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--- projects:farmrobot:steuerungs-kamera [2021/02/26 11:34]
nicolas-leon created
+++ projects:farmrobot:steuerungs-kamera [2021/03/14 17:51] (current)
jonas [Authors]
@@ Line 1: / Line 1: @@
-====== FPV Camera =====
+====== FPV Camera ======
 The FPV Camera serves a video stream as the first person view (FPV) of the Robot. This makes it possible to see the position of the Robot and anything in its way.
-==== Hardware ====
+===== Hardware =====
-A 3d Printed mount for the bosh40x40 profile was made to stick a polie on it so that the camera gets a better view. The camera is set in a case wich was designed with a litte roof to prevent raindrops on the lense.
+A 3d Printed mount for the Bosch40x40 profile was made to stick a polie on it so that the camera gets a better view. The camera is set in a case which was designed with a litte roof to prevent raindrops on the lense.
-[picture of 40x40 clip and camera case]
+{{:projects:farmrobot:img_2648.jpg?400|}}
-==== Software ====
+[picture of 40x40 clip with pole and camera case(n/a)]
+The following hardware is used for capturing and broadcasting the video stream:
+  * Raspberry Pi 4B (8GB) by element14
+  * element14 Raspberry Pi CSI camera v.2 NoIR
+  * USB-C cable
+  * Heatsinks
+  * Fan
+  * Case
+  * SD-Card
+===== Software =====
+The SD-Card has been flashed with an Ubuntu 20.10 arm64-raspi OS.
+The Pi is configured with the following user:
+  * user name: pi
+  * password: farmrobot
+Its connectable via ethernet or build in wifi module.
+An initial update has been run:
+''sudo apt update && sudo apt upgrade''
+Also some config changes have been made:
+''sudo nano /boot/firmware/config.txt [gpu_mem=512 ; start_x=1]''
+==== Setup ====
+  sudo apt install v4l-utils
+  sudo apt install ffmpeg
+  sudo apt install openssh-server sudo ufw allow ssh ssh pi@farmrobot
+=== ffmpeg stream ===
+Bash script ''stream.sh'':
+  ffmpeg -f v4l2 -input_format h264 -video_size 852x480 -framerate 5 -i /dev/video0>
+  -c:v h264 -preset veryfast -b:v 500k -maxrate 500k -bufsize 10k \
+  -pix_fmt yuv420p -g 10 \
+  -f flv "rtmp://ingest_server/streamkey"
+==== Optional v4l2m2m encoder on arm 64 bit OS ====
+Using v4l2m2m encoder to have arm64 hardware support to efficiently encode a efficient h.265 stream which is sent via rtmp to a server which reencodes to hls to view video stream in a browser.
+Building ffmpeg from source for the newest release and support for v4l_m2m hardware encoding on 64 bit arm.
+''cd/home/pi/ mkdir -p ~/ffmpeg_sources ~/ffmpeg_build ~/bin''
+(installing to /home/pi/bin/ to avoid conflicts with the system package folder)
+According to [[https://trac.ffmpeg.org/wiki/CompilationGuide/Ubuntu]] a lot of dependancies have to be installed beforehand:
+  sudo apt-get update -qq && sudo apt-get -y install \
+  autoconf \
+  automake \
+  build-essential \
+  cmake \
+  git-core \
+  libass-dev \
+  libfreetype6-dev \
+  libgnutls28-dev \
+  libsdl2-dev \
+  libtool \
+  libva-dev \
+  libvdpau-dev \
+  libvorbis-dev \
+  libxcb1-dev \
+  libxcb-shm0-dev \
+  libxcb-xfixes0-dev \
+  meson \
+  ninja-build \
+  pkg-config \
+  texinfo \
+  wget \
+  yasm \
+  zlib1g-dev \
+  libunistring-dev
+installing libaries, chosing wich are needed:
+NASM (An assembler used by some libraries.)
+  cd ~/ffmpeg_sources &&
+  wget https://www.nasm.us/pub/nasm/releasebuilds/2.15.05/nasm-2.15.05.tar.bz2 &&
+  tar xjvf nasm-2.15.05.tar.bz2 &&
+  cd nasm-2.15.05 &&
+  ./autogen.sh &&
+  PATH="$HOME/bin:$PATH" ./configure --prefix="$HOME/ffmpeg_build" --bindir="$HOME/bin" &&
+  make -j 4 &&
+  make install
+libx264 (H.264 video encoder, fallback)
+  cd ~/ffmpeg_sources &&
+  git -C x264 pull 2> /dev/null || git clone --depth 1 https://code.videolan.org/videolan/x264.git &&
+  cd x264 &&
+  PATH="$HOME/bin:$PATH" PKG_CONFIG_PATH="$HOME/ffmpeg_build/lib/pkgconfig" ./configure --prefix="$HOME/ffmpeg_build" --bindir="$HOME/bin" --enable-static --enable-pic &&
+  PATH="$HOME/bin:$PATH" make -j 4 &&
+  make install
+libx265 (H.265/HEVC video encoder)
+  sudo apt-get install libnuma-dev &&
+  cd ~/ffmpeg_sources &&
+  git -C x265_git pull 2> /dev/null || git clone https://bitbucket.org/multicoreware/x265_git &&
+  cd x265_git/build/linux &&
+  PATH="$HOME/bin:$PATH" cmake -G "Unix Makefiles" -DCMAKE_INSTALL_PREFIX="$HOME/ffmpeg_build" -DENABLE_SHARED=off ../../source &&
+  PATH="$HOME/bin:$PATH" make -j 4 &&
+  make install
+libvpx (VP8/VP9 video encoder/decoder, another efficient video encoder, needs testing)
+  cd ~/ffmpeg_sources &&
+  git -C libvpx pull 2> /dev/null || git clone --depth 1 https://chromium.googlesource.com/webm/libvpx.git &&
+  cd libvpx &&
+  PATH="$HOME/bin:$PATH" ./configure --prefix="$HOME/ffmpeg_build" --disable-examples --disable-unit-tests --enable-vp9-highbitdepth --as=yasm &&
+  PATH="$HOME/bin:$PATH" make -j 4 &&
+  make install
+libaom (AV1 video encoder/decoder)
+  cd ~/ffmpeg_sources &&
+  git -C aom pull 2> /dev/null || git clone --depth 1 https://aomedia.googlesource.com/aom &&
+  mkdir -p aom_build &&
+  cd aom_build &&
+  PATH="$HOME/bin:$PATH" cmake -G "Unix Makefiles" -DCMAKE_INSTALL_PREFIX="$HOME/ffmpeg_build" -DENABLE_SHARED=off -DENABLE_NASM=on ../aom &&
+  PATH="$HOME/bin:$PATH" make -j 4 &&
+  make install
+libsvtav (AV1 video encoder/decoder)
+  cd ~/ffmpeg_sources &&
+  git -C SVT-AV1 pull 2> /dev/null || git clone https://gitlab.com/AOMediaCodec/SVT-AV1.git &&
+  mkdir -p SVT-AV1/build &&
+  cd SVT-AV1/build &&
+  PATH="$HOME/bin:$PATH" cmake -G "Unix Makefiles" -DCMAKE_INSTALL_PREFIX="$HOME/ffmpeg_build" -DCMAKE_BUILD_TYPE=Release -DBUILD_DEC=OFF -DBUILD_SHARED_LIBS=OFF .. &&
+  PATH="$HOME/bin:$PATH" make -j 4 &&
+  make install
+libdav1d (AV1 decoder, much faster than the one provided by libaom Users whose distributions don't provide a recent enough version of meson (0.49.0 or newer) will need to install a more up-to-date version. This is easily done via the Python Package Index:
+''sudo apt-get install python3-pip && pip3 install --user meson''
+  cd ~/ffmpeg_sources &&
+  git -C dav1d pull 2> /dev/null || git clone --depth 1 https://code.videolan.org/videolan/dav1d.git &&
+  mkdir -p dav1d/build &&
+  cd dav1d/build &&
+  meson setup -Denable_tools=false -Denable_tests=false --default-library=static .. --prefix "$HOME/ffmpeg_build" --bindir="$HOME/bin" --libdir="$HOME/ffmpeg_build/lib" &&
+  ninja &&
+  ninja install
+Audio libaries are probably needed for building, especially libfdk_aac for vpx libfdk-aac (AAC audio encoder)
+  cd ~/ffmpeg_sources &&
+  git -C fdk-aac pull 2> /dev/null || git clone --depth 1 https://github.com/mstorsjo/fdk-aac &&
+  cd fdk-aac &&
+  autoreconf -fiv && ./configure --prefix="$HOME/ffmpeg_build" --disable-shared &&
+  make -j 4 &&
+  make install
+libmp3lame libopus
+Building FFmpeg
+  cd ~/ffmpeg_sources &&
+  wget -O ffmpeg-snapshot.tar.bz2 https://ffmpeg.org/releases/ffmpeg-snapshot.tar.bz2 &&
+  tar xjvf ffmpeg-snapshot.tar.bz2 &&
+  cd ffmpeg &&
+  PATH="$HOME/bin:$PATH" PKG_CONFIG_PATH="$HOME/ffmpeg_build/lib/pkgconfig" ./configure
+  --prefix="$HOME/ffmpeg_build"
+  --pkg-config-flags="--static"
+  --extra-cflags="-I$HOME/ffmpeg_build/include"
+  --extra-ldflags="-L$HOME/ffmpeg_build/lib"
+  --extra-libs="-lpthread -lm"
+  --bindir="$HOME/bin"
+  --enable-gpl
+  --arch=aarch64
+  --enable-gnutls
+  --enable-libaom
+  --enable-libsvtav1
+  --enable-libdav1d
+  --enable-libvpx
+  --enable-libx264
+  --enable-libx265
+  --enable-nonfree &&
+  PATH="$HOME/bin:$PATH" make -j 4 &&
+  make install &&
+  hash -r
+  source ~/.profile
+===== Authors =====
+* Jonas Geßmann, Environment & Energy, jonas.gessmann@protonmail.com \\
+* Nicolas Wiehe

FabLab Kamp-Lintfort

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