostest REQUIRED) + find_package(GMock QUIET) + if(GMOCK_FOUND) + add_rostest_gmock(test_h264_video_encoder + test/test_h264_video_encoder.test + test/h264_video_encoder_test.cpp + ) + target_link_libraries(test_h264_video_encoder + ${PROJECT_NAME}_lib + ${catkin_LIBRARIES} + ${GMOCK_BOTH_LIBRARIES} + ) + else() + include_directories(/usr/include/gmock /usr/src/gmock) + add_library(${PROJECT_NAME}_libgmock SHARED /usr/src/gmock/src/gmock-all.cc) + + add_rostest_gtest(test_h264_video_encoder + test/test_h264_video_encoder.test + test/h264_video_encoder_test.cpp + ) + target_link_libraries(test_h264_video_encoder + ${PROJECT_NAME}_lib + ${catkin_LIBRARIES} + ${PROJECT_NAME}_libgmock + ) + endif() +endif() diff --git a/bundle/h264_video_encoder/LICENSE.txt b/bundle/h264_video_encoder/LICENSE.txt new file mode 100644 index 00000000..58af0d37 --- /dev/null +++ b/bundle/h264_video_encoder/LICENSE.txt @@ -0,0 +1,502 @@ + GNU LESSER GENERAL PUBLIC LICENSE + Version 2.1, February 1999 + + Copyright (C) 1991, 1999 Free Software Foundation, Inc. + 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + +[This is the first released version of the Lesser GPL. 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See the GNU + Lesser General Public License for more details. + + You should have received a copy of the GNU Lesser General Public + License along with this library; if not, write to the Free Software + Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA + +Also add information on how to contact you by electronic and paper mail. + +You should also get your employer (if you work as a programmer) or your +school, if any, to sign a "copyright disclaimer" for the library, if +necessary. Here is a sample; alter the names: + + Yoyodyne, Inc., hereby disclaims all copyright interest in the + library `Frob' (a library for tweaking knobs) written by James Random Hacker. + + , 1 April 1990 + Ty Coon, President of Vice + +That's all there is to it! diff --git a/bundle/h264_video_encoder/NOTICE.txt b/bundle/h264_video_encoder/NOTICE.txt new file mode 100644 index 00000000..13033fe5 --- /dev/null +++ b/bundle/h264_video_encoder/NOTICE.txt @@ -0,0 +1,4 @@ +Copyright 2018 Amazon.com, Inc. or its affiliates. All Rights Reserved. + +This product includes software developed by +Amazon Technologies, Inc (http://www.amazon.com/). diff --git a/bundle/h264_video_encoder/config/sample_configuration.yaml b/bundle/h264_video_encoder/config/sample_configuration.yaml new file mode 100644 index 00000000..32066861 --- /dev/null +++ b/bundle/h264_video_encoder/config/sample_configuration.yaml @@ -0,0 +1,27 @@ +# This sample YAML config file is catered towards running the H264 Encoder Node on a Raspberry Pi based system + +# The name of the topic to which the H264 encoder node should subscribe to obtain the feed desired to be encoded +# The topic must be a sensor_msgs/Image message +subscription_topic: "/raspicam_node/image" + +# The name of the topic to which H264 encoder node should publish the encoded video stream +# The topic will be a kinesis_video_msgs/KinesisVideoFrame message +publication_topic: "/video/encoded" + +# The size of the subscribed and publishing message queues (default: 100) +# queue_size: 100 + +# The desired output width of the encoded video stream (default: width of the input image stream) +# output_width: + +# The desired output height of the encoded video stream (default: height of the input image stream) +# output_height: + +# The numerator when expressing the frame rate as a rational number +fps_numerator: 30 + +# The denominator when expressing the frame rate as a rational number (default: 1) +fps_denominator: 1 + +# The target bit rate in bits per second of the output video stream +bitrate: 2048000 diff --git a/bundle/h264_video_encoder/launch/h264_video_encoder.launch b/bundle/h264_video_encoder/launch/h264_video_encoder.launch new file mode 100644 index 00000000..8878b560 --- /dev/null +++ b/bundle/h264_video_encoder/launch/h264_video_encoder.launch @@ -0,0 +1,27 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/bundle/h264_video_encoder/launch/sample_application.launch b/bundle/h264_video_encoder/launch/sample_application.launch new file mode 100644 index 00000000..0470c8fe --- /dev/null +++ b/bundle/h264_video_encoder/launch/sample_application.launch @@ -0,0 +1,13 @@ + + + + + + + + + + + + diff --git a/bundle/h264_video_encoder/package.xml b/bundle/h264_video_encoder/package.xml new file mode 100644 index 00000000..30f2b9a1 --- /dev/null +++ b/bundle/h264_video_encoder/package.xml @@ -0,0 +1,33 @@ + + + h264_video_encoder + 1.1.4 + ROS1 H264 encoder node + http://wiki.ros.org/h264_video_encoder + + AWS RoboMaker + AWS RoboMaker + + LGPLv2.1 + + catkin + + aws_ros1_common + h264_encoder_core + image_transport + kinesis_video_msgs + message_generation + sensor_msgs + + aws_ros1_common + h264_encoder_core + image_transport + image_transport_plugins + kinesis_video_msgs + message_runtime + sensor_msgs + + google-mock + gtest + rostest + diff --git a/bundle/h264_video_encoder/src/h264_video_encoder.cpp b/bundle/h264_video_encoder/src/h264_video_encoder.cpp new file mode 100644 index 00000000..df4a8cad --- /dev/null +++ b/bundle/h264_video_encoder/src/h264_video_encoder.cpp @@ -0,0 +1,191 @@ +/* + * Copyright 2018 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * This library is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * This library is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with this library; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include + +using namespace Aws::Utils::Encoding; +using namespace Aws::Utils::Logging; + +namespace Aws { +namespace Kinesis { + +const std::map SNSR_IMG_ENC_to_LIBAV_PIXEL_FRMT = { + {sensor_msgs::image_encodings::RGB8, AV_PIX_FMT_RGB24}, + {sensor_msgs::image_encodings::BGR8, AV_PIX_FMT_BGR24}, + {sensor_msgs::image_encodings::RGBA8, AV_PIX_FMT_RGBA}, + {sensor_msgs::image_encodings::BGRA8, AV_PIX_FMT_BGRA}}; + +/** + * Initialize the H264Encoder + * @param msg the message from the image sensor through image transport + * @param encoder reference to pointer that owns the H264Encoder instance. if + * the pointer is null, it will be modified to the address of the new H264Encoder instance + * @param param_reader parameter reader used for reading the desired configuration of the encoder + * output + */ +void InitializeEncoder(const sensor_msgs::ImageConstPtr & msg, + std::unique_ptr & encoder, + const Aws::Client::ParameterReaderInterface & param_reader) +{ + auto encoding_iter = SNSR_IMG_ENC_to_LIBAV_PIXEL_FRMT.find(msg->encoding); + if (encoding_iter == SNSR_IMG_ENC_to_LIBAV_PIXEL_FRMT.end()) { + AWS_LOGSTREAM_ERROR(__func__, + "Trying to work with unsupported encoding " << msg->encoding << "!"); + return; + } + + encoder = std::unique_ptr(new H264Encoder()); + if (nullptr != encoder) { + encoder->Initialize(msg->width, msg->height, encoding_iter->second, param_reader); + } +} + +void ImageCallback(const sensor_msgs::ImageConstPtr & msg, const H264Encoder * encoder, + uint64_t & frame_num, kinesis_video_msgs::KinesisImageMetadata & metadata, + ros::Publisher & pub) +{ + thread_local H264EncoderResult encoder_output; + + AwsError retcode = encoder->Encode(msg->data.data(), encoder_output); + if (retcode != AWS_ERR_OK) { + if (retcode == AWS_ERR_NULL_PARAM) { + AWS_LOG_ERROR(__func__, "Encoder received empty data!"); + } else if (retcode == AWS_ERR_FAILURE) { + AWS_LOG_ERROR(__func__, "Unknown encoding error occurred"); + } else if (retcode == AWS_ERR_EMPTY) { + AWS_LOG_WARN(__func__, "Encoder returned empty frame"); + } + return; + } + + kinesis_video_msgs::KinesisVideoFrame frame; + frame.index = frame_num; + frame.flags = (encoder_output.key_frame) ? kKeyFrameFlag : kBPFrameFlag; + frame.decoding_ts = encoder_output.frame_dts; + frame.presentation_ts = encoder_output.frame_pts; + frame.duration = encoder_output.frame_duration / 2; // duration recommended to be set shorter + frame.codec_private_data = encoder->GetExtraData(); + frame.frame_data = encoder_output.frame_data; + frame.metadata.swap(metadata.metadata); + + pub.publish(frame); + + constexpr int kDbgMsgThrottlePeriod = 10; // 10 seconds throttling period + ROS_DEBUG_THROTTLE(kDbgMsgThrottlePeriod, "Published Frame #%lu (timestamp: %lu)\n", frame_num, + encoder_output.frame_pts); + + ++frame_num; +} + +void InitializeCommunication(ros::NodeHandle & nh, + ros::Subscriber& metadata_sub, + image_transport::Subscriber& image_sub, + ros::Publisher& pub, + std::unique_ptr& encoder, + uint64_t & frame_num, + kinesis_video_msgs::KinesisImageMetadata & metadata, + Aws::Client::Ros1NodeParameterReader & param_reader) +{ + // + // reading parameters + // + H264EncoderNodeParams params; + GetH264EncoderNodeParams(param_reader, params); + + + pub = nh.advertise(params.publication_topic, + params.queue_size); + + // + // subscribing to topic with callback + // + boost::function image_callback; + image_callback = [&](const sensor_msgs::ImageConstPtr & msg) -> void { + if (0 < pub.getNumSubscribers()) { + if (nullptr == encoder) { + InitializeEncoder(msg, encoder, param_reader); + } + if (nullptr != encoder) { + ImageCallback(msg, encoder.get(), frame_num, metadata, pub); + } + } else { + frame_num = 0; + } + }; + + image_transport::ImageTransport it(nh); + image_sub = + it.subscribe(params.subscription_topic, params.queue_size, image_callback); + AWS_LOGSTREAM_INFO(__func__, "subscribed to " << params.subscription_topic << "..."); + + boost::function + metadata_callback; + metadata_callback = [&](const kinesis_video_msgs::KinesisImageMetadata::ConstPtr & msg) -> void { + metadata.metadata.insert(metadata.metadata.end(), msg->metadata.begin(), msg->metadata.end()); + }; + metadata_sub = + nh.subscribe(params.metadata_topic, params.queue_size, metadata_callback); + AWS_LOGSTREAM_INFO(__func__, "subscribed to " << params.metadata_topic << " for metadata..."); +} + +AwsError RunEncoderNode(int argc, char ** argv) +{ + ros::init(argc, argv, "h264_video_encoder"); + ros::NodeHandle nh("~"); + + Aws::Utils::Logging::InitializeAWSLogging( + Aws::MakeShared("h264_video_encoder")); + AWS_LOG_INFO(__func__, "Starting H264 Video Node..."); + + ros::Publisher pub; + image_transport::Subscriber image_sub; + ros::Subscriber metadata_sub; + std::unique_ptr encoder; + uint64_t frame_num = 0; + kinesis_video_msgs::KinesisImageMetadata metadata; + Aws::Client::Ros1NodeParameterReader param_reader; + + InitializeCommunication(nh, metadata_sub, image_sub, pub, + encoder, frame_num, metadata, param_reader); + + // + // run the node + // + ros::spin(); + AWS_LOG_INFO(__func__, "Shutting down H264 Video Node..."); + Aws::Utils::Logging::ShutdownAWSLogging(); + return AWS_ERR_OK; +} + +} // namespace Kinesis +} // namespace Aws diff --git a/bundle/h264_video_encoder/src/main.cpp b/bundle/h264_video_encoder/src/main.cpp new file mode 100644 index 00000000..1cc02a81 --- /dev/null +++ b/bundle/h264_video_encoder/src/main.cpp @@ -0,0 +1,30 @@ +/* + * Copyright 2018 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * This library is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * This library is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with this library; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + */ + +#include + +namespace Aws { +namespace Kinesis { + +Aws::AwsError RunEncoderNode(int argc, char ** argv); + +} // namespace Kinesis +} // namespace Aws + +int main(int argc, char ** argv) { return Aws::Kinesis::RunEncoderNode(argc, argv); } diff --git a/bundle/h264_video_encoder/test/h264_video_encoder_test.cpp b/bundle/h264_video_encoder/test/h264_video_encoder_test.cpp new file mode 100644 index 00000000..9b05c916 --- /dev/null +++ b/bundle/h264_video_encoder/test/h264_video_encoder_test.cpp @@ -0,0 +1,291 @@ +/* + * Copyright 2018 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * This library is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; either + * version 2.1 of the License, or (at your option) any later version. + * + * This library is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. + * + * You should have received a copy of the GNU Lesser General Public + * License along with this library; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +using namespace Aws::Utils::Encoding; +using namespace Aws::Utils::Logging; + +namespace Aws { +namespace Kinesis { + +void InitializeEncoder(const sensor_msgs::ImageConstPtr & msg, + std::unique_ptr & encoder, + const Aws::Client::ParameterReaderInterface & param_reader); + +void ImageCallback(const sensor_msgs::ImageConstPtr & msg, const H264Encoder * encoder, + uint64_t & frame_num, kinesis_video_msgs::KinesisImageMetadata & metadata, + ros::Publisher & pub); + +void InitializeCommunication(ros::NodeHandle & nh, + ros::Subscriber & metadata_sub, + image_transport::Subscriber & image_sub, + ros::Publisher & pub, + std::unique_ptr & encoder, + uint64_t & frame_num, + kinesis_video_msgs::KinesisImageMetadata & metadata, + Aws::Client::Ros1NodeParameterReader & param_reader + ); + +} // namespace Kinesis +} // namespace Aws + +constexpr static char kDefaultPublicationTopicName[] = "/video/encoded"; +constexpr static char kDefaultSubscriptionTopicName[] = "/raspicam_node/image"; +constexpr static char kDefaultMetadataTopicName[] = "/image_metadata"; +constexpr static int kDefaultWidth = 410; +constexpr static int kDefaultHeight = 308; +constexpr static int kBytesPerPixel = 3; // 3 color channels (red, green, blue) +constexpr int kNumTestFrames = 30; + + +class H264EncoderNodeSuite : public ::testing::Test +{ +public: + + constexpr static const std::string & kDefaultEncoding = sensor_msgs::image_encodings::RGB8; + + H264EncoderNodeSuite() {} + +protected: + void SetUp() override + { + ros::Time::init(); + + default_msg = boost::make_shared(); + default_msg->header.seq = 0; + default_msg->header.frame_id = ""; + default_msg->header.stamp = ros::Time::now(); + default_msg->height = kDefaultHeight; + default_msg->width = kDefaultWidth; + default_msg->encoding = kDefaultEncoding; + default_msg->step = kBytesPerPixel * kDefaultWidth; + } + + void KinesisVideoCallback(const kinesis_video_msgs::KinesisVideoFrame::ConstPtr & frame) + { + if (frame->index > 0) { + EXPECT_GT(frame->index, prev_frame.index); + EXPECT_EQ(prev_frame.duration, frame->duration); + EXPECT_EQ(0, (frame->decoding_ts - prev_frame.decoding_ts) % frame->duration); + EXPECT_EQ(0, (frame->presentation_ts - prev_frame.presentation_ts) % frame->duration); + EXPECT_GT(frame->presentation_ts, prev_frame.presentation_ts); + } + + prev_frame = *frame; + if (0 == prev_frame.index) { + fwrite(prev_frame.codec_private_data.data(), 1, + prev_frame.codec_private_data.size(), debug_file); + } + fwrite(prev_frame.frame_data.data(), 1, prev_frame.frame_data.size(), debug_file); + } + + sensor_msgs::ImagePtr default_msg; + std::unique_ptr encoder; + Aws::Client::Ros1NodeParameterReader param_reader; + + kinesis_video_msgs::KinesisVideoFrame prev_frame; + FILE * debug_file; +}; + +/** + * Tests the callback of the H264 Encoder Node that performs the initialization + */ +TEST_F(H264EncoderNodeSuite, EncoderInit) +{ + std::unique_ptr invalid_encoder; + sensor_msgs::ImagePtr invalid_msg = boost::make_shared(); + invalid_msg->encoding = "InvalidEncoding"; + Aws::Kinesis::InitializeEncoder(invalid_msg, invalid_encoder, param_reader); + EXPECT_EQ(invalid_encoder, nullptr); + Aws::Kinesis::InitializeEncoder(default_msg, encoder, param_reader); + EXPECT_NE(encoder, nullptr); +} + +static void RainbowColor(const float h, uint8_t & r_out, uint8_t & g_out, uint8_t & b_out) +{ + int i = 6.0f * h; + float f = 6.0f * h - i; + float t = f; + float q = 1.0f - f; + + float r, g, b; + switch (i % 6) { + case 0: + r = 1.0f; + g = t; + b = 0.0f; + break; + case 1: + r = q; + g = 1.0f; + b = 0.0f; + break; + case 2: + r = 0.0f; + g = 1.0f; + b = t; + break; + case 3: + r = 0.0f; + g = q; + b = 1.0f; + break; + case 4: + r = t; + g = 0.0f; + b = 1.0f; + break; + case 5: + r = 1.0f; + g = 0.0f; + b = q; + break; + } + + r_out = std::lround(255.0f * r); + g_out = std::lround(255.0f * g); + b_out = std::lround(255.0f * b); +} + +void CreateImageMsg(sensor_msgs::ImagePtr & msg, int frame_num) +{ + ++msg->header.seq; + msg->header.stamp = ros::Time::now(); + + // prepare a dummy image + int shift = static_cast(frame_num) / (kNumTestFrames - 1) * kDefaultWidth; + for (int y = 0; y < kDefaultHeight; ++y) { + for (int x = 0; x < kDefaultWidth; ++x) { + uint8_t r, g, b; + RainbowColor(static_cast((x + shift) % kDefaultWidth) / kDefaultWidth, r, g, b); + msg->data[kBytesPerPixel * y * kDefaultWidth + kBytesPerPixel * x + 0] = r; + msg->data[kBytesPerPixel * y * kDefaultWidth + kBytesPerPixel * x + 1] = g; + msg->data[kBytesPerPixel * y * kDefaultWidth + kBytesPerPixel * x + 2] = b; + } + } +} + +/** + * Tests the callback of the H264 Encoder Node that performs the encoding + */ +TEST_F(H264EncoderNodeSuite, EncoderCallback) +{ + Aws::Kinesis::InitializeEncoder(default_msg, encoder, param_reader); + EXPECT_NE(encoder, nullptr); + + ros::NodeHandle pub_node; + ros::Publisher pub = + pub_node.advertise(kDefaultPublicationTopicName, 100); + + ros::NodeHandle sub_node; + boost::function callback; + callback = [this](const kinesis_video_msgs::KinesisVideoFrame::ConstPtr & frame) -> void { + this->KinesisVideoCallback(frame); + }; + ros::Subscriber sub = sub_node.subscribe(kDefaultPublicationTopicName, 100, callback); + + default_msg->data.resize(kBytesPerPixel * kDefaultWidth * kDefaultHeight); + debug_file = fopen("frames_encodercallback.bin", "wb"); + + // let's encode 30 frames + uint64_t prev_frame_index = 0, frame_index = 0; + kinesis_video_msgs::KinesisImageMetadata metadata; + for (int i = 0; i < kNumTestFrames; ++i) { + CreateImageMsg(default_msg, i); + Aws::Kinesis::ImageCallback(default_msg, encoder.get(), frame_index, metadata, pub); + ros::spinOnce(); + + EXPECT_GE(frame_index, prev_frame_index); + prev_frame_index = frame_index; + } + + fclose(debug_file); + // you can dump the debug frames by executing: ffmpeg -i frames.bin -frames:v 10 -f image2 + // frame%03d.png +} + + +/** + * Tests that InitializeCommunicaiton sets up the correct subscribers and publisher + */ + +TEST_F(H264EncoderNodeSuite, InitializeCommunicaiton) +{ + ros::NodeHandle nh("~"); + ros::Publisher pub; + image_transport::Subscriber image_sub; + ros::Subscriber metadata_sub; + uint64_t frame_num = 0; + kinesis_video_msgs::KinesisImageMetadata metadata; + Aws::Client::Ros1NodeParameterReader param_reader; + Aws::Kinesis::InitializeCommunication(nh, metadata_sub, image_sub, pub, + encoder, frame_num, metadata, param_reader); + + EXPECT_EQ(kDefaultPublicationTopicName, pub.getTopic()); + EXPECT_EQ(kDefaultSubscriptionTopicName, image_sub.getTopic()); + EXPECT_EQ(kDefaultMetadataTopicName, metadata_sub.getTopic()); + + // Test that callback function is properly set up + ros::NodeHandle sub_node; + boost::function callback; + callback = [this](const kinesis_video_msgs::KinesisVideoFrame::ConstPtr & frame) -> void { + this->KinesisVideoCallback(frame); + }; + ros::Subscriber sub = sub_node.subscribe(kDefaultPublicationTopicName, 100, callback); + + // setup the raw image source + default_msg->data.resize(kBytesPerPixel * kDefaultWidth * kDefaultHeight); + ros::NodeHandle pub_node("~"); + ros::Publisher image_pub = + pub_node.advertise(kDefaultSubscriptionTopicName, 100); + + // let's encode 30 frames of the raw image + constexpr int kNumTestFrames = 30; + debug_file = fopen("frames_intialize_communication.bin", "wb"); + uint64_t prev_frame_index = 0, frame_index = 0; + for (int i = 0; i < kNumTestFrames; ++i) { + CreateImageMsg(default_msg, i); + image_pub.publish(default_msg); + ros::spinOnce(); + EXPECT_GE(frame_index, prev_frame_index); + prev_frame_index = frame_index; + } + + fclose(debug_file); +} + + +int main(int argc, char ** argv) +{ + + testing::InitGoogleTest(&argc, argv); + ros::init(argc, argv, "test_h264_video_encoder"); + return RUN_ALL_TESTS(); +} diff --git a/bundle/h264_video_encoder/test/test_h264_video_encoder.test b/bundle/h264_video_encoder/test/test_h264_video_encoder.test new file mode 100644 index 00000000..fb564168 --- /dev/null +++ b/bundle/h264_video_encoder/test/test_h264_video_encoder.test @@ -0,0 +1,3 @@ + + + diff --git a/docker/Dockerfile.cpu b/docker/Dockerfile.cpu index 2884320e..6974b1c7 100644 --- a/docker/Dockerfile.cpu +++ b/docker/Dockerfile.cpu @@ -11,8 +11,8 @@ RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" RUN apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 RUN apt-get update -y && \ apt-get install ros-melodic-ros-base python-rosdep python-rosinstall \ - ros-melodic-media-export ros-melodic-web-video-server ros-melodic-rosmsg ros-melodic-h264-video-encoder \ - python-rosinstall-generator python-wstool python-matplotlib -y --allow-unauthenticated --no-install-recommends && \ + ros-melodic-media-export ros-melodic-web-video-server ros-melodic-rosmsg \ + python-rosinstall-generator python-wstool python-matplotlib ros-melodic-h264-encoder-core -y --allow-unauthenticated --no-install-recommends && \ apt-get clean && \ rm -rf /var/lib/apt/lists/* @@ -58,7 +58,7 @@ RUN python2 -m pip install --no-cache-dir 'opencv-python>=4.2,<4.3' COPY bundle /opt/install WORKDIR /opt/install -RUN apt-get update -y && rosdep install --from-paths . --ignore-src -r -y deepracer_gazebo_system_plugin deepracer_msgs deepracer_simulation_environment && \ +RUN apt-get update -y && rosdep install --from-paths . --ignore-src -r -y deepracer_gazebo_system_plugin deepracer_msgs deepracer_simulation_environment h264_video_encoder && \ apt-get clean && \ rm -rf /var/lib/apt/lists/* ENV COLCON_CURRENT_PREFIX="/opt/install" diff --git a/docker/Dockerfile.cpu-gl b/docker/Dockerfile.cpu-gl index 077d55b6..078a9260 100644 --- a/docker/Dockerfile.cpu-gl +++ b/docker/Dockerfile.cpu-gl @@ -14,7 +14,7 @@ RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" RUN apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 RUN apt-get update -y && \ apt-get install ros-melodic-ros-base python-rosdep python-rosinstall python-rosinstall-generator python-wstool -y --allow-unauthenticated --no-install-recommends && \ - apt-get install -y ros-melodic-media-export ros-melodic-web-video-server ros-melodic-h264-video-encoder ros-melodic-rosmsg python-matplotlib --no-install-recommends && \ + apt-get install -y ros-melodic-media-export ros-melodic-web-video-server ros-melodic-rosmsg python-matplotlib ros-melodic-h264-encoder-core --no-install-recommends && \ apt-get clean && \ rm -rf /var/lib/apt/lists/* @@ -60,7 +60,7 @@ RUN python2 -m pip install --no-cache-dir 'opencv-python>=4.2,<4.3' COPY bundle /opt/install WORKDIR /opt/install -RUN apt-get update -y && rosdep install --from-paths . --ignore-src -r -y deepracer_gazebo_system_plugin deepracer_msgs deepracer_simulation_environment && \ +RUN apt-get update -y && rosdep install --from-paths . --ignore-src -r -y deepracer_gazebo_system_plugin deepracer_msgs deepracer_simulation_environment h264_video_encoder && \ apt-get clean && \ rm -rf /var/lib/apt/lists/* ENV COLCON_CURRENT_PREFIX="/opt/install" diff --git a/docker/Dockerfile.gpu b/docker/Dockerfile.gpu index bb61e1aa..4bfbde2b 100644 --- a/docker/Dockerfile.gpu +++ b/docker/Dockerfile.gpu @@ -11,7 +11,7 @@ RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" RUN apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 RUN apt-get update -y && \ apt-get install ros-melodic-ros-base python-rosdep python-rosinstall \ - ros-melodic-media-export ros-melodic-web-video-server ros-melodic-rosmsg ros-melodic-h264-video-encoder \ + ros-melodic-media-export ros-melodic-web-video-server ros-melodic-rosmsg ros-melodic-h264-encoder-core \ python-rosinstall-generator python-wstool python-matplotlib -y --allow-unauthenticated --no-install-recommends && \ apt-get clean && \ rm -rf /var/lib/apt/lists/* @@ -56,7 +56,7 @@ RUN python2 -m pip install --no-cache-dir 'opencv-python>=4.2,<4.3' COPY bundle /opt/install WORKDIR /opt/install -RUN apt-get update -y && rosdep install --from-paths . --ignore-src -r -y deepracer_gazebo_system_plugin deepracer_msgs deepracer_simulation_environment && \ +RUN apt-get update -y && rosdep install --from-paths . --ignore-src -r -y deepracer_gazebo_system_plugin deepracer_msgs deepracer_simulation_environment h264_video_encoder && \ apt-get clean && \ rm -rf /var/lib/apt/lists/* ENV COLCON_CURRENT_PREFIX="/opt/install" diff --git a/docker/Dockerfile.gpu-gl b/docker/Dockerfile.gpu-gl index 1552798e..7b8c5fbb 100644 --- a/docker/Dockerfile.gpu-gl +++ b/docker/Dockerfile.gpu-gl @@ -23,7 +23,7 @@ RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" RUN apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 RUN apt-get update -y && \ apt-get install ros-melodic-ros-base python-rosdep python-rosinstall python-rosinstall-generator python-wstool -y --allow-unauthenticated --no-install-recommends && \ - apt-get install -y ros-melodic-media-export ros-melodic-web-video-server ros-melodic-rosmsg ros-melodic-h264-video-encoder python-matplotlib --no-install-recommends && \ + apt-get install -y ros-melodic-media-export ros-melodic-web-video-server ros-melodic-rosmsg python-matplotlib ros-melodic-h264-encoder-core --no-install-recommends && \ apt-get clean && \ rm -rf /var/lib/apt/lists/* @@ -69,7 +69,7 @@ RUN python2 -m pip install --no-cache-dir 'opencv-python>=4.2,<4.3' COPY bundle /opt/install WORKDIR /opt/install -RUN apt-get update -y && rosdep install --from-paths . --ignore-src -r -y deepracer_gazebo_system_plugin deepracer_msgs deepracer_simulation_environment && \ +RUN apt-get update -y && rosdep install --from-paths . --ignore-src -r -y deepracer_gazebo_system_plugin deepracer_msgs deepracer_simulation_environment h264_video_encoder && \ apt-get clean && \ rm -rf /var/lib/apt/lists/* ENV COLCON_CURRENT_PREFIX="/opt/install"