LP-360 add video background to PFD

ground/gcs/src/libs/gstreamer/gstreamer_dependencies.pri

@@ -27,6 +27,6 @@ macx {
 linux|win32 {
     CONFIG += link_pkgconfig
     PKGCONFIG += glib-2.0 gobject-2.0
-    PKGCONFIG += gstreamer-1.0 gstreamer-video-1.0
+    PKGCONFIG += gstreamer-1.0 gstreamer-app-1.0 gstreamer-video-1.0
     opencv:PKGCONFIG += opencv
 }

ground/gcs/src/libs/osgearth/osgQtQuick/OSGImageNode.cpp

@@ -27,9 +27,16 @@
 
 #include "OSGImageNode.hpp"
 
-#include <osg/Texture2D>
+#include "utils/imagesource.hpp"
 
-#include <osgDB/ReadFile>
+#ifdef USE_GSTREAMER
+#include "utils/gstreamer/gstimagesource.hpp"
+#endif
+
+#include <osg/Image>
+#include <osg/Geometry>
+#include <osg/Geode>
+#include <osg/Texture2D>
 
 #include <QUrl>
 #include <QDebug>
@@ -45,44 +52,107 @@ private:
 
     osg::ref_ptr<osg::Texture2D> texture;
 
-public:
+    ImageSource *imageSource;
-    QUrl url;
 
-    Hidden(OSGImageNode *self) : QObject(self), self(self), url()
+public:
-    {}
+    QUrl imageUrl;
+
+    Hidden(OSGImageNode *self) : QObject(self), self(self), imageSource(NULL), imageUrl()
+    {
+        if (imageSource) {
+            delete imageSource;
+        }
+    }
 
     osg::Node *createNode()
     {
-        osg::Drawable *quad = osg::createTexturedQuadGeometry(osg::Vec3(0, 0, 0), osg::Vec3(1, 0, 0), osg::Vec3(0, 1, 0));
-
         osg::Geode *geode = new osg::Geode;
 
-        geode->addDrawable(quad);
-
-        geode->setStateSet(createState());
-
         return geode;
     }
 
-    osg::StateSet *createState()
+    osg::Image *loadImage()
     {
-        texture = new osg::Texture2D;
+        if (!imageSource) {
-
+            if (imageUrl.scheme() == "gst") {
-        // create the StateSet to store the texture data
+#ifdef USE_GSTREAMER
-        osg::StateSet *stateset = new osg::StateSet;
+                imageSource = new GstImageSource();
-
+#else
-        stateset->setTextureAttributeAndModes(0, texture, osg::StateAttribute::ON);
+                qWarning() << "gstreamer image source is not supported";
-
+#endif
-        return stateset;
+            } else {
+                imageSource = new ImageSource();
+            }
+        }
+        return imageSource->createImage(imageUrl);
     }
 
     void updateImageFile()
     {
-        qDebug() << "OSGImageNode::updateImageFile - reading image file" << url.path();
+        update();
-        osg::Image *image = osgDB::readImageFile(url.path().toStdString());
-        if (texture.valid()) {
-            texture->setImage(image);
     }
+
+    void update()
+    {
+        osg::Image *image = loadImage();
+
+        // qDebug() << "OSGImageNode::update" << image;
+        osg::Node *geode  = createGeodeForImage(image);
+
+        self->setNode(geode);
+    }
+
+    osg::Geode *createGeodeForImage(osg::Image *image)
+    {
+        // vertex
+        osg::Vec3Array *coords = new osg::Vec3Array(4);
+
+        (*coords)[0].set(0, 1, 0);
+        (*coords)[1].set(0, 0, 0);
+        (*coords)[2].set(1, 0, 0);
+        (*coords)[3].set(1, 1, 0);
+
+        // texture coords
+        osg::Vec2Array *texcoords = new osg::Vec2Array(4);
+        float x_b = 0.0f;
+        float x_t = 1.0f;
+        float y_b = (image->getOrigin() == osg::Image::BOTTOM_LEFT) ? 0.0f : 1.0f;
+        float y_t = (image->getOrigin() == osg::Image::BOTTOM_LEFT) ? 1.0f : 0.0f;
+        (*texcoords)[0].set(x_b, y_t);
+        (*texcoords)[1].set(x_b, y_b);
+        (*texcoords)[2].set(x_t, y_b);
+        (*texcoords)[3].set(x_t, y_t);
+
+        // color
+        osg::Vec4Array *color = new osg::Vec4Array(1);
+        (*color)[0].set(1.0f, 1.0f, 1.0f, 1.0f);
+
+        // setup the geometry
+        osg::Geometry *geom = new osg::Geometry;
+        geom->setVertexArray(coords);
+        geom->setTexCoordArray(0, texcoords);
+        geom->setColorArray(color, osg::Array::BIND_OVERALL);
+        geom->addPrimitiveSet(new osg::DrawArrays(osg::PrimitiveSet::QUADS, 0, 4));
+
+        // set up the texture.
+        osg::Texture2D *texture = new osg::Texture2D;
+        texture->setFilter(osg::Texture::MIN_FILTER, osg::Texture::LINEAR);
+        texture->setFilter(osg::Texture::MAG_FILTER, osg::Texture::LINEAR);
+        texture->setResizeNonPowerOfTwoHint(false);
+        texture->setImage(image);
+
+        // set up the state.
+        osg::StateSet *state = new osg::StateSet;
+        state->setMode(GL_CULL_FACE, osg::StateAttribute::OFF);
+        state->setMode(GL_LIGHTING, osg::StateAttribute::OFF);
+        state->setTextureAttributeAndModes(0, texture, osg::StateAttribute::ON);
+        geom->setStateSet(state);
+
+        // set up the geode.
+        osg::Geode *geode = new osg::Geode;
+        geode->addDrawable(geom);
+
+        return geode;
     }
 };
 
@@ -96,17 +166,17 @@ OSGImageNode::~OSGImageNode()
     delete h;
 }
 
-const QUrl OSGImageNode::imageFile() const
+const QUrl OSGImageNode::imageUrl() const
 {
-    return h->url;
+    return h->imageUrl;
 }
 
-void OSGImageNode::setImageFile(const QUrl &url)
+void OSGImageNode::setImageUrl(QUrl &url)
 {
-    if (h->url != url) {
+    if (h->imageUrl != url) {
-        h->url = url;
+        h->imageUrl = url;
         setDirty(ImageFile);
-        emit imageFileChanged(url);
+        emit imageUrlChanged(url);
     }
 }
 

ground/gcs/src/libs/osgearth/osgQtQuick/OSGImageNode.hpp

@@ -25,8 +25,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-#ifndef _H_OSGQTQUICK_IMAGENODE_H_
+#pragma once
-#define _H_OSGQTQUICK_IMAGENODE_H_
 
 #include "Export.hpp"
 #include "OSGNode.hpp"
@@ -35,7 +34,7 @@
 
 namespace osgQtQuick {
 class OSGQTQUICK_EXPORT OSGImageNode : public OSGNode {
-    Q_OBJECT Q_PROPERTY(QUrl imageFile READ imageFile WRITE setImageFile NOTIFY imageFileChanged)
+    Q_OBJECT Q_PROPERTY(QUrl imageUrl READ imageUrl WRITE setImageUrl NOTIFY imageUrlChanged)
 
     typedef OSGNode Inherited;
 
@@ -43,11 +42,11 @@ public:
     OSGImageNode(QObject *parent = 0);
     virtual ~OSGImageNode();
 
-    const QUrl imageFile() const;
+    const QUrl imageUrl() const;
-    void setImageFile(const QUrl &url);
+    void setImageUrl(QUrl &url);
 
 signals:
-    void imageFileChanged(const QUrl &url);
+    void imageUrlChanged(const QUrl &url);
 
 protected:
     virtual osg::Node *createNode();
@@ -58,5 +57,3 @@ private:
     Hidden *const h;
 };
 } // namespace osgQtQuick
-
-#endif // _H_OSGQTQUICK_IMAGENODE_H_

ground/gcs/src/libs/osgearth/osgQtQuick/ga/OSGCameraManipulator.cpp

@@ -59,7 +59,7 @@ public:
 
     osg::Node *nodeToUpdate() const
     {
-        return manipulator->getNode();
+        return manipulator ? manipulator->getNode() : NULL;
     }
 
     void update()

ground/gcs/src/libs/osgearth/osgearth.pro

@@ -38,13 +38,15 @@ HEADERS += \
     osgearth.h \
     utils/qtwindowingsystem.h \
     utils/utility.h \
-    utils/shapeutils.h
+    utils/shapeutils.h \
+    utils/imagesource.hpp
 
 SOURCES += \
     osgearth.cpp \
     utils/qtwindowingsystem.cpp \
     utils/utility.cpp \
-    utils/shapeutils.cpp
+    utils/shapeutils.cpp \
+    utils/imagesource.cpp
 
 HEADERS += \
     osgQtQuick/Export.hpp \
@@ -83,6 +85,14 @@ SOURCES += \
     osgQtQuick/ga/OSGNodeTrackerManipulator.cpp \
     osgQtQuick/ga/OSGTrackballManipulator.cpp
 
+gstreamer:HEADERS += \
+    utils/gstreamer/gstimagestream.hpp \
+    utils/gstreamer/gstimagesource.hpp
+
+gstreamer:SOURCES += \
+    utils/gstreamer/gstimagestream.cpp \
+    utils/gstreamer/gstimagesource.cpp
+
 osgearth:HEADERS += \
     osgQtQuick/OSGSkyNode.hpp \
     osgQtQuick/OSGGeoTransformNode.hpp

ground/gcs/src/libs/osgearth/osgearth_dependencies.pri

@@ -14,6 +14,11 @@ contains(QT_ARCH, x86_64)  {
     LIB_DIR_NAME = lib
 }
 
+gstreamer {
+    include(../gstreamer/gstreamer.pri)
+    include(../gstreamer/gstreamer_dependencies.pri)
+}
+
 osg {
     OSG_SDK_DIR = $$clean_path($$(OSG_SDK_DIR))
     message(Using osg from here: $$OSG_SDK_DIR)

ground/gcs/src/libs/osgearth/utils/gstreamer/gstimagesource.cpp

@@ -0,0 +1,90 @@
+/**
+ ******************************************************************************
+ *
+ * @file       gstimagesource.cpp
+ * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016.
+ * @addtogroup
+ * @{
+ * @addtogroup
+ * @{
+ * @brief
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include "gstimagesource.hpp"
+
+#include "gstimagestream.hpp"
+
+#include <osg/Image>
+
+#include <QUrl>
+#include <QDebug>
+
+GstImageSource::GstImageSource() : is(NULL)
+{}
+
+GstImageSource::~GstImageSource()
+{
+    if (is) {
+        delete is;
+    }
+}
+
+osg::Image *GstImageSource::createImage(QUrl &url)
+{
+    // qDebug() << "GstImageSource::createImage - reading image file" << url.path();
+
+    QString pipeline   = url.query(QUrl::FullyDecoded);
+
+    GSTImageStream *is = new GSTImageStream();
+
+    is->setPipeline(pipeline.toStdString());
+
+    this->is = is;
+
+    play();
+
+    return this->is;
+}
+
+void GstImageSource::play()
+{
+    if (is) {
+        is->play();
+    }
+}
+
+void GstImageSource::pause()
+{
+    if (is) {
+        is->pause();
+    }
+}
+
+void GstImageSource::rewind()
+{
+    if (is) {
+        is->rewind();
+    }
+}
+
+void GstImageSource::seek(double time)
+{
+    if (is) {
+        is->seek(time);
+    }
+}

ground/gcs/src/libs/osgearth/utils/gstreamer/gstimagesource.hpp

@@ -0,0 +1,52 @@
+/**
+ ******************************************************************************
+ *
+ * @file       gstimagesource.hpp
+ * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016.
+ * @addtogroup
+ * @{
+ * @addtogroup
+ * @{
+ * @brief
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#pragma once
+
+#include "utils/imagesource.hpp"
+
+namespace osg {
+class Image;
+}
+
+class GSTImageStream;
+
+class GstImageSource : public ImageSource {
+public:
+    GstImageSource();
+    virtual ~GstImageSource();
+
+    virtual osg::Image *createImage(QUrl &url);
+
+    virtual void play();
+    virtual void pause();
+    virtual void rewind();
+    virtual void seek(double time);
+
+private:
+    GSTImageStream *is;
+};

ground/gcs/src/libs/osgearth/utils/gstreamer/gstimagestream.cpp

@@ -0,0 +1,384 @@
+/**
+ ******************************************************************************
+ *
+ * @file       gstimagestream.cpp
+ * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2017.
+ *             OpenSceneGraph, http://www.openscenegraph.org/
+ *             Julen Garcia <jgarcia@vicomtech.org>
+ * @addtogroup
+ * @{
+ * @addtogroup
+ * @{
+ * @brief
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+#include "gstimagestream.hpp"
+
+#include "gst_util.h"
+
+#include <osgDB/ReaderWriter>
+
+#include <QDebug>
+
+GSTImageStream::GSTImageStream() :
+    _loop(0),
+    _pipeline(0),
+    _internal_buffer(0),
+    _width(0),
+    _height(0)
+{
+    setOrigin(osg::Image::TOP_LEFT);
+
+    _loop = g_main_loop_new(NULL, FALSE);
+}
+
+GSTImageStream::GSTImageStream(const GSTImageStream & image, const osg::CopyOp & copyop) :
+    osg::ImageStream(image, copyop), OpenThreads::Thread(),
+    _loop(0),
+    _pipeline(0),
+    _internal_buffer(0),
+    _width(0),
+    _height(0)
+{
+    setOrigin(osg::Image::TOP_LEFT);
+
+    _loop = g_main_loop_new(NULL, FALSE);
+}
+
+GSTImageStream::~GSTImageStream()
+{
+    gst_element_set_state(_pipeline, GST_STATE_NULL);
+    gst_element_get_state(_pipeline, NULL, NULL, GST_CLOCK_TIME_NONE); // wait until the state changed
+
+    g_main_loop_quit(_loop);
+    g_main_loop_unref(_loop);
+
+    free(_internal_buffer);
+}
+
+// osgDB::ReaderWriter::ReadResult readImage(const std::string & filename, const osgDB::ReaderWriter::Options *options)
+// {
+// const std::string ext = osgDB::getLowerCaseFileExtension(filename);
+//
+//// if (!acceptsExtension(ext)) return ReadResult::FILE_NOT_HANDLED;
+//
+// const std::string path = osgDB::containsServerAddress(filename) ?
+// filename :
+// osgDB::findDataFile(filename, options);
+//
+// if (path.empty()) {
+// return osgDB::ReaderWriter::ReadResult::FILE_NOT_FOUND;
+// }
+//
+// osg::ref_ptr<GSTImageStream> imageStream = new GSTImageStream();
+//
+// if (!imageStream->open(filename)) {
+// return osgDB::ReaderWriter::ReadResult::FILE_NOT_HANDLED;
+// }
+//
+// return imageStream.release();
+// }
+
+bool GSTImageStream::setPipeline(const std::string &pipeline)
+{
+    GError *error = NULL;
+
+    // TODO not the most appropriate place to do that...
+    gst::init(NULL, NULL);
+
+    gchar *string = g_strdup_printf("%s", pipeline.c_str());
+
+    _pipeline = gst_parse_launch(string, &error);
+
+    // TODO make sure that there is "! videoconvert ! video/x-raw,format=RGB ! appsink name=sink emit-signals=true"
+    // TOOD remove the need for a videoconvert element by adapting dynamically to format
+    // TODO try to use GL buffers...
+
+    g_free(string);
+
+    if (error) {
+        g_printerr("Error: %s\n", error->message);
+        g_error_free(error);
+        // TODO submit fix to osg...
+        return false;
+    }
+
+    if (_pipeline == NULL) {
+        return false;
+    }
+
+    // bus
+    GstBus *bus = gst_pipeline_get_bus(GST_PIPELINE(_pipeline));
+    gst_bus_add_watch(bus, (GstBusFunc)on_message, this);
+    gst_object_unref(bus);
+
+    // sink
+    GstElement *sink = gst_bin_get_by_name(GST_BIN(_pipeline), "sink");
+
+    g_signal_connect(sink, "new-sample", G_CALLBACK(on_new_sample), this);
+    g_signal_connect(sink, "new-preroll", G_CALLBACK(on_new_preroll), this);
+
+    gst_object_unref(sink);
+
+    gst_element_set_state(_pipeline, GST_STATE_PAUSED);
+    gst_element_get_state(_pipeline, 0, 0, GST_CLOCK_TIME_NONE); // wait until the state changed
+
+    if (_width == 0 || _height == 0) {
+        // no valid image has been setup by a on_new_preroll() call.
+        return false;
+    }
+
+    // setLoopingMode(osg::ImageStream::NO_LOOPING);
+
+    // start the thread to run gstreamer main loop
+    start();
+
+    return true;
+}
+
+/*
+   bool GSTImageStream::open(const std::string & filename)
+   {
+    setFileName(filename);
+
+    GError *error = NULL;
+
+    // get stream info
+
+    bool has_audio_stream = false;
+
+    gchar *uri = g_filename_to_uri(filename.c_str(), NULL, NULL);
+
+    if (uri != 0 && gst_uri_is_valid(uri)) {
+        GstDiscoverer *item     = gst_discoverer_new(1 * GST_SECOND, &error);
+        GstDiscovererInfo *info = gst_discoverer_discover_uri(item, uri, &error);
+        GList *audio_list = gst_discoverer_info_get_audio_streams(info);
+
+        if (g_list_length(audio_list) > 0) {
+            has_audio_stream = true;
+        }
+
+        gst_discoverer_info_unref(info);
+        g_free(uri);
+    }
+
+    // build pipeline
+    const gchar *audio_pipe = "";
+    if (has_audio_stream) {
+        audio_pipe = "deco. ! queue ! audioconvert ! autoaudiosink";
+    }
+
+    gchar *string = g_strdup_printf("filesrc location=%s ! \
+        decodebin name=deco \
+        deco. ! queue ! videoconvert ! video/x-raw,format=RGB ! appsink name=sink emit-signals=true \
+        %s", filename.c_str(), audio_pipe);
+
+    _pipeline = gst_parse_launch(string, &error);
+
+    g_free(string);
+
+    if (error) {
+        g_printerr("Error: %s\n", error->message);
+        g_error_free(error);
+    }
+
+    if (_pipeline == NULL) {
+        return false;
+    }
+
+
+    // bus
+    GstBus *bus = gst_pipeline_get_bus(GST_PIPELINE(_pipeline));
+
+    gst_bus_add_watch(bus, (GstBusFunc)on_message, this);
+
+    gst_object_unref(bus);
+
+
+    // sink
+
+    GstElement *sink = gst_bin_get_by_name(GST_BIN(_pipeline), "sink");
+
+    g_signal_connect(sink, "new-sample", G_CALLBACK(on_new_sample), this);
+    g_signal_connect(sink, "new-preroll", G_CALLBACK(on_new_preroll), this);
+
+    gst_object_unref(sink);
+
+    gst_element_set_state(_pipeline, GST_STATE_PAUSED);
+    gst_element_get_state(_pipeline, NULL, NULL, GST_CLOCK_TIME_NONE); // wait until the state changed
+
+    if (_width == 0 || _height == 0) {
+        // no valid image has been setup by a on_new_preroll() call.
+        return false;
+    }
+
+    // setLoopingMode(osg::ImageStream::NO_LOOPING);
+
+    // start the thread to run gstreamer main loop
+    start();
+
+    return true;
+   }
+ */
+
+// ** Controls **
+
+void GSTImageStream::play()
+{
+    gst_element_set_state(_pipeline, GST_STATE_PLAYING);
+}
+
+void GSTImageStream::pause()
+{
+    gst_element_set_state(_pipeline, GST_STATE_PAUSED);
+}
+
+void GSTImageStream::rewind()
+{
+    gst_element_seek_simple(_pipeline, GST_FORMAT_TIME, GstSeekFlags(GST_SEEK_FLAG_FLUSH | GST_SEEK_FLAG_KEY_UNIT), 0);
+}
+
+void GSTImageStream::seek(double time)
+{
+    gst_element_seek_simple(_pipeline, GST_FORMAT_TIME, GstSeekFlags(GST_SEEK_FLAG_FLUSH | GST_SEEK_FLAG_KEY_UNIT), time * GST_MSECOND);
+}
+
+// ** Callback implementations **
+
+GstFlowReturn GSTImageStream::on_new_sample(GstAppSink *appsink, GSTImageStream *user_data)
+{
+    // get the buffer from appsink
+    GstSample *sample = gst_app_sink_pull_sample(appsink);
+    GstBuffer *buffer = gst_sample_get_buffer(sample);
+
+    if (!user_data->allocateInternalBuffer(sample)) {
+        gst_sample_unref(sample);
+        return GST_FLOW_ERROR;
+    }
+
+    // upload data
+    GstMapInfo info;
+    if (!gst_buffer_map(buffer, &info, GST_MAP_READ)) {
+        qWarning() << "Failed to map buffer";
+        // TODO
+    }
+    gsize size = gst_buffer_extract(buffer, 0, user_data->_internal_buffer, info.size);
+    if (size != info.size) {
+        qWarning() << "GSTImageStream::on_new_sample : extracted" << size << "/" << info.size;
+        // TODO
+    }
+
+    // data has been modified so dirty the image so the texture will be updated
+    user_data->dirty();
+
+    // clean resources
+    gst_buffer_unmap(buffer, &info);
+    gst_sample_unref(sample);
+
+    return GST_FLOW_OK;
+}
+
+GstFlowReturn GSTImageStream::on_new_preroll(GstAppSink *appsink, GSTImageStream *user_data)
+{
+    qDebug() << "ON NEW PREROLL";
+
+    // get the sample from appsink
+    GstSample *sample = gst_app_sink_pull_preroll(appsink);
+
+    if (!user_data->allocateInternalBuffer(sample)) {
+        gst_sample_unref(sample);
+        return GST_FLOW_ERROR;
+    }
+
+    // clean resources
+    gst_sample_unref(sample);
+
+    return GST_FLOW_OK;
+}
+
+gboolean GSTImageStream::on_message(GstBus *bus, GstMessage *message, GSTImageStream *user_data)
+{
+    if (GST_MESSAGE_TYPE(message) == GST_MESSAGE_EOS) {
+        if (user_data->getLoopingMode() == osg::ImageStream::LOOPING) {
+            user_data->rewind();
+        }
+    }
+    return true;
+}
+
+
+bool GSTImageStream::allocateInternalBuffer(GstSample *sample)
+{
+    // get sample info
+    GstCaps *caps = gst_sample_get_caps(sample);
+    GstStructure *structure = gst_caps_get_structure(caps, 0);
+
+/*
+    GstVideoInfo info;
+    if (!gst_video_info_from_caps (&info, caps)) {
+       gchar *caps_str = gst_caps_to_string (caps);
+       GST_ERROR ("Failed to get video info from caps %s", caps_str);
+       //g_set_error (err, GST_CORE_ERROR, GST_CORE_ERROR_NEGOTIATION,
+       //    "Failed to get video info from caps %s", caps_str);
+       g_free (caps_str);
+       return FALSE;
+
+    GstVideoFormat format;
+    format = GST_VIDEO_INFO_FORMAT (info);
+ */
+
+    int width;
+    int height;
+
+    gst_structure_get_int(structure, "width", &width);
+    gst_structure_get_int(structure, "height", &height);
+
+    if (width <= 0 || height <= 0) {
+        qCritical() << "invalid video size: width=" << width << ", height=" << height;
+        return false;
+    }
+
+    if (_width != width || _height != height) {
+        _width  = width;
+        _height = height;
+
+        int row_width = width * 3;
+        if ((row_width % 4) != 0) {
+            row_width += (4 - (row_width % 4));
+        }
+
+        // qDebug() << "image width=" << width << ", height=" << height << row_width << (row_width * height);
+
+        // if buffer previously assigned free it before allocating new buffer.
+        if (_internal_buffer) {
+            free(_internal_buffer);
+        }
+
+        // allocate buffer
+        _internal_buffer = (unsigned char *)malloc(sizeof(unsigned char) * row_width * height);
+
+        // assign buffer to image
+        setImage(_width, _height, 1, GL_RGB, GL_RGB, GL_UNSIGNED_BYTE, _internal_buffer, osg::Image::NO_DELETE, 4);
+    }
+
+    return true;
+}
+
+void GSTImageStream::run()
+{
+    g_main_loop_run(_loop);
+}

ground/gcs/src/libs/osgearth/utils/gstreamer/gstimagestream.hpp

@@ -0,0 +1,70 @@
+/**
+ ******************************************************************************
+ *
+ * @file       gstimagestream.hpp
+ * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2017.
+ *             OpenSceneGraph, http://www.openscenegraph.org/
+ *             Julen Garcia <jgarcia@vicomtech.org>
+ * @addtogroup
+ * @{
+ * @addtogroup
+ * @{
+ * @brief
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+#pragma once
+
+#include <gst/app/gstappsink.h>
+
+#include <osg/ImageStream>
+
+#include <OpenThreads/Thread>
+
+class GSTImageStream : public osg::ImageStream, public OpenThreads::Thread {
+public:
+
+    GSTImageStream();
+    GSTImageStream(const GSTImageStream & image, const osg::CopyOp & copyop = osg::CopyOp::SHALLOW_COPY);
+    virtual ~GSTImageStream();
+
+    META_Object(osgGStreamer, GSTImageStream);
+
+    bool setPipeline(const std::string &pipeline);
+
+    virtual void play();
+    virtual void pause();
+    virtual void rewind();
+    virtual void seek(double time);
+
+private:
+    virtual void run();
+
+    static gboolean on_message(GstBus *bus, GstMessage *message, GSTImageStream *user_data);
+
+    static GstFlowReturn on_new_sample(GstAppSink *appsink, GSTImageStream *user_data);
+    static GstFlowReturn on_new_preroll(GstAppSink *appsink, GSTImageStream *user_data);
+
+    bool allocateInternalBuffer(GstSample *sample);
+
+    GMainLoop *_loop;
+    GstElement *_pipeline;
+
+    unsigned char *_internal_buffer;
+
+    int _width;
+    int _height;
+};

ground/gcs/src/libs/osgearth/utils/imagesource.cpp

@@ -0,0 +1,40 @@
+/**
+ ******************************************************************************
+ *
+ * @file       imagesource.cpp
+ * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016.
+ * @addtogroup
+ * @{
+ * @addtogroup
+ * @{
+ * @brief
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include "imagesource.hpp"
+
+#include <osg/Image>
+#include <osgDB/ReadFile>
+
+#include <QDebug>
+
+osg::Image *ImageSource::createImage(QUrl &url)
+{
+    qDebug() << "ImageSource::createImage - reading image file" << url.path();
+    osg::Image *image = osgDB::readImageFile(url.path().toStdString());
+    return image;
+}

ground/gcs/src/libs/osgearth/utils/imagesource.hpp

@@ -0,0 +1,47 @@
+/**
+ ******************************************************************************
+ *
+ * @file       imagesource.hpp
+ * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016.
+ * @addtogroup
+ * @{
+ * @addtogroup
+ * @{
+ * @brief
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#pragma once
+
+#include <QUrl>
+
+namespace osg {
+class Image;
+}
+
+class ImageSource {
+public:
+    ImageSource() {}
+    virtual ~ImageSource() {}
+
+    virtual osg::Image *createImage(QUrl &url);
+
+    virtual void play() {}
+    virtual void pause() {}
+    virtual void rewind() {}
+    virtual void seek(double time) {}
+};

ground/gcs/src/plugins/pfdqml/pfdqmlcontext.cpp

@@ -282,6 +282,19 @@ void PfdQmlContext::resetConsumedEnergy()
     batterySettings->setData(batterySettings->getData());
 }
 
+QString PfdQmlContext::gstPipeline() const
+{
+    return m_gstPipeline;
+}
+
+void PfdQmlContext::setGstPipeline(const QString &arg)
+{
+    if (m_gstPipeline != arg) {
+        m_gstPipeline = arg;
+        emit gstPipelineChanged(gstPipeline());
+    }
+}
+
 void PfdQmlContext::loadConfiguration(PfdQmlGadgetConfiguration *config)
 {
     setSpeedFactor(config->speedFactor());
@@ -307,6 +320,9 @@ void PfdQmlContext::loadConfiguration(PfdQmlGadgetConfiguration *config)
 
     // background image
     setBackgroundImageFile(config->backgroundImageFile());
+
+    // gstreamer pipeline
+    setGstPipeline(config->gstPipeline());
 }
 
 

ground/gcs/src/plugins/pfdqml/pfdqmlcontext.h

@@ -59,6 +59,9 @@ class PfdQmlContext : public QObject {
     // background
     Q_PROPERTY(QString backgroundImageFile READ backgroundImageFile WRITE setBackgroundImageFile NOTIFY backgroundImageFileChanged)
 
+    // gstreamer pipeline
+    Q_PROPERTY(QString gstPipeline READ gstPipeline WRITE setGstPipeline NOTIFY gstPipelineChanged)
+
 public:
     PfdQmlContext(QObject *parent = 0);
     virtual ~PfdQmlContext();
@@ -102,6 +105,10 @@ public:
     QString backgroundImageFile() const;
     void setBackgroundImageFile(const QString &arg);
 
+    // gstreamer pipeline
+    QString gstPipeline() const;
+    void setGstPipeline(const QString &arg);
+
     Q_INVOKABLE void resetConsumedEnergy();
 
     void loadConfiguration(PfdQmlGadgetConfiguration *config);
@@ -130,6 +137,8 @@ signals:
     void modelFileChanged(QString arg);
     void backgroundImageFileChanged(QString arg);
 
+    void gstPipelineChanged(QString arg);
+
 private:
     // constants
     static const QString CONTEXT_PROPERTY_NAME;
@@ -156,6 +165,8 @@ private:
 
     QString m_backgroundImageFile;
 
+    QString m_gstPipeline;
+
     void addModelDir(QString dir);
 };
 #endif /* PFDQMLCONTEXT_H_ */

ground/gcs/src/plugins/pfdqml/pfdqmlgadgetconfiguration.cpp

@@ -35,6 +35,7 @@
 PfdQmlGadgetConfiguration::PfdQmlGadgetConfiguration(QString classId, QSettings &settings, QObject *parent) :
     IUAVGadgetConfiguration(classId, parent)
 {
+    // TODO move to some conversion utility class
     m_speedMap[1.0]       = "m/s";
     m_speedMap[3.6]       = "km/h";
     m_speedMap[2.2369]    = "mph";
@@ -73,6 +74,9 @@ PfdQmlGadgetConfiguration::PfdQmlGadgetConfiguration(QString classId, QSettings
     // background image
     m_backgroundImageFile = settings.value("backgroundImageFile", "Unknown").toString();
     m_backgroundImageFile = Utils::InsertDataPath(m_backgroundImageFile);
+
+    // gstreamer pipeline
+    m_gstPipeline         = settings.value("gstPipeline").toString();
 }
 
 PfdQmlGadgetConfiguration::PfdQmlGadgetConfiguration(const PfdQmlGadgetConfiguration &obj) :
@@ -104,6 +108,9 @@ PfdQmlGadgetConfiguration::PfdQmlGadgetConfiguration(const PfdQmlGadgetConfigura
 
     // background image
     m_backgroundImageFile = obj.m_backgroundImageFile;
+
+    // gstreamer pipeline
+    m_gstPipeline         = obj.m_gstPipeline;
 }
 
 /**
@@ -152,4 +159,7 @@ void PfdQmlGadgetConfiguration::saveConfig(QSettings &settings) const
     // background image
     QString backgroundImageFile = Utils::RemoveDataPath(m_backgroundImageFile);
     settings.setValue("backgroundImageFile", backgroundImageFile);
+
+    // gstreamer pipeline
+    settings.setValue("gstPipeline", m_gstPipeline);
 }

ground/gcs/src/plugins/pfdqml/pfdqmlgadgetconfiguration.h

@@ -200,6 +200,15 @@ public:
         m_backgroundImageFile = fileName;
     }
 
+    QString gstPipeline() const
+    {
+        return m_gstPipeline;
+    }
+    void setGstPipeline(const QString &pipeline)
+    {
+        m_gstPipeline = pipeline;
+    }
+
     QMapIterator<double, QString> speedMapIterator()
     {
         return QMapIterator<double, QString>(m_speedMap);
@@ -234,6 +243,8 @@ private:
 
     QString m_backgroundImageFile;
 
+    QString m_gstPipeline;
+
     QMap<double, QString> m_speedMap;
     QMap<double, QString> m_altitudeMap;
 };

ground/gcs/src/plugins/pfdqml/pfdqmlgadgetoptionspage.cpp

@@ -111,6 +111,9 @@ QWidget *PfdQmlGadgetOptionsPage::createPage(QWidget *parent)
     options_page->backgroundImageFile->setPromptDialogTitle(tr("Choose Background Image File"));
     options_page->backgroundImageFile->setPath(m_config->backgroundImageFile());
 
+    // gstreamer pipeline
+    options_page->pipelineTextEdit->setPlainText(m_config->gstPipeline());
+
 #ifndef USE_OSG
     options_page->showTerrain->setChecked(false);
     options_page->showTerrain->setVisible(false);
@@ -170,6 +173,8 @@ void PfdQmlGadgetOptionsPage::apply()
 #else
     m_config->setModelEnabled(false);
 #endif
+
+    m_config->setGstPipeline(options_page->pipelineTextEdit->toPlainText());
 }
 
 void PfdQmlGadgetOptionsPage::finish()

ground/gcs/src/plugins/pfdqml/pfdqmlgadgetoptionspage.ui

@@ -138,7 +138,7 @@
          <property name="currentIndex">
           <number>0</number>
          </property>
-         <widget class="QWidget" name="tab">
+         <widget class="QWidget" name="terrainTab">
           <attribute name="title">
            <string>Terrain</string>
           </attribute>
@@ -295,7 +295,7 @@
            </item>
           </layout>
          </widget>
-         <widget class="QWidget" name="tab_3">
+         <widget class="QWidget" name="modelTab">
           <attribute name="title">
            <string>Model</string>
           </attribute>
@@ -391,7 +391,7 @@
            </item>
           </layout>
          </widget>
-         <widget class="QWidget" name="tab_2">
+         <widget class="QWidget" name="environmentTab">
           <attribute name="title">
            <string>Environment</string>
           </attribute>
@@ -511,6 +511,43 @@
            </item>
           </layout>
          </widget>
+         <widget class="QWidget" name="videoTab">
+          <attribute name="title">
+           <string>Video</string>
+          </attribute>
+          <layout class="QVBoxLayout" name="verticalLayout_10">
+           <item>
+            <widget class="QLabel" name="label_10">
+             <property name="text">
+              <string>Pipeline:</string>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <widget class="QPlainTextEdit" name="pipelineTextEdit">
+             <property name="plainText">
+              <string notr="true"/>
+             </property>
+             <property name="placeholderText">
+              <string>&lt;enter your gstreamer pipeline here&gt;</string>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <spacer name="verticalSpacer_4">
+             <property name="orientation">
+              <enum>Qt::Vertical</enum>
+             </property>
+             <property name="sizeHint" stdset="0">
+              <size>
+               <width>20</width>
+               <height>40</height>
+              </size>
+             </property>
+            </spacer>
+           </item>
+          </layout>
+         </widget>
         </widget>
        </item>
       </layout>

ground/gcs/src/share/configurations/default.xml

@@ -1665,6 +1665,31 @@
           <backgroundImageFile>%%DATAPATH%%backgrounds/default_background.png</backgroundImageFile>
         </data>
       </PFD__PCT__20__PCT__28ArcGis__PCT__29>
+      <PFD__PCT__20__PCT__28Video__PCT__29>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <qmlFile>%%DATAPATH%%qml/PfdVideo.qml</qmlFile>
+          <altitudeFactor>1</altitudeFactor>
+          <speedFactor>1</speedFactor>
+          <terrainEnabled>true</terrainEnabled>
+          <earthFile>%%DATAPATH%%osgearth/arcgis.earth</earthFile>
+          <cacheOnly>false</cacheOnly>
+          <latitude>39.6576</latitude>
+          <longitude>19.8046</longitude>
+          <altitude>90</altitude>
+          <timeMode>0</timeMode>
+          <dateTime>@Variant(AAAAEAAlfhEClAez/w==)</dateTime>
+          <minAmbientLight>0.50</minAmbientLight>
+          <modelEnabled>false</modelEnabled>
+          <modelSelectionMode>1</modelSelectionMode>
+          <modelFile>%%DATAPATH%%models/multi/test_quad/test_quad_x.3ds</modelFile>
+          <backgroundImageFile>%%DATAPATH%%backgrounds/default_background.png</backgroundImageFile>
+          <gstPipeline>ksvideosrc device-index=0 ! videoconvert ! video/x-raw,format=RGB ! appsink name=sink emit-signals=true</gstPipeline>
+        </data>
+      </PFD__PCT__20__PCT__28Video__PCT__29>
       <Model__PCT__20View>
         <configInfo>
           <locked>false</locked>

ground/gcs/src/share/qml/PfdVideo.qml

@@ -0,0 +1,27 @@
+/*
+ * Copyright (C) 2016 The LibrePilot Project
+ * Contact: http://www.librepilot.org
+ *
+ * This file is part of LibrePilot GCS.
+ *
+ * LibrePilot GCS is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * LibrePilot GCS is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with LibrePilot GCS.  If not, see <http://www.gnu.org/licenses/>.
+ */
+import QtQuick 2.4
+
+import "pfd"
+
+PfdView {
+    opaque: false
+    worldFile: "PfdVideoWorld.qml"
+}

ground/gcs/src/share/qml/model/ModelView.qml

@@ -55,7 +55,7 @@ Item {
 
         OSGImageNode {
             id: backgroundImageNode
-            imageFile: pfdContext.backgroundImageFile
+            imageUrl: pfdContext.backgroundImageFile
         }
 
         OSGTransformNode {

ground/gcs/src/share/qml/pfd/PfdVideoWorld.qml

@@ -0,0 +1,149 @@
+/*
+ * Copyright (C) 2016 The LibrePilot Project
+ * Contact: http://www.librepilot.org
+ *
+ * This file is part of LibrePilot GCS.
+ *
+ * LibrePilot GCS is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * LibrePilot GCS is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with LibrePilot GCS.  If not, see <http://www.gnu.org/licenses/>.
+ */
+import QtQuick 2.4
+
+import Pfd 1.0
+import OsgQtQuick 1.0
+
+import "../js/common.js" as Utils
+import "../js/uav.js" as UAV
+
+OSGViewport {
+    id: osgViewport
+
+    anchors.fill: parent
+    focus: true
+
+    readonly property real horizontCenter : horizontCenterItem.horizontCenter
+
+    // Factor for OSGViewer vertical offset
+    readonly property double factor: 0.04
+
+    // Stretch height and apply offset
+    //height: height * (1 + factor)
+    y: -height * factor
+
+    sceneNode: billboardNode
+    camera: camera
+    updateMode: UpdateMode.Discrete
+
+    OSGCamera {
+        id: camera
+        fieldOfView: 90
+    }
+
+    OSGBillboardNode {
+        id: billboardNode
+        children: [ videoNode ]
+    }
+
+    OSGImageNode {
+       id: videoNode
+       imageUrl: "gst://localhost/play?" + encodeURIComponent(pfdContext.gstPipeline)
+    }
+
+    Rectangle {
+        // using rectangle instead of svg rendered to pixmap
+        // as it's much more memory efficient
+        id: world
+        smooth: true
+        opacity: 0
+
+        property variant scaledBounds: svgRenderer.scaledElementBounds("pfd/pfd.svg", "horizon")
+        width: Math.round(sceneItem.width * scaledBounds.width / 2) * 2
+        height: Math.round(sceneItem.height * scaledBounds.height / 2) * 3
+
+        property double pitch1DegScaledHeight: (svgRenderer.scaledElementBounds("pfd/pfd.svg", "pitch-90").y -
+                                                svgRenderer.scaledElementBounds("pfd/pfd.svg", "pitch90").y) / 180.0
+
+        property double pitch1DegHeight: sceneItem.height * pitch1DegScaledHeight
+
+        transform: [
+            Translate {
+                id: pitchTranslate
+                x: Math.round((world.parent.width - world.width)/2)
+                // y is centered around world_center element
+                y: Math.round(horizontCenter - world.height / 2 + UAV.attitudePitch() * world.pitch1DegHeight)
+            },
+            Rotation {
+                angle: -UAV.attitudeRoll()
+                origin.x : world.parent.width / 2
+                origin.y : horizontCenter
+            }
+        ]
+
+    }
+
+    Item {
+        id: pitch_window
+        property variant scaledBounds: svgRenderer.scaledElementBounds("pfd/pfd.svg", "pitch-window-terrain")
+
+        x: Math.floor(scaledBounds.x * sceneItem.width)
+        y: Math.floor(scaledBounds.y * sceneItem.height) - osgViewport.y
+        width: Math.floor(scaledBounds.width * sceneItem.width)
+        height: Math.floor(scaledBounds.height * sceneItem.height)
+
+        rotation: -UAV.attitudeRoll()
+        transformOrigin: Item.Center
+
+        smooth: true
+        clip: true
+
+        SvgElementImage {
+            id: pitch_scale
+            elementName: "pitch-scale"
+
+            //worldView is loaded with Loader, so background element is visible
+            sceneSize: background.sceneSize
+            anchors.centerIn: parent
+            //see comment for world transform
+            anchors.verticalCenterOffset: attitudeState.pitch * world.pitch1DegHeight
+            border: 64 // sometimes numbers are excluded from bounding rect
+
+            smooth: true
+        }
+
+        SvgElementImage {
+            id: horizont_line
+            elementName: "center-line"
+
+            opacity: 0.5
+
+            // worldView is loaded with Loader, so background element is visible
+            sceneSize: background.sceneSize
+            anchors.centerIn: parent
+
+            anchors.verticalCenterOffset: UAV.attitudePitch() * world.pitch1DegHeight
+            border: 1
+            smooth: true
+       }
+
+       SvgElementImage {
+            id: pitch_0
+            elementName: "pitch0"
+
+            sceneSize: background.sceneSize
+            anchors.centerIn: parent
+            anchors.verticalCenterOffset: UAV.attitudePitch() * world.pitch1DegHeight
+            border: 1
+            smooth: true
+       }
+    }
+}