How are video streamed in the C# files?

aesreal · March 12, 2019, 9:10am

I’ve been trying to create a custom C# plugin which would process whatever the drone camera streams over.

Problem is I can’t seem to find out where the code is located at and how the frames are being processed in MP. I need to get the individual frames out as a stream and do something with them.

So far I’ve looked at FlightData.cs, Program.cs, Capture.cs (WebCamService), AviPlayer.cs, but I’m still confused. Help please? Thanks!

Michael_Oborne · March 12, 2019, 1:13pm

mission planner supports many types. but at a guess you are looking for the gstreamer integration. check gstreamer.cs for the video pipelines

aesreal · March 15, 2019, 7:52pm

Hi Michael, thanks for replying!

I’ve looked at gstreamer for the past few days but I still don’t understand what it does.

All I need is to be able to at least save the frames that are incoming from the camera at individual .jpg/.bmp/.png files

Michael_Oborne · March 16, 2019, 6:48am

Mission planner uses and event

github.com

ArduPilot/MissionPlanner/blob/e82e18181467a6803aea9f540c525b8e2d4667a7/ExtLibs/Utilities/GStreamer.cs#L33


public class GStreamer

{

    private static readonly ILog log =

        LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);



    private static List<Process> processList = new List<Process>();



    static object _lock = new object();



    private static event EventHandler<Image> _onNewImage;

    public static event EventHandler<Image> onNewImage

    {

        add { _onNewImage += value; }

        remove { _onNewImage -= value; }

    }



    public static class NativeMethods

    {

        [DllImport("libgstreamer-1.0-0.dll", CallingConvention = CallingConvention.Cdecl)]

        public static extern void gst_init(ref int argc, ref IntPtr[] argv);

to change the displayed image.

aesreal · March 16, 2019, 7:14am

This makes things clear! Thanks again!