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https://github.com/introlab/opentera-webrtc
WebRTC JavaScript, C++ and Python libraries and signaling server for the OpenTera project with hardware acceleration with GStreamer
https://github.com/introlab/opentera-webrtc
cplusplus cpp gstreamer javascript jetson library opentera python raspberrypi robotics signaling-server webrtc
Last synced: 2 months ago
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WebRTC JavaScript, C++ and Python libraries and signaling server for the OpenTera project with hardware acceleration with GStreamer
- Host: GitHub
- URL: https://github.com/introlab/opentera-webrtc
- Owner: introlab
- License: apache-2.0
- Created: 2020-06-01T22:36:39.000Z (over 4 years ago)
- Default Branch: main
- Last Pushed: 2024-07-26T16:21:37.000Z (6 months ago)
- Last Synced: 2024-07-26T22:37:40.029Z (6 months ago)
- Topics: cplusplus, cpp, gstreamer, javascript, jetson, library, opentera, python, raspberrypi, robotics, signaling-server, webrtc
- Language: C++
- Homepage:
- Size: 7.29 MB
- Stars: 29
- Watchers: 4
- Forks: 1
- Open Issues: 6
-
Metadata Files:
- Readme: README.md
- Contributing: CONTRIBUTING.md
- License: LICENSE
- Code of conduct: CODE_OF_CONDUCT.md
Awesome Lists containing this project
README
# OpenTera - WebRTC
[](https://github.com/introlab/opentera-webrtc/actions)
[WebRTC](https://webrtc.org/) is a standard for real-time audio/video/data communication and is mostly used in web browsers.
For the [OpenTera](https://github.com/introlab/opentera) micro-service architecture, we wanted to use Google's native WebRTC implementation for robots so we would have more control on the streams and develop a framework that is optimized for robot teleoperation. We also wanted to use hardware acceleration if possible on embedded platforms.
This project provides:
* [A signaling server](signaling-server) written in Python that can be used as a stand-alone server or embedded in our [OpenTera Teleoperation Micro-Service](https://github.com/introlab/opentera-teleop-service)
* [A native libwebrtc wrapper](opentera-webrtc-native-client/OpenteraWebrtcNativeClient/src) that is used as a C++ base library for clients using our signaling server.
* [GStreamer video codec factories for libwebrtc](opentera-webrtc-native-client/OpenTeraWebrtcNativeGstreamer) to enable both software and [hardware encoders/decoders](#hardware-acceleration-with-gstreamer) if available.
* Possiblity to force usage of a particular codec with [VideoStreamConfiguration](opentera-webrtc-native-client/OpenteraWebrtcNativeClient/include/OpenteraWebrtcNativeClient/Configurations/VideoStreamConfiguration.h)
* [Python 3 bindings](opentera-webrtc-native-client/OpenteraWebrtcNativeClient/python) that are used as a Python module for clients using our signaling server.
* [A JavaScript library](opentera-webrtc-web-client) That is used for web client developement and teleoperation interface using our signaling server.
## License
By default, libwebrtc is built with non-free codecs. See [webrtc-native-build](https://github.com/introlab/webrtc-native-build#license) to build without them.
* [Apache License, Version 2.0](LICENSE)
* For GStreamer components, please read [this](opentera-webrtc-native-client/OpenteraWebrtcNativeGStreamer/README.md).
## API Documentation
API Documentation is available [here](https://introlab.github.io/opentera-webrtc).
## How to Contribute
Please read the [Code of Conduct](CODE_OF_CONDUCT.md) and [CONTRIBUTING](CONTRIBUTING.md) files.
## Dependencies
* Most dependencies are part of the project with git submodules in the [opentera-webrtc-native-client/3rdParty](opentera-webrtc-native-client/3rdParty) directory.
## Build Instructions
* Please see [Build Instructions](BUILD_INSTRUCTIONS.md).
## Examples
### C++
* [data-channel-client](examples/cpp-data-channel-client)
* [cpp-video-stream-client](examples/cpp-video-stream-client)
* [cpp-camera-stream-client](examples/cpp-camera-stream-client)
### Python
* [data-channel-client](examples/python-data-channel-client)
* [stream-client](examples/python-stream-client)
### Javascript
* [data-channel-client](examples/web-data-channel-client)
* [stream-client](examples/web-stream-client)
* [stream-data-channel-client](examples/web-stream-data-channel-client)
## Hardware Acceleration with GStreamer
Hardware acceleration depends on the platform you are using to build opentera-webrtc. The following table summarizes supported hardware and GStreamer plugins:
| Platform | VP8 | VP9 | H.264 |
|-----------------------------------|-----------------------------|---------------|------------------------------|
| Jetson TX2/Nano | nvv4l2vp8enc, nvv4l2decoder | nvv4l2decoder | nvv4l2h264enc, nvv4l2decoder |
| Jetson Xavier NX | X | nvv4l2decoder | nvv4l2h264enc, nvv4l2decoder |
| Jetson AGX Xavier | X | nvv4l2decoder | nvv4l2h264enc, nvv4l2decoder |
| Jetson Orin / Orin Nano / Orin NX | X | nvv4l2decoder | nvv4l2h264enc, nvv4l2decoder |
| Raspberry Pi 4 | X | X | v4l2h264enc, v4l2h264dec |
| VA-API | vaapivp8enc, vaapivp8dec | vaapivp9dec | vaapih264enc, vaapih264dec |
| Apple Media | X | X | vtenc_h264, vtdec |
Note that VP9 encoding is under development, see issue [117](https://github.com/introlab/opentera-webrtc/issues/117).
## ROS
* The C++ library and Python bindings are used in our [opentera_webrtc_ros ROS package](https://github.com/introlab/opentera-webrtc-ros). RGB images published in ROS topics can be easily used for streaming in a RTCPeerConnection using our signaling server. Hardware acceleration and codec selection can be used if available.
## Frontend
* The JavaScript library is used for our [opentera WebRTC teleoperation frontend](https://github.com/introlab/opentera-webrtc-teleop-frontend).
## Authors
* Marc-Antoine Maheux (@mamaheux)
* Dominic Létourneau (@doumdi)
* Philippe Warren (@philippewarren)
* François Michaud (@michaudf)
## Contributors
* Cédric Godin (@godced)
* Ian-Mathieu Joly (@joli-1801)
## Sponsor
[IntRoLab - Intelligent / Interactive / Integrated / Interdisciplinary Robot Lab](https://introlab.3it.usherbrooke.ca)