Merge pull request #7551 from mavlink/rtpUdpH265

Adding RTP UDP h.265

ChangeLog.md

@@ -6,6 +6,7 @@ Note: This file only contains high level features or important fixes.
 
 ### 3.6.0 - Daily Build
 
+* Adding support for UDP RTP h.265 video streams
 * For text to speech engine on Linux to English (all messages are in English)
 * Automated the ingestion of localization from Crowdin
 * Automated the generation of language resources into the application

src/FlightDisplay/VideoManager.cc

@@ -249,7 +249,8 @@ VideoManager::isGStreamer()
 #if defined(QGC_GST_STREAMING)
     QString videoSource = _videoSettings->videoSource()->rawValue().toString();
     return
-        videoSource == VideoSettings::videoSourceUDP ||
+        videoSource == VideoSettings::videoSourceUDPH264 ||
+        videoSource == VideoSettings::videoSourceUDPH265 ||
         videoSource == VideoSettings::videoSourceRTSP ||
         videoSource == VideoSettings::videoSourceTCP ||
         videoSource == VideoSettings::videoSourceMPEGTS ||
@@ -325,8 +326,10 @@ VideoManager::_updateSettings()
         }
     }
     QString source = _videoSettings->videoSource()->rawValue().toString();
-    if (source == VideoSettings::videoSourceUDP)
+    if (source == VideoSettings::videoSourceUDPH264)
         _videoReceiver->setUri(QStringLiteral("udp://0.0.0.0:%1").arg(_videoSettings->udpPort()->rawValue().toInt()));
+    else if (source == VideoSettings::videoSourceUDPH265)
+        _videoReceiver->setUri(QStringLiteral("udp265://0.0.0.0:%1").arg(_videoSettings->udpPort()->rawValue().toInt()));
     else if (source == VideoSettings::videoSourceMPEGTS)
         _videoReceiver->setUri(QStringLiteral("mpegts://0.0.0.0:%1").arg(_videoSettings->udpPort()->rawValue().toInt()));
     else if (source == VideoSettings::videoSourceRTSP)

src/Settings/VideoSettings.cc

@@ -22,7 +22,8 @@
 const char* VideoSettings::videoSourceNoVideo   = "No Video Available";
 const char* VideoSettings::videoDisabled        = "Video Stream Disabled";
 const char* VideoSettings::videoSourceRTSP      = "RTSP Video Stream";
-const char* VideoSettings::videoSourceUDP       = "UDP Video Stream";
+const char* VideoSettings::videoSourceUDPH264   = "UDP h.264 Video Stream";
+const char* VideoSettings::videoSourceUDPH265   = "UDP h.265 Video Stream";
 const char* VideoSettings::videoSourceTCP       = "TCP-MPEG2 Video Stream";
 const char* VideoSettings::videoSourceMPEGTS    = "MPEG-TS (h.264) Video Stream";
 
@@ -35,7 +36,8 @@ DECLARE_SETTINGGROUP(Video, "Video")
 #ifdef QGC_GST_STREAMING
     videoSourceList.append(videoSourceRTSP);
 #ifndef NO_UDP_VIDEO
-    videoSourceList.append(videoSourceUDP);
+    videoSourceList.append(videoSourceUDPH264);
+    videoSourceList.append(videoSourceUDPH265);
 #endif
     videoSourceList.append(videoSourceTCP);
     videoSourceList.append(videoSourceMPEGTS);
@@ -141,7 +143,7 @@ bool VideoSettings::streamConfigured(void)
         return false;
     }
     //-- If UDP, check if port is set
-    if(vSource == videoSourceUDP) {
+    if(vSource == videoSourceUDPH264 || vSource == videoSourceUDPH265) {
         qCDebug(VideoManagerLog) << "Testing configuration for UDP Stream:" << udpPort()->rawValue().toInt();
         return udpPort()->rawValue().toInt() != 0;
     }

src/Settings/VideoSettings.h

@@ -37,19 +37,22 @@ public:
 
     Q_PROPERTY(bool     streamConfigured        READ streamConfigured       NOTIFY streamConfiguredChanged)
     Q_PROPERTY(QString  rtspVideoSource         READ rtspVideoSource        CONSTANT)
-    Q_PROPERTY(QString  udpVideoSource          READ udpVideoSource         CONSTANT)
+    Q_PROPERTY(QString  udp264VideoSource       READ udp264VideoSource      CONSTANT)
+    Q_PROPERTY(QString  udp265VideoSource       READ udp265VideoSource      CONSTANT)
     Q_PROPERTY(QString  tcpVideoSource          READ tcpVideoSource         CONSTANT)
     Q_PROPERTY(QString  mpegtsVideoSource       READ mpegtsVideoSource      CONSTANT)
 
     bool     streamConfigured       ();
     QString  rtspVideoSource        () { return videoSourceRTSP; }
-    QString  udpVideoSource         () { return videoSourceUDP; }
+    QString  udp264VideoSource      () { return videoSourceUDPH264; }
+    QString  udp265VideoSource      () { return videoSourceUDPH265; }
     QString  tcpVideoSource         () { return videoSourceTCP; }
     QString  mpegtsVideoSource      () { return videoSourceMPEGTS; }
 
     static const char* videoSourceNoVideo;
     static const char* videoDisabled;
-    static const char* videoSourceUDP;
+    static const char* videoSourceUDPH264;
+    static const char* videoSourceUDPH265;
     static const char* videoSourceRTSP;
     static const char* videoSourceTCP;
     static const char* videoSourceMPEGTS;

src/Taisync/TaisyncManager.cc

@@ -337,7 +337,7 @@ TaisyncManager::_setVideoEnabled()
         pVSettings->udpPort()->setRawValue(5600);
         //-- TODO: this AR must come from somewhere
         pVSettings->aspectRatio()->setRawValue(1024.0 / 768.0);
-        pVSettings->videoSource()->setRawValue(QString(VideoSettings::videoSourceUDP));
+        pVSettings->videoSource()->setRawValue(QString(VideoSettings::videoSourceUDPH264));
 #if defined(__ios__) || defined(__android__)
         if(!_taiVideo) {
             //-- iOS and Android receive raw h.264 and need a different pipeline

src/Vehicle/Vehicle.cc

@@ -511,7 +511,7 @@ void Vehicle::_commonInit(void)
 
     // Set video stream to udp if running ArduSub and Video is disabled
     if (sub() && _settingsManager->videoSettings()->videoSource()->rawValue() == VideoSettings::videoDisabled) {
-        _settingsManager->videoSettings()->videoSource()->setRawValue(VideoSettings::videoSourceUDP);
+        _settingsManager->videoSettings()->videoSource()->setRawValue(VideoSettings::videoSourceUDPH264);
     }
 
     //-- Airspace Management

src/VideoStreaming/README.md

@@ -7,15 +7,22 @@ To build video streaming support, you will need to install the GStreamer develop
 
 If you do have the proper GStreamer development libraries installed where QGC looks for it, the QGC build system will automatically use it and build video streaming support. If you would like to disable video streaming support, you can add **DISABLE_VIDEOSTREAMING** to the **DEFINES** build variable.
 
-### Pipeline
+### UDP Pipeline
 
-For the time being, the pipeline is somewhat hardcoded, using h.264. It's best to use a camera capable of hardware encoding h.264, such as the Logitech C920. On the sender end, for RTP (UDP Streaming) you would run something like this:
+For the time being, the RTP UDP pipeline is somewhat hardcoded, using h.264 or h.265. It's best to use a camera capable of hardware encoding either h.264 (such as the Logitech C920) or h.265. On the sender end, for RTP (UDP Streaming) you would run something like this:
 
+h.264
 ```
 gst-launch-1.0 uvch264src initial-bitrate=1000000 average-bitrate=1000000 iframe-period=1000 device=/dev/video0 name=src auto-start=true src.vidsrc ! video/x-h264,width=1920,height=1080,framerate=24/1 ! h264parse ! rtph264pay ! udpsink host=xxx.xxx.xxx.xxx port=5600
 ```
 
-Where xxx.xxx.xxx.xxx is the IP address where QGC is running. You may tweak the bitrate, the resolution and the FPS based on your needs and/or available bandwidth.
+h.265
+```
+ffmpeg -f v4l2 -i /dev/video1 -pix_fmt yuv420p -c:v libx265 -preset ultrafast -x265-params crf=23 -strict experimental -f rtp udp://xxx.xxx.xxx.xxx:5600
+```
+
+Where xxx.xxx.xxx.xxx is the IP address where QGC is running.
+
 
 To test using a test source on localhost, you can run this command:
 ```
@@ -31,6 +38,10 @@ On the receiving end, if you want to test it from the command line, you can use
 gst-launch-1.0 udpsrc port=5600 caps='application/x-rtp, media=(string)video, clock-rate=(int)90000, encoding-name=(string)H264' ! rtph264depay ! avdec_h264 ! autovideosink fps-update-interval=1000 sync=false
 ```
 
+### Additional Protocols
+
+QGC also supports RTSP, TCP-MPEG2 and MPEG-TS (h.264) pipelines.
+
 ### Linux
 
 Use apt-get to install GStreamer 1.0

src/VideoStreaming/VideoReceiver.cc

@@ -75,7 +75,7 @@ VideoReceiver::VideoReceiver(QObject* parent)
     , _swDecoderName("avdec_h264")
 {
     _videoSurface = new VideoSurface;
-    _videoSettings = qgcApp()->toolbox()->settingsManager()->videoSettings();    
+    _videoSettings = qgcApp()->toolbox()->settingsManager()->videoSettings();
 #if defined(QGC_GST_STREAMING)
     setVideoDecoder(H264_SW);
     _setVideoSink(_videoSurface->videoSink());
@@ -183,7 +183,8 @@ VideoReceiver::start()
 #else
     bool isTaisyncUSB = false;
 #endif
-    bool isUdp      = _uri.contains("udp://")  && !isTaisyncUSB;
+    bool isUdp264   = _uri.contains("udp://")  && !isTaisyncUSB;
+    bool isUdp265   = _uri.contains("udp265://")  && !isTaisyncUSB;
     bool isTCP      = _uri.contains("tcp://")  && !isTaisyncUSB;
     bool isMPEGTS   = _uri.contains("mpegts://")  && !isTaisyncUSB;
 
@@ -199,6 +200,11 @@ VideoReceiver::start()
         qCDebug(VideoReceiverLog) << "Already running!";
         return;
     }
+    if (isUdp264) {
+        setVideoDecoder(H264_HW);
+    } else if (isUdp265) {
+        setVideoDecoder(H265_HW);
+    }
 
     _starting = true;
 
@@ -219,7 +225,7 @@ VideoReceiver::start()
             break;
         }
 
-        if(isUdp || isMPEGTS || isTaisyncUSB) {
+        if(isUdp264 || isUdp265 || isMPEGTS || isTaisyncUSB) {
             dataSource = gst_element_factory_make("udpsrc", "udp-source");
         } else if(isTCP) {
             dataSource = gst_element_factory_make("tcpclientsrc", "tcpclient-source");
@@ -232,12 +238,18 @@ VideoReceiver::start()
             break;
         }
 
-        if(isUdp) {
+        if(isUdp264) {
             if ((caps = gst_caps_from_string("application/x-rtp, media=(string)video, clock-rate=(int)90000, encoding-name=(string)H264")) == nullptr) {
                 qCritical() << "VideoReceiver::start() failed. Error with gst_caps_from_string()";
                 break;
             }
             g_object_set(static_cast<gpointer>(dataSource), "uri", qPrintable(_uri), "caps", caps, nullptr);
+        } else if(isUdp265) {
+            if ((caps = gst_caps_from_string("application/x-rtp, media=(string)video, clock-rate=(int)90000, encoding-name=(string)H265")) == nullptr) {
+                qCritical() << "VideoReceiver::start() failed. Error with gst_caps_from_string()";
+                break;
+            }
+            g_object_set(static_cast<gpointer>(dataSource), "uri", qPrintable(_uri.replace("udp265", "udp")), "caps", caps, nullptr);
 #if  defined(QGC_GST_TAISYNC_ENABLED) && (defined(__android__) || defined(__ios__))
         } else if(isTaisyncUSB) {
             QString uri = QString("0.0.0.0:%1").arg(TAISYNC_VIDEO_UDP_PORT);
@@ -305,7 +317,7 @@ VideoReceiver::start()
         }
         pipelineUp = true;
 
-        if(isUdp) {
+        if(isUdp264 || isUdp265) {
             // Link the pipeline in front of the tee
             if(!gst_element_link_many(dataSource, demux, parser, _tee, queue, decoder, queue1, _videoSink, nullptr)) {
                 qCritical() << "Unable to link UDP elements.";

src/ui/preferences/GeneralSettings.qml

@@ -46,7 +46,8 @@ Rectangle {
 
     property string _videoSource:               QGroundControl.settingsManager.videoSettings.videoSource.value
     property bool   _isGst:                     QGroundControl.videoManager.isGStreamer
-    property bool   _isUDP:                     _isGst && _videoSource === QGroundControl.settingsManager.videoSettings.udpVideoSource
+    property bool   _isUDP264:                  _isGst && _videoSource === QGroundControl.settingsManager.videoSettings.udp264VideoSource
+    property bool   _isUDP265:                  _isGst && _videoSource === QGroundControl.settingsManager.videoSettings.udp265VideoSource
     property bool   _isRTSP:                    _isGst && _videoSource === QGroundControl.settingsManager.videoSettings.rtspVideoSource
     property bool   _isTCP:                     _isGst && _videoSource === QGroundControl.settingsManager.videoSettings.tcpVideoSource
     property bool   _isMPEGTS:                  _isGst && _videoSource === QGroundControl.settingsManager.videoSettings.mpegtsVideoSource
@@ -801,12 +802,12 @@ Rectangle {
 
                             QGCLabel {
                                 text:                   qsTr("UDP Port")
-                                visible:                (_isUDP || _isMPEGTS)  && QGroundControl.settingsManager.videoSettings.udpPort.visible
+                                visible:                (_isUDP264 || _isUDP265 || _isMPEGTS)  && QGroundControl.settingsManager.videoSettings.udpPort.visible
                             }
                             FactTextField {
                                 Layout.preferredWidth:  _comboFieldWidth
                                 fact:                   QGroundControl.settingsManager.videoSettings.udpPort
-                                visible:                (_isUDP || _isMPEGTS) && QGroundControl.settingsManager.videoSettings.udpPort.visible
+                                visible:                (_isUDP264 || _isUDP265 || _isMPEGTS) && QGroundControl.settingsManager.videoSettings.udpPort.visible
                             }
 
                             QGCLabel {