Organized some stuff

Rover/GStreamer/server-wrapper.cpp

@@ -3,5 +3,5 @@
 int
 main (int argc, char *argv[]) 
 {
-  return start_server(argc, argv, nullptr);
+  return start_server(argc, argv);
 }

Rover/GStreamer/server.cpp

@@ -11,29 +11,6 @@ using namespace std;
 
 unordered_map<string, tuple<const char*, int, int, vector<float>*, const char*>> table;
 
-void
-media_configure (GstRTSPMediaFactory * factory, GstRTSPMedia * media, gpointer user_data)
-{
-  GstElement *element, *appsrc;
-  MyContext *ctx;
-
-  element = gst_rtsp_media_get_element(media);
-  appsrc = gst_bin_get_by_name_recurse_up (GST_BIN (element), "mysrc");
-
-  gst_util_set_object_arg (G_OBJECT (appsrc), "format", "time");
-
-  ctx = g_new0(MyContext, 1);
-  ctx->white = FALSE;
-  ctx->timestamp = 0;
-
-  g_object_set_data_full (G_OBJECT (media), "my-extra-data", ctx, (GDestroyNotify) g_free);
-
-  g_signal_connect (appsrc, "need-data", (GCallback) *(void (**) (GstElement *, guint, MyContext *)) user_data, ctx);
-
-  gst_object_unref(appsrc);
-  gst_object_unref(element);
-}
-
 char *
 construct_pipeline(const char * devpath, const char * input_type, int width, int height, float scale)
 {
@@ -69,7 +46,7 @@ setup_map()
 }
 
 int 
-start_server (int argc, char *argv[], void (*fnc) (GstElement *, guint, MyContext *))
+start_server (int argc, char *argv[])
 {
     GMainLoop *loop;
     GstRTSPServer *server;
@@ -147,10 +124,6 @@ start_server (int argc, char *argv[], void (*fnc) (GstElement *, guint, MyContex
         GstRTSPMediaFactory * factory = gst_rtsp_media_factory_new ();
         gst_rtsp_media_factory_set_launch (factory, pipelines[i]);
         gst_rtsp_media_factory_set_shared (factory, TRUE);
-        if (fnc != NULL) 
-        {
-            g_signal_connect (factory, "media-configure", (GCallback) media_configure, &fnc); 
-        }
         snprintf(attachment, 10, "/feed%hu", i); 
         gst_rtsp_mount_points_add_factory (mounts, attachment, factory);
         g_print ("%s@%s: stream ready at rtsp://127.0.0.1:%s/feed%d\n", devname, devpath, port, i);

Rover/GStreamer/server.h

@@ -9,12 +9,6 @@ struct g_server_data
     const char *argv[8];
 };
 
-typedef struct
-{
-  gboolean white;
-  GstClockTime timestamp;
-} MyContext;
-
-int start_server (int argc, char *argv[], void (*fnc)(GstElement *, guint, MyContext *));
+int start_server (int argc, char *argv[]);
 
 #endif // SERVER_H_

Rover/README.md

@@ -0,0 +1,3 @@
+# Running GStreamer
+Run the device-scanner binary in the GStreamer folder.
+This binary will also start the zed-depth program.

Rover/zed_depth/Makefile → Rover/ZedDepth/Makefile

@@ -5,7 +5,7 @@ CVFLAGS= `pkg-config --cflags --libs opencv4`
 INCLUDES= -I/usr/local/zed/include -I/usr/local/cuda/include -I../GStreamer
 LIBS= /usr/local/zed/lib/*.so -march=armv8-a+simd
 HEADERS= 
-DEPTH= zed_depth
+DEPTH= zed-depth
 
 all: $(DEPTH)
 	rm *.o
@@ -16,10 +16,10 @@ debug: $(DEPTH)_debug
 server: $(HEADERS) ../GStreamer/server.cpp
 	$(CPP) -O3 -c ../GStreamer/server.cpp $(GSFLAGS) $(CFLAGS)
 
-zed_depth: $(HEADERS) $(DEPTH).cpp server
+zed-depth: $(HEADERS) $(DEPTH).cpp server
 	$(CPP) -O3 $(DEPTH).cpp -o $(DEPTH) server.o $(GSFLAGS) $(CVFLAGS) $(CFLAGS) $(INCLUDES) $(LIBS)
 
-zed_depth_debug: $(HEADERS) $(DEPTH).cpp server
+zed-depth_debug: $(HEADERS) $(DEPTH).cpp server
 	$(CPP) -ggdb -D DEBUG $(DEPTH).cpp -o $(DEPTH) server.o $(GSFLAGS) $(CVFLAGS) $(CFLAGS) $(INCLUDES) $(LIBS)
 
 clean:

Rover/ZedDepth/README.md

@@ -0,0 +1 @@
+# DO NOT run zed-depth binary directly except for testing. Run device-scanner binary in /Rover/GStreamer/ to operate other cameras over the network

Rover/ZedDepth/run

@@ -0,0 +1 @@
+./zed-depth

Rover/zed_depth/zed_depth.cpp → Rover/ZedDepth/zed-depth.cpp

@@ -94,12 +94,12 @@ int main(int argc, char *argv[])
     data.argv[0] = argv[0];
     data.argv[1] = "intervideosrc";
     data.argv[2] = "zed_depth";
-    data.argv[3] = "8888";
+    data.argv[3] = "5556";
     data.argv[4] = "intervideosrc channel=rgb ! rtpvrawpay name=pay0 pt=96";
 
     writer.open("appsrc ! video/x-raw,format=BGR ! videoconvert ! video/x-raw,format=I420 ! intervideosink channel=rgb", 0, 10, cv::Size(img_zed.getWidth(), img_zed.getHeight()), true);
 
-    std::thread t1(start_server, data.argc, (char **) data.argv, nullptr);
+    std::thread t1(start_server, data.argc, (char **) data.argv);
     std::thread t2(getSomeImages);
 
 #ifdef DEBUG
@@ -108,12 +108,12 @@ int main(int argc, char *argv[])
     data2.argv[0] = argv[0];
     data2.argv[1] = "intervideosrc";
     data2.argv[2] = "zed_depth_debug";
-    data2.argv[3] = "8889";
+    data2.argv[3] = "8888";
     data2.argv[4] = "intervideosrc channel=wshed ! rtpvrawpay name=pay0 pt=96";
 
     writer_debug.open("appsrc ! video/x-raw,format=BGR ! videoconvert ! video/x-raw,format=I420 ! intervideosink channel=wshed", 0, 10, cv::Size(img_zed.getWidth(), img_zed.getHeight()), true);
 
-    std::thread t3(start_server, data2.argc, (char **) data2.argv, nullptr);
+    std::thread t3(start_server, data2.argc, (char **) data2.argv);
 #endif
 
     for(char key = ' '; key != 'q'; key = cv::waitKey(10))