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global: fix MD007 unordered list indentation in markdown files Normalize unordered list indentation to use 2-space multiples: - Top-level list items start at column 0 - Nested list items use 2 additional spaces per level Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com> global: fix MD009 trailing whitespace in markdown files Remove trailing whitespace from all affected markdown files. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com> global: fix MD010 hard tabs in markdown files Replace hard tab characters with 4 spaces. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com> global: fix MD012 multiple consecutive blank lines in markdown Collapse multiple consecutive blank lines to single blank lines across all markdown files (excluding vendored code). Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com> global: fix MD007 list indentation base level in markdown Shift list indentation left by 2 spaces so top-level list items start at column 0 instead of column 2. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com> Tools/scripts: fix MD022 blank lines around headings in markdown Ensure headings are surrounded by blank lines as required by markdownlint MD022 rule. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com> Tools/scripts: fix MD032 blank lines around lists in markdown Ensure lists are surrounded by blank lines as required by markdownlint MD032 rule. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com> Tools/scripts: fix MD031 blank lines around code blocks in markdown Ensure fenced code blocks are surrounded by blank lines as required by markdownlint MD031 rule. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com> Tools/scripts: fix MD047 files should end with single newline Ensure all markdown files end with exactly one newline character as required by markdownlint MD047 rule. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com> Tools/scripts: fix MD023 headings must start at beginning of line Remove leading whitespace from heading lines as required by markdownlint MD023 rule. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com> Tools/scripts: fix MD007 remaining list indentation in markdown Fix unordered list indentation to use correct spacing as required by markdownlint MD007 rule. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com> Tools/scripts: fix MD030 spaces after list markers in markdown Reduce multiple spaces after list markers to single space as required by markdownlint MD030 rule. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com> Tools/scripts: fix MD022 blank lines around setext headings Ensure setext-style headings (underlined with === or ---) are surrounded by blank lines as required by markdownlint MD022 rule. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com> Tools/scripts: fix MD018 missing space after hash in headings Add space after hash marks in atx-style headings as required by markdownlint MD018 rule. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com> Tools/scripts: fix MD019 multiple spaces after hash in headings Reduce multiple spaces after hash marks to single space in atx-style headings as required by markdownlint MD019 rule. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com> Tools/scripts: fix MD012 multiple consecutive blank lines in markdown Remove multiple consecutive blank lines and ensure files end with exactly one newline as required by markdownlint MD012 rule. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com> Tools/scripts: fix MD023 headings with leading whitespace Remove leading whitespace from setext-style heading text lines as required by markdownlint MD023 rule. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com> Tools/scripts: fix MD022 blank line after heading in markdown Add missing blank line after heading as required by markdownlint MD022 rule. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com> Tools/scripts: fix MD009 trailing non-breaking space in markdown Remove trailing non-breaking space (U+00A0) as required by markdownlint MD009 rule. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com> Tools/scripts: fix MD012 remaining multiple blank lines in markdown Remove leading blank lines and whitespace-only lines that create multiple consecutive blank lines. Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
AP_Camera examples
GStreamer examples
The following examples demonstrate how to manipulate GStreamer pipelines to capture and display video streams from a UDP or RTSP source. They are useful for providing test images to camera algorithms, or forwarding streams from simulators such as Gazebo to ground control stations.
For further details see:
Install dependencies
Ubuntu
sudo apt install libopencv-dev libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev gstreamer1.0-plugins-bad gstreamer1.0-libav gstreamer1.0-gl gstreamer1.0-tools gstreamer1.0-plugins-ugly libgstrtspserver-1.0-dev
macOS
brew install gstreamer opencv
gst_rtsp_server.py
The example provides a number of test images as an RTSP stream that may be accessed at:
- rtsp://127.0.0.1:8554/camera
- rtsp://127.0.0.1:8554/ball
- rtsp://127.0.0.1:8554/snow
Start the RTSP server:
python ./gst_rtsp_server.py
Display the RTSP stream:
gst-launch-1.0 rtspsrc location=rtsp://localhost:8554/camera latency=50 ! decodebin ! autovideosink
gst_rtsp_to_wx.py
The example displays an RTSP stream in a wxPython application.
Start the RTSP server:
python ./gst_rtsp_server.py
Display the RTSP stream in wxPython
python ./gst_rtsp_to_wx.py
gst_udp_to_rtsp.py
Convert a UDP stream to RTSP. This example is configured to use the same UDP
pipeline provided by the ArduPilot Gazebo GstCameraPlugin. By converting the
UDP stream to RTSP is may be consumed by multiple applications
(e.g. a camera tracking algorithm and a GCS).
Create a UDP video stream
gst-launch-1.0 -v videotestsrc ! 'video/x-raw,format=I420,width=640,height=480,framerate=50/1' ! queue ! videoconvert ! x264enc bitrate=800 speed-preset=6 tune=4 key-int-max=10 ! rtph264pay ! udpsink host=127.0.0.1 port=5600
Convert to RTSP:
python ./gst_udp_to_rtsp.py
Display the RTSP stream:
gst-launch-1.0 rtspsrc location=rtsp://localhost:8554/camera latency=50 ! decodebin ! autovideosink
gst_udp_to_wx.py
The example displays a UDP video stream in a wxPython application.
Create a UDP video stream:
gst-launch-1.0 -v videotestsrc ! 'video/x-raw,format=I420,width=640,height=480,framerate=50/1' ! queue ! videoconvert ! x264enc bitrate=800 speed-preset=6 tune=4 key-int-max=10 ! rtph264pay ! udpsink host=127.0.0.1 port=5600
Display the UDP video stream in wxPython:
python ./gst_udp_to_wx.py