Actually , I tried to send Image as MavLink Message to QGC by following below link, but here I’m directly sending acknowledgement Data_Transmission_Handshake
Image Transmission Protocol · MAVLink Developer Guide
master = mavutil.mavlink_connection('udpout:127.0.0.1:14550', source_system=1, source_component=1, dialect="ardupilotmega")
Data_Tansmission_Handshake(sending image metadata) mavlink messsage
imageMetaData = mavlink2.MAVLink_data_transmission_handshake_message(
type = mavlink2.MAVLINK_DATA_STREAM_IMG_JPEG,# Type of requested/acknowledged data. (type:uint8_t, values:MAVLINK_DATA_STREAM_TYPE),
size = 62882 ,#total data size (set on ACK only). [bytes] (type:uint32_t),
width = 1391,# (type:uint16_t),
height = 614,# (type:uint16_t),
packets = 1,#Number of packets being sent (set on ACK only). (type:uint16_t),
payload = len(image_to_bytes_("image_path")),#Payload size per packet (normally 253 byte, see DATA field size in message ENCAPSULATED_DATA) (set on ACK only). [bytes] (type:uint8_t),
jpg_quality = 100,) # JPEG quality. Values: [1-100]. [%] (type:uint8_t)
image_to_bytes function:
def image_to_bytes_(image_path, target_width=1391, target_height=614, target_payload_size=253):
try:
# Open the image file
with open(image_path, 'rb') as image_file:
# Read the image using PIL
image = Image.open(image_file)
# Resize the image to the target dimensions
resized_image = image.resize((target_width, target_height))
# Convert the image to a numpy array of uint8_t
image_array = np.array(resized_image, dtype=np.uint8)
# Flatten the array to a 1D array
flattened_array = image_array.flatten()
# Take only the first target_payload_size elements
truncated_array = flattened_array[:target_payload_size]
# Pad the array with zeros if needed to reach target_payload_size
padded_array = np.pad(truncated_array, (0, target_payload_size - len(truncated_array)), 'constant')
# Convert the array to bytes
bytes_data = bytes(padded_array)
print("bytes_data ",len(bytes_data))
return bytes_data
except FileNotFoundError:
print(f"Error: File '{image_path}' not found.")
return None
Encapsulated Data(send image chunks) mavlink messsage
imageData = mavlink2.MAVLink_encapsulated_data_message(
seqnr=0,
data=image_to_bytes_("image_path")
)
master.mav.send(imageData)
At QGC end , QGC is able to read this mavlink message, but in console its showing below message:
Using QByteRef with an index pointing outside the valid range of a QByteArray. The corresponding behavior is deprecated, and will be changed in a future version of Qt.
ImageProtocolManagerLog: getImage: Known header QImage::loadFromData failed
I don’t know where I’m going wrong whether I’m not sending data correctly or some other thing. Please help me with this issue.
Thanks in advance.