video publisher more options

pi/bin/debian-laptop-video-publisher.sh

@@ -58,6 +58,7 @@ load_env_file
 : "${ROVERD_VIDEO_ENABLE:?ROVERD_VIDEO_ENABLE not set in ${ENV_FILE}}"
 : "${ROVERD_VIDEO_PUBLISH_URL:?ROVERD_VIDEO_PUBLISH_URL not set in ${ENV_FILE}}"
 : "${ROVERD_VIDEO_DEVICE:?ROVERD_VIDEO_DEVICE not set in ${ENV_FILE}}"
+: "${ROVERD_VIDEO_INPUT_FORMAT:?ROVERD_VIDEO_INPUT_FORMAT not set in ${ENV_FILE}}"
 : "${ROVERD_VIDEO_WIDTH:?ROVERD_VIDEO_WIDTH not set in ${ENV_FILE}}"
 : "${ROVERD_VIDEO_HEIGHT:?ROVERD_VIDEO_HEIGHT not set in ${ENV_FILE}}"
 : "${ROVERD_VIDEO_FPS:?ROVERD_VIDEO_FPS not set in ${ENV_FILE}}"
@@ -74,6 +75,16 @@ if [[ -z "${ROVERD_VIDEO_DEVICE}" ]]; then
 	exit 1
 fi
 
+INPUT_FORMAT_ARGS=()
+if [[ -n "${ROVERD_VIDEO_INPUT_FORMAT}" ]]; then
+	# Many laptop webcams expose both compressed MJPEG and raw YUYV modes. The
+	# wrong negotiated format can still produce a decodable stream, but the
+	# picture appears as green/noisy mush because ffmpeg is interpreting the
+	# frame bytes with the wrong pixel format. Passing input_format pins V4L2 to
+	# the camera mode selected in roverd.yaml.
+	INPUT_FORMAT_ARGS=(-input_format "${ROVERD_VIDEO_INPUT_FORMAT}")
+fi
+
 if [[ -n "${FFMPEG_BIN:-}" ]]; then
 	FFMPEG_BIN_PATH="$FFMPEG_BIN"
 elif command -v ffmpeg >/dev/null 2>&1; then
@@ -99,6 +110,7 @@ run_pipeline() {
 		-flags low_delay \
 		-thread_queue_size 4096 \
 		-f v4l2 \
+		"${INPUT_FORMAT_ARGS[@]}" \
 		-framerate "${ROVERD_VIDEO_FPS}" \
 		-video_size "${ROVERD_VIDEO_WIDTH}x${ROVERD_VIDEO_HEIGHT}" \
 		-i "${ROVERD_VIDEO_DEVICE}" \

pi/install_roverd.sh

@@ -424,6 +424,7 @@ ROVERD_VIDEO_ENABLE=1
 ROVERD_VIDEO_PUBLISHER=pi-libcamera
 ROVERD_VIDEO_PUBLISH_URL=srt://192.168.0.86:9000?streamid=#!::r=CHANGE_ME,m=publish&latency=10&mode=caller&transtype=live&pkt_size=1316
 ROVERD_VIDEO_DEVICE=
+ROVERD_VIDEO_INPUT_FORMAT=
 ROVERD_VIDEO_WIDTH=640
 ROVERD_VIDEO_HEIGHT=480
 ROVERD_VIDEO_FPS=30
@@ -450,6 +451,7 @@ ROVERD_VIDEO_ENABLE=1
 ROVERD_VIDEO_PUBLISHER=debian-laptop-v4l2
 ROVERD_VIDEO_PUBLISH_URL=srt://192.168.0.86:9000?streamid=#!::r=CHANGE_ME,m=publish&latency=10&mode=caller&transtype=live&pkt_size=1316
 ROVERD_VIDEO_DEVICE=/dev/video0
+ROVERD_VIDEO_INPUT_FORMAT=mjpeg
 ROVERD_VIDEO_WIDTH=640
 ROVERD_VIDEO_HEIGHT=480
 ROVERD_VIDEO_FPS=30

pi/roverd/config.go

@@ -93,17 +93,18 @@ type VideoMediaConfig struct {
 	// Publisher selects the installed publisher script/pipeline family. The
 	// first pass uses pi-libcamera for current rovers; laptop-v4l2 can be added
 	// without changing the server-facing media shape again.
-	Enabled    bool   `yaml:"enabled" json:"enabled"`
-	Service    string `yaml:"service" json:"service,omitempty"`
-	Publisher  string `yaml:"publisher" json:"publisher,omitempty"`
-	PublishURL string `yaml:"publishUrl" json:"publishUrl,omitempty"`
-	Device     string `yaml:"device" json:"device,omitempty"`
-	Width      int    `yaml:"width" json:"-"`
-	Height     int    `yaml:"height" json:"-"`
-	FPS        int    `yaml:"fps" json:"-"`
-	Bitrate    int    `yaml:"bitrate" json:"-"`
-	Inverted   bool   `yaml:"inverted" json:"-"`
-	SensorMode string `yaml:"sensorMode" json:"-"`
+	Enabled     bool   `yaml:"enabled" json:"enabled"`
+	Service     string `yaml:"service" json:"service,omitempty"`
+	Publisher   string `yaml:"publisher" json:"publisher,omitempty"`
+	PublishURL  string `yaml:"publishUrl" json:"publishUrl,omitempty"`
+	Device      string `yaml:"device" json:"device,omitempty"`
+	InputFormat string `yaml:"inputFormat" json:"-"`
+	Width       int    `yaml:"width" json:"-"`
+	Height      int    `yaml:"height" json:"-"`
+	FPS         int    `yaml:"fps" json:"-"`
+	Bitrate     int    `yaml:"bitrate" json:"-"`
+	Inverted    bool   `yaml:"inverted" json:"-"`
+	SensorMode  string `yaml:"sensorMode" json:"-"`
 }
 
 type AudioCaptureConfig struct {
@@ -450,6 +451,10 @@ func validateVideoMediaConfig(cfg *VideoMediaConfig, serverURL string, roverName
 	if cfg.Publisher == "" {
 		cfg.Publisher = "pi-libcamera"
 	}
+	// V4L2 input formats are consumed by ffmpeg as lowercase names such as
+	// mjpeg or yuyv422. Normalizing here keeps the publisher script simple and
+	// makes hand-edited Debian laptop configs less sensitive to capitalization.
+	cfg.InputFormat = strings.ToLower(strings.TrimSpace(cfg.InputFormat))
 	if cfg.Width <= 0 {
 		cfg.Width = 640
 	}

pi/roverd/media_env.go

@@ -36,6 +36,7 @@ func UpdatePublisherEnv(media MediaConfig) error {
 	fmt.Fprintf(&buf, "ROVERD_VIDEO_PUBLISHER=%s\n", media.Video.Publisher)
 	fmt.Fprintf(&buf, "ROVERD_VIDEO_PUBLISH_URL=%s\n", media.Video.PublishURL)
 	fmt.Fprintf(&buf, "ROVERD_VIDEO_DEVICE=%s\n", media.Video.Device)
+	fmt.Fprintf(&buf, "ROVERD_VIDEO_INPUT_FORMAT=%s\n", media.Video.InputFormat)
 	fmt.Fprintf(&buf, "ROVERD_VIDEO_WIDTH=%d\n", media.Video.Width)
 	fmt.Fprintf(&buf, "ROVERD_VIDEO_HEIGHT=%d\n", media.Video.Height)
 	fmt.Fprintf(&buf, "ROVERD_VIDEO_FPS=%d\n", media.Video.FPS)

pi/roverd/roverd.debian-laptop.sample.yaml

@@ -31,6 +31,10 @@ media:
     service: debian-laptop-video-publisher.service
     publisher: debian-laptop-v4l2
     device: /dev/video0
+    # Check supported values with:
+    #   v4l2-ctl --device=/dev/video0 --list-formats-ext
+    # Common working values are mjpeg and yuyv422.
+    inputFormat: mjpeg
     width: 640
     height: 480
     fps: 30