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lbegani
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[CSD] : Camera def file for Intel RS RGB camera
For Camera control feature, an xml file with description of parameters that the camera supports need to be hosted over http. The address of the file will be read by the camera streaming daemon from conf file and sent to QGC in a mavlink message. QGC will then download the xml file over http
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‎recipes-support/aero-http-server/aero-http-server.bb‎

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@@ -7,6 +7,7 @@ inherit systemd
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SRC_URI += "file://aero-http-server.py \
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file://aero-http-server.service \
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file://aero-http-server.socket \
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file://camera-def-rs-rgb.xml \
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"
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FILES_${PN} += "${bindir}/aero-http-server.py \
@@ -21,6 +22,7 @@ do_install() {
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install -m 0644 ${WORKDIR}/aero-http-server.service ${D}${systemd_unitdir}/system
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install -m 0644 ${WORKDIR}/aero-http-server.socket ${D}${systemd_unitdir}/system
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install -m 0755 ${WORKDIR}/aero-http-server.py ${D}${bindir}
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install -m 0644 ${WORKDIR}/camera-def-rs-rgb.xml ${D}${localstatedir}/http
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}
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SYSTEMD_SERVICE_${PN} += "aero-http-server.service"

‎recipes-support/aero-http-server/files/camera-def-rs-rgb.xml‎

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<?xml version="1.0" encoding="UTF-8" ?>
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<mavlinkcamera>
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<definition version="1">
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<model>RealSense RGB Camera</model>
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<vendor>Intel Corporation</vendor>
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</definition>
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<parameters>
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<!-- control = 0 tells us this should not create an automatic UI control -->
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<parameter name="camera-mode" type="uint32" default="1" control="0">
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<description>Camera Mode</description>
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<options>
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<option name="still" value="0">
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<exclusions>
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<exclude>video-size</exclude>
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</exclusions>
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</option>
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<option name="video" value="1">
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</option>
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</options>
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</parameter>
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<parameter name="brightness" type="uint32" default="56" min="0" max="225" step ="1">
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<description>Brightness</description>
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</parameter>
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<parameter name="contrast" type="uint32" default="32" min="16" max="64" step ="1">
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<description>Contrast</description>
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</parameter>
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<parameter name="saturation" type="uint32" default="128" min="0" max="225" step ="1">
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<description>Saturation</description>
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</parameter>
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<parameter name="hue" type="int32" default="0" min="-2200" max="2200" step ="1">
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<description>Hue</description>
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</parameter>
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<parameter name="gamma" type="uint32" default="220" min="100" max="280" step ="1">
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<description>Gamma</description>
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</parameter>
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<parameter name="gain" type="uint32" default="32" min="0" max="256" step ="1">
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<description>Gain</description>
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</parameter>
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<parameter name="sharpness" type="uint32" default="0" min="0" max="7" step ="1">
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<description>Sharpness </description>
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</parameter>
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<parameter name="backlight" type="uint32" default="1" min="0" max="4" step ="1">
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<description>Backlight Compensation</description>
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</parameter>
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<parameter name="power-mode" type="uint32" default="0">
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<description>Power Line Frequency </description>
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<options>
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<option name="Disabled" value="0" />
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<option name="50 Hz" value="1" />
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<option name="60 Hz" value="2" />
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</options>
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</parameter>
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<parameter name="wb-mode" type="uint32" default="1">
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<description>White Balance Mode</description>
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<options>
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<option name="Manual Mode" value="0" />
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<option name="Auto" value="1" >
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<exclusions>
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<exclude>wb-temp</exclude>
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</exclusions>
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</option>
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</options>
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</parameter>
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<parameter name="wb-temp" type="uint32" default="6500" min="2000" max="8000" step ="1">
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<description>White Balance Temperature </description>
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</parameter>
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<parameter name="exp-mode" type="uint32" default="3">
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<description>Exposure Mode</description>
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<options>
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<option name="Manual Mode" value="0" />
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<option name="Aperture Priority Mode" value="3" >
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<exclusions>
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<exclude>exp-absolute</exclude>
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</exclusions>
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</option>
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</options>
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</parameter>
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<parameter name="exp-absolute" type="uint32" default="1" min="1" max="666" step ="1">
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<description>Exposure Absolute</description>
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</parameter>
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<parameter name="video-size" type="uint32" default="0">
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<description>Video Resolution</description>
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<options>
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<option name="1920x1080x30" value="1" />
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<option name="1920x1080x15" value="2" />
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<option name="1280x720x30" value="3" />
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<option name="1280x720x15" value="4" />
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<option name="960x540x30" value="5" />
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<option name="960x540x15" value="6" />
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<option name="848x480x30" value="7" />
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<option name="848x480x15" value="8" />
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<option name="640x480x60" value="9" />
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<option name="640x480x30" value="10" />
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<option name="640x480x15" value="11" />
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<option name="640x360x30" value="12" />
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<option name="640x360x15" value="13" />
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<option name="424x240x30" value="14" />
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<option name="424x240x15" value="15" />
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<option name="320x240x60" value="16" />
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<option name="320x240x30" value="17" />
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<option name="320x240x15" value="18" />
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<option name="320x180x30" value="19" />
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<option name="320x180x15" value="20" />
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</options>
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</parameter>
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</parameters>
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</mavlinkcamera>

‎recipes-support/camera-streaming-daemon/files/main.conf‎

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@@ -10,3 +10,6 @@ blacklist=video0,video1,video3,video4,video5,video6,video7,video8,video9,video10
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broadcast_addr=127.0.0.1
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port=80550
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rtsp_server_addr=192.168.8.1
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[uri]
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video13=http://192.168.8.1:8000/camera-def-rs-rgb.xml

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