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mavlink · Jul 18, 2024 · 76d8a58 · 76d8a58
1 parent 16ee51a
commit 76d8a58
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Showing 5 changed files with 13 additions and 12 deletions.
diff --git a/Cargo.toml b/Cargo.toml
@@ -86,6 +86,8 @@ turn = "0.7"
 ## Image/Thumbnail
 image = "0.24"
 
+statrs = "0.17.1"
+
 ## GSTREAMER
 gst = { package = "gstreamer", version = "0.22", features = ["v1_16"] }
 gst-app = { package = "gstreamer-app", version = "0.22", features = ["v1_16"] }

diff --git a/src/lib/stream/pipeline/redirect_pipeline.rs b/src/lib/stream/pipeline/redirect_pipeline.rs
@@ -74,7 +74,7 @@ impl RedirectPipeline {
             "udp" => {
                 format!(
                     concat!(
-                        "udpsrc address={address} port={port} close-socket=false auto-multicast=true",
+                        "udpsrc address={address} port={port} close-socket=false auto-multicast=true do-timestamp=true",
                         " ! application/x-rtp",
                         " ! tee name={sink_tee_name} allow-not-linked=true"
                     ),

diff --git a/src/lib/stream/pipeline/v4l_pipeline.rs b/src/lib/stream/pipeline/v4l_pipeline.rs
@@ -98,6 +98,7 @@ impl V4lPipeline {
                     concat!(
                         "v4l2src device={device} do-timestamp=true",
                         // We don't need a jpegparse, as it leads to incompatible caps, spoiling the negotiation.
+                        // " ! jpegparse", TODO: test it again, it was possibly a gstreamer bug
                         " ! capsfilter name={filter_name} caps=image/jpeg,width={width},height={height},framerate={interval_denominator}/{interval_numerator}",
                         " ! tee name={video_tee_name} allow-not-linked=true",
                         " ! rtpjpegpay pt=96",

diff --git a/src/lib/stream/sink/image_sink.rs b/src/lib/stream/sink/image_sink.rs
@@ -346,6 +346,7 @@ impl ImageSink {
         match encoding {
             VideoEncodeType::H264 => {
                 // For h264, we need to filter-out unwanted non-key frames here, before decoding it.
+                // let parser = gst::ElementFactory::make("h264parse").build()?;
                 let filter = gst::ElementFactory::make("identity")
                     .property("drop-buffer-flags", gst::BufferFlags::DELTA_UNIT)
                     .property("sync", false)
@@ -354,12 +355,15 @@ impl ImageSink {
                     .property_from_str("lowres", "2") // (0) is 'full'; (1) is '1/2-size'; (2) is '1/4-size'
                     .build()?;
                 decoder.has_property("discard-corrupted-frames", None).then(|| decoder.set_property("discard-corrupted-frames", true));
+                // _transcoding_elements.push(parser);
                 _transcoding_elements.push(filter);
                 _transcoding_elements.push(decoder);
             }
             VideoEncodeType::Mjpg => {
+                // let parser = gst::ElementFactory::make("jpegparse").build()?;
                 let decoder = gst::ElementFactory::make("jpegdec").build()?;
                 decoder.has_property("discard-corrupted-frames", None).then(|| decoder.set_property("discard-corrupted-frames", true));
+                // _transcoding_elements.push(parser);
                 _transcoding_elements.push(decoder);
             }
             VideoEncodeType::Rgb => {}

diff --git a/tests/v4l2_latency_and_jitter.rs b/tests/v4l2_latency_and_jitter.rs
@@ -65,12 +65,6 @@ impl V4l2LoopBack {
             unreachable!();
         };
 
-        let endpoint = video_and_stream_information
-            .stream_information
-            .endpoints
-            .first()
-            .unwrap();
-
         let pipeline_description = match configuration.encode {
             VideoEncodeType::H264 => format!(
                 concat!(
@@ -186,7 +180,7 @@ impl QrTimeStampSink {
                     " ! rtph264depay",
                     " ! h264parse",
                     " ! video/x-h264,width={width},height={height},framerate={framerate_num}/{framerate_den}",
-                    " ! avdec_h264",
+                    " ! avdec_h264 discard-corrupted-frames=true",
                     " ! videoconvert",
                     " ! qrtimestampsink name=qrsink",
                 ),
@@ -311,7 +305,7 @@ impl Baseline {
                     " ! video/x-h264,profile=constrained-baseline,stream-format=byte-stream,alignment=au",
                     " ! h264parse",
                     " ! video/x-h264,width={width},height={height},framerate={framerate_num}/{framerate_den}",
-                    " ! avdec_h264",
+                    " ! avdec_h264 discard-corrupted-frames=true",
                     " ! videoconvert",
                     " ! qrtimestampsink name=qrsink",
                 ),
@@ -556,9 +550,9 @@ async fn main() {
     let buffers = 100;
 
     let test_cases = [
-        (VideoEncodeType::H264, format!("udp://{address}:5600"), 5.),
-        (VideoEncodeType::Mjpg, format!("udp://{address}:5600"), 5.),
-        (VideoEncodeType::Yuyv, format!("udp://{address}:5600"), 8.),
+        // (VideoEncodeType::H264, format!("udp://{address}:5600"), 5.),
+        // (VideoEncodeType::Mjpg, format!("udp://{address}:5600"), 5.),
+        // (VideoEncodeType::Yuyv, format!("udp://{address}:5600"), 8.),
         (
             VideoEncodeType::H264,
             format!("rtsp://{address}:8554/test"),