update cam config

Author: vabhi2007

camera-config/MastCameraCalibration.yml

@@ -4,7 +4,7 @@ name: "mast"
 description: "Camera located on the mast of the rover."
 # Make sure that this camera_id matches the one defined in the udev rules.
 camera_id: 4
-format: "image/jpeg"
+format: "video/x-h264"
 image_width: 1280
 image_height: 720
 framerate: 30

camera-config/WristCameraCalibration.yml

@@ -5,8 +5,8 @@ description: "Camera located on the wrist of the rover arm."
 # Make sure that this camera_id matches the one defined in the udev rules.
 camera_id: 0
 format: "video/x-h264"
-image_width: 1280
-image_height: 720
+image_width: 640
+image_height: 360
 framerate: 30
 opencv_enabled: 1 # 0 for true, 1 for false
 # calib_info:

src/camera/Camera.cpp

@@ -99,7 +99,12 @@ std::string Camera::getGSTPipe(CameraID camera_id) {
 	gstr_ss << ",height=" << static_cast<int>(fs[KEY_IMAGE_HEIGHT]);
 	gstr_ss << ",framerate=" << static_cast<int>(fs[KEY_FRAMERATE]) << "/1 ! ";
 
-	if (formatLower.find("jpeg") != std::string::npos) {
+	if (formatLower.find("h264") != std::string::npos) {
+		gstr_ss << "h264parse ! avdec_h264 ! ";
+	} else if (formatLower.find("h265") != std::string::npos ||
+			   formatLower.find("hevc") != std::string::npos) {
+		gstr_ss << "h265parse ! avdec_h265 ! ";
+	} else if (formatLower.find("jpeg") != std::string::npos) {
 		gstr_ss << "jpegdec ! ";
 	}