configurable video specs

config/config.go

@@ -15,10 +15,16 @@ import (
 	"github.com/3DRX/webrtc-ros-bridge/consts"
 )
 
+type ImageSpecifications struct {
+	Width      int      `json:"Width"`
+	Height     int      `json:"Height"`
+	FrameRate  float64  `json:"FrameRate"`
+}
 type TopicConfig struct {
-	NameIn  string `json:"name_in"`
-	NameOut string `json:"name_out"`
-	Type    string `json:"type"` // only "sensor_msgs/msg/Image" is supported
+	NameIn  string              `json:"name_in"`
+	NameOut string              `json:"name_out"`
+	Type    string              `json:"type"`       // only "sensor_msgs/msg/Image" is supported
+	ImgSpec ImageSpecifications `json:"image_spec"` // only valid when type is "Image"
 }
 
 type Config struct {
@@ -116,7 +122,12 @@ func checkCfg(c *Config) error {
 			return fmt.Errorf("wrong topic name format: \"" + topic.NameIn + "\" or \"" + topic.NameOut + "\"")
 		}
 		switch topic.Type {
-		case consts.MSG_IMAGE, consts.MSG_LASER_SCAN:
+		case consts.MSG_IMAGE:
+			tmp := topic.ImgSpec
+			if !(tmp.Width > 0 && tmp.Height > 0 && tmp.FrameRate > 0) {
+				return fmt.Errorf(fmt.Sprintf("wrong params: \"%d %d %f\"", tmp.Width, tmp.Height, tmp.FrameRate))
+			}
+		case consts.MSG_LASER_SCAN:
 			// check passed
 		default:
 			return fmt.Errorf("unsupported topic type: \"" + topic.Type + "\"")
@@ -134,13 +145,18 @@ func LoadCfg() *Config {
 	if _, err := os.Stat(args[1]); errors.Is(err, os.ErrNotExist) {
 		slog.Info(args[1] + " not found, using default config")
 		return &Config{
-			Mode: "receiver",
+			Mode: "sender",
 			Addr: "localhost:8080",
 			Topics: []TopicConfig{
 				{
 					NameIn:  "image_raw",
 					NameOut: "image",
 					Type:    "sensor_msgs/msg/Image",
+					ImgSpec: ImageSpecifications{
+						Width:     1920,
+						Height:    1080,
+						FrameRate: 30,
+					},
 				},
 			},
 		}

config/config_test.go

@@ -20,11 +20,21 @@ func TestCheckfunc(t *testing.T) {
 						NameIn:  "image_raw",
 						NameOut: "image",
 						Type:    "sensor_msgs/msg/Image",
+						ImgSpec: ImageSpecifications{
+							Width:     640,
+							Height:    480,
+							FrameRate: 30,
+						},
 					},
 					{
 						NameIn:  "image_raw",
 						NameOut: "image",
 						Type:    "sensor_msgs/msg/Image",
+						ImgSpec: ImageSpecifications{
+							Width:     640,
+							Height:    480,
+							FrameRate: 29.97,
+						},
 					},
 				},
 			},
@@ -40,11 +50,26 @@ func TestCheckfunc(t *testing.T) {
 						NameIn:  "image_raw",
 						NameOut: "image",
 						Type:    "sensor_msgs/msg/Image",
+						ImgSpec: ImageSpecifications{
+							Width:     0,
+							Height:    480,
+							FrameRate: 29.97,
+						},
 					},
+				},
+			},
+			expected: false,
+		},
+		{
+			name: "valid config",
+			cfg: &Config{
+				Mode: "receiver",
+				Addr: "localhost:8080",
+				Topics: []TopicConfig{
 					{
 						NameIn:  "image_raw",
 						NameOut: "image",
-						Type:    "sensor_msgs/msg/Image",
+						Type:    "sensor_msgs/msg/LaserScan",
 					},
 				},
 			},
@@ -61,6 +86,11 @@ func TestCheckfunc(t *testing.T) {
 						NameOut: "image",
 						Type:    "sensor_msgs/msg/Image",
 					},
+					{
+						NameIn:  "image_raw",
+						NameOut: "image",
+						Type:    "sensor_msgs/msg/LaserScan",
+					},
 				},
 			},
 			expected: false,

go.mod

@@ -1,6 +1,6 @@
 module github.com/3DRX/webrtc-ros-bridge
 
-go 1.23.1
+go 1.23
 
 require (
 	github.com/gorilla/websocket v1.5.3

main.go

@@ -71,6 +71,7 @@ func sender(cfg *config.Config) {
 		sendCandidateChan,
 		recvCandidateChan,
 		actions,
+		&(cfg.Topics[0].ImgSpec),
 	)
 	go pc.Spin()
 	select {}

ros_mediadevices_adapter/ros_mediadevices_adapter.go

@@ -16,10 +16,13 @@ type rosImageAdapter struct {
 	lastFrame *image.RGBA
 	doneCh    chan struct{}
 	imgChan   <-chan *sensor_msgs_msg.Image
+	imgWidth  int
+	imgHeight int
+	frameRate float64
 }
 
-func Initialize(imgChan <-chan *sensor_msgs_msg.Image) {
-	adapter := newROSImageAdapter()
+func Initialize(imgChan <-chan *sensor_msgs_msg.Image, width, height int, frameRate float64) {
+	adapter := newROSImageAdapter(width, height, frameRate)
 	adapter.imgChan = imgChan
 	driver.GetManager().Register(adapter, driver.Info{
 		Label:      "ros_image_topic",
@@ -28,8 +31,8 @@ func Initialize(imgChan <-chan *sensor_msgs_msg.Image) {
 	})
 }
 
-func newROSImageAdapter() *rosImageAdapter {
-	return &rosImageAdapter{}
+func newROSImageAdapter(width, height int, frameRate float64) *rosImageAdapter {
+	return &rosImageAdapter{imgWidth: width, imgHeight: height, frameRate: frameRate}
 }
 
 func (a *rosImageAdapter) getRgba() (*image.RGBA, error) {
@@ -70,9 +73,10 @@ func (a *rosImageAdapter) VideoRecord(selectedProp prop.Media) (video.Reader, er
 func (a *rosImageAdapter) Properties() []prop.Media {
 	supportedProp := prop.Media{
 		Video: prop.Video{
-			Width:       640,
-			Height:      480,
+			Width:       a.imgWidth,
+			Height:      a.imgHeight,
 			FrameFormat: frame.FormatRGBA,
+			FrameRate:   float32(a.frameRate),
 		},
 	}
 	return []prop.Media{supportedProp}

sender/peer_connection_channel/peer_connection_channel.go

@@ -4,7 +4,7 @@ import (
 	"encoding/json"
 	"errors"
 	"log/slog"
-
+	"github.com/3DRX/webrtc-ros-bridge/config"
 	sensor_msgs_msg "github.com/3DRX/webrtc-ros-bridge/rclgo_gen/sensor_msgs/msg"
 	rosmediadevicesadapter "github.com/3DRX/webrtc-ros-bridge/ros_mediadevices_adapter"
 	send_signalingchannel "github.com/3DRX/webrtc-ros-bridge/sender/signaling_channel"
@@ -47,6 +47,7 @@ func InitPeerConnectionChannel(
 	sendCandidateChan chan<- webrtc.ICECandidateInit,
 	recvCandidateChan <-chan webrtc.ICECandidateInit,
 	action *send_signalingchannel.Action,
+	imgSpec *config.ImageSpecifications,
 ) *PeerConnectionChannel {
 	// parse action
 	if action.Type != "configure" {
@@ -74,8 +75,15 @@ func InitPeerConnectionChannel(
 	// create a dispatch goroutine to split image message from other sensor messages
 	imgChan := make(chan *sensor_msgs_msg.Image, 10)
 	sensorChan := make(chan types.Message, 10)
+	var imgWidth, imgHeight int = 640, 480
+	var frameRate float64 = 30.00
+	if imgSpec.Width != 0 && imgSpec.Height != 0  && imgSpec.FrameRate != 0 {
+		imgWidth = imgSpec.Width
+		imgHeight = imgSpec.Height
+		frameRate = imgSpec.FrameRate
+	}
 
-	rosmediadevicesadapter.Initialize(imgChan)
+	rosmediadevicesadapter.Initialize(imgChan, imgWidth, imgHeight, frameRate)
 	vp8Params, err := vpx.NewVP8Params()
 	if err != nil {
 		panic(err)
@@ -106,8 +114,9 @@ func InitPeerConnectionChannel(
 
 	mediaStream, err := mediadevices.GetUserMedia(mediadevices.MediaStreamConstraints{
 		Video: func(constraint *mediadevices.MediaTrackConstraints) {
-			constraint.Width = prop.Int(640)
-			constraint.Height = prop.Int(480)
+			constraint.Width = prop.Int(imgWidth)
+			constraint.Height = prop.Int(imgHeight)
+			constraint.FrameRate = prop.Float(frameRate)
 		},
 		Codec: codecselector,
 	})
@@ -216,3 +225,17 @@ func unmarshalAction(rawAction interface{}, action interface{}) error {
 	}
 	return nil
 }
+
+func checkImgSpec(cfg *config.Config) [2]int {
+	tmp := cfg.Topics[0].ImgSpec
+
+	width, height := 640, 480
+	if tmp.Width != 0 && tmp.Height!= 0 {
+		width = tmp.Width
+		height = tmp.Height
+	}
+	return [2]int{
+		width,
+		height,
+	}
+}