Add support for raspberry camera

[patrickelectric]

original comment: bluerobotics/BlueOS#991

[joaoantoniocardoso]

Can we identify the raspberry pi camera with the current implementation?

[ES-Alexander]

May be relevant:
https://www.raspberrypi.com/documentation/accessories/camera.html?ref=hackernoon.com#network-streaming

[ES-Alexander]

Can we identify the raspberry pi camera with the current implementation?

@joaoantoniocardoso libcamera-hello --list-cameras seems to detect mine fine, if that's helpful:

pi@blueos:~ $ libcamera-hello --list-cameras
[0:08:40.093741943] [1781]  INFO Camera camera manager.cpp:293 libcamera v0.0.0+3384-44d59841
[0:08:40.168778494] [1782]  WARN PI raspberrypi.cpp: 1202 Mismatch between Unicam and CamHelper for embedded data usage!
[0:08:40.169876612] [1782]  INFO PI raspberrypi.cpp: 1313 Registered camera /base/soc/i2c0mux/i2c@1/imx219@10 to Unicam device /dev/media3 and ISP device /dev/media0
Available cameras
----------------
0 : imx219 [3280x2464] (/base/soc/12c0mux/i2c@1/imx219@10)
    Modes: 'SBGGR10_CSI2P'  : 640x480 1640x1232 1920x1080 3280x2464
           'SBGGR8'  : 640x480 1640x1232 1920x1080 3280x2464
1 : H264 USB Camera: USB Camera [1920x1080] (/base/soc/usb@7e980000/[email protected]:1.0-32e4:9422)
    Modes: 'MJPEG'  : 320x240 352x288 640x360 640x480 800x600 1280x720 1920x1080 1920x1080
           'YUYV'  : 320x240 352x288 640x360 640x480 640×480 800x600

That said, that doesn't seem to detect the H264 output option, and I'm not certain how to ensure it does proper (efficient) hardware encoding like it does with earlier RPiOS versions.

[joaoantoniocardoso]

After adding StepWise support to mavlink-camera-manager and adding libcamera to our docker, Raspberry Pi cameras will be working as any other camera (Legacy mode is not required)! =)