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-rw-r--r--ecp/test/vid/cap.c576
1 files changed, 576 insertions, 0 deletions
diff --git a/ecp/test/vid/cap.c b/ecp/test/vid/cap.c
new file mode 100644
index 0000000..e37c28f
--- /dev/null
+++ b/ecp/test/vid/cap.c
@@ -0,0 +1,576 @@
+/*
+ * OpenCV BSD3 License
+ * videodev2.h BSD License (dual license)
+ * If you raise some license issue here simply don't use it and let us know
+ *
+ * Copyright (C) 2016 the contributors
+ *
+ * Luiz Vitor Martinez Cardoso
+ * Jules Thuillier
+ * @lex (avafinger)
+ *
+ * gcc cap.c -o cap $(pkg-config --libs --cflags opencv) -lm
+ *
+ * gcc -I/usr/src/linux-headers-VERSION/ cap.c -o cap $(pkg-config --libs --cflags opencv) -lm -O3
+ *
+*/
+
+#include <stdlib.h>
+#include <stdio.h>
+#include <errno.h>
+#include <fcntl.h>
+#include <stdint.h>
+#include <unistd.h>
+#include <malloc.h>
+#include <string.h>
+#include <sys/mman.h>
+#include <sys/time.h>
+#include <sys/ioctl.h>
+
+/* -----------------------------------------------------------------------------
+ * BananaPi M64 / Pine64+ (A64) or if you want to control Exposure,Hflip,Vflip
+ * -----------------------------------------------------------------------------
+ * _V4L2_KERNEL_ should be defined and point to: /usr/src/linux-headers-version
+ *
+ * build with: gcc -I/usr/src/linux-headers-3.10.102/ cap.c -o cap $(pkg-config --libs --cflags opencv) -lm -O3
+ *
+ *
+ * -----------------------------------------------------------------------------
+ * OrangePi / BananaPi / NanoPi (H3) / BPI-M3 (A83T - ov5640 & ov8865)
+ * -----------------------------------------------------------------------------
+ * _V4L2_KERNEL_ should not be defined unless you want Exposure, Hflip and Vflip
+ *
+ * build with: gcc cap.c -o cap $(pkg-config --libs --cflags opencv) -lm
+ *
+ *
+*/
+//#define _V4L2_KERNEL_ // BananaPi M64 / Pine64+ only or for setting Exposure,Hflip,Vflip
+
+#ifdef _V4L2_KERNEL_
+/* --- A64 --- */
+#include <linux/videodev2.h>
+#else
+/* --- H3 / A83T --- */
+#include "videodev2.h"
+#endif
+
+#ifdef _V4L2_KERNEL_
+#define V4L2_MODE_VIDEO 0x0002 /* video capture */
+#define V4L2_MODE_IMAGE 0x0003 /* image capture */
+#define V4L2_MODE_PREVIEW 0x0004 /* preview capture */
+#endif
+
+#define N_BUFFERS 4
+#define CAP_OK 0
+#define CAP_ERROR -1
+#define CAP_ERROR_RET(s) { \
+ fprintf(stderr, "v4l2: %s\n", s); \
+ return CAP_ERROR; \
+ }
+#define CAP_CLIP(val, min, max) (((val) > (max)) ? (max) : (((val) < (min)) ? (min) : (val)))
+
+#define CLEAR(x) memset (&(x), 0, sizeof (x))
+#define ALIGN_4K(x) (((x) + (4095)) & ~(4095))
+#define ALIGN_16B(x) (((x) + (15)) & ~(15))
+
+#include "server.h"
+#include "enc.h"
+
+typedef struct {
+ void *start;
+ size_t length;
+} v4l2_buffer_t;
+
+int width;
+int height;
+v4l2_buffer_t *buffers = NULL;
+int n_buffers = N_BUFFERS;
+int sensor_video_mode;
+int sensor_exposure;
+int sensor_hflip;
+int sensor_vflip;
+
+double get_wall_time()
+{
+ struct timeval time;
+ if (gettimeofday(&time, NULL))
+ return 0.;
+ return (double) time.tv_sec + (double) time.tv_usec * .000001;
+}
+
+int yuv420p_to_bgr(void *in, int length, unsigned char *out)
+{
+ uint8_t *yptr, *uptr, *vptr;
+ uint32_t x, y, p;
+
+ if (length < (width * height * 3) / 2)
+ return CAP_ERROR;
+
+ yptr = (uint8_t *) in;
+ uptr = yptr + (width * height);
+ vptr = uptr + (width * height / 4);
+ p = 0;
+
+ for (y = 0; y < height; y++) {
+ for (x = 0; x < width; x++) {
+ int r, g, b;
+ int y, u, v;
+
+ y = *(yptr++) << 8;
+ u = uptr[p] - 128;
+ v = vptr[p] - 128;
+
+ r = (y + (359 * v)) >> 8;
+ g = (y - (88 * u) - (183 * v)) >> 8;
+ b = (y + (454 * u)) >> 8;
+
+ *(out++) += CAP_CLIP(b, 0x00, 0xFF);
+ *(out++) += CAP_CLIP(g, 0x00, 0xFF);
+ *(out++) += CAP_CLIP(r, 0x00, 0xFF);
+
+ if (x & 1)
+ p++;
+ }
+
+ if (!(y & 1))
+ p -= width / 2;
+ }
+
+ return CAP_ERROR;
+}
+
+static int xioctl(int fd, int request, void *arg)
+{
+ int r;
+ int tries = 3;
+
+ do {
+ r = ioctl(fd, request, arg);
+ } while (--tries > 0 && -1 == r && EINTR == errno);
+
+ return r;
+}
+
+int v4l2_display_sizes_pix_format(int fd)
+{
+ int ret = 0;
+ int fsizeind = 0; /*index for supported sizes*/
+ struct v4l2_frmsizeenum fsize;
+
+ fprintf(stderr, "V4L2 pixel sizes:\n");
+
+ CLEAR(fsize);
+ fsize.index = 0;
+ fsize.pixel_format = V4L2_PIX_FMT_YUV420;
+
+ while ((ret = xioctl(fd, VIDIOC_ENUM_FRAMESIZES, &fsize)) == 0) {
+ fsize.index++;
+ if (fsize.type == V4L2_FRMSIZE_TYPE_DISCRETE) {
+ fprintf(stderr, "( %u x %u ) Pixels\n", fsize.discrete.width, fsize.discrete.height);
+ fsizeind++;
+ }
+ }
+ return fsizeind;
+}
+
+int v4l2_display_pix_format(int fd)
+{
+ struct v4l2_fmtdesc fmt;
+ int index;
+
+ fprintf(stderr, "V4L2 pixel formats:\n");
+
+ index = 0;
+ CLEAR(fmt);
+ fmt.index = index;
+ fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
+
+ while (ioctl(fd, VIDIOC_ENUM_FMT, &fmt) != -1) {
+ fprintf(stderr, "%i: [0x%08X] '%c%c%c%c' (%s)\n", index, fmt.pixelformat, fmt.pixelformat >> 0, fmt.pixelformat >> 8, fmt.pixelformat >> 16, fmt.pixelformat >> 24, fmt.description);
+
+ memset(&fmt, 0, sizeof(fmt));
+ fmt.index = ++index;
+ fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
+ }
+ // fprintf(stderr, "\n");
+}
+
+#ifdef _V4L2_KERNEL_
+int v4l2_set_exposure(int fd, int exposure)
+{
+ struct v4l2_queryctrl queryctrl;
+ struct v4l2_control control;
+ int rc;
+
+ fprintf(stderr, "set Exposure: %d\n", exposure);
+ rc = 0;
+ memset(&control, 0, sizeof(control));
+ control.id = V4L2_CID_EXPOSURE;
+ rc = xioctl(fd, VIDIOC_G_CTRL, &control);
+ fprintf(stderr, "rc: %d - get exposure: %d\n", rc, control.value);
+ control.value = exposure;
+ rc = xioctl(fd, VIDIOC_S_CTRL, &control);
+ fprintf(stderr, "rc: %d - new exposure: %d\n", rc, exposure);
+ return rc;
+}
+
+int v4l2_set_hflip(int fd, int hflip)
+{
+ struct v4l2_queryctrl queryctrl;
+ struct v4l2_control control;
+ int rc;
+
+ fprintf(stderr, "set Hflip: %d\n", hflip);
+ rc = 0;
+ memset(&control, 0, sizeof(control));
+ control.id = V4L2_CID_HFLIP;
+ rc = xioctl(fd, VIDIOC_G_CTRL, &control);
+ fprintf(stderr, "rc: %d - get value: %d\n", rc, control.value);
+ control.value = hflip;
+ rc = xioctl(fd, VIDIOC_S_CTRL, &control);
+ fprintf(stderr, "rc: %d - new value: %d\n", rc, control.value);
+ return rc;
+}
+
+int v4l2_set_vflip(int fd, int vflip)
+{
+ struct v4l2_queryctrl queryctrl;
+ struct v4l2_control control;
+ int rc;
+
+ fprintf(stderr, "set Vflip: %d\n", vflip);
+ rc = 0;
+ memset(&control, 0, sizeof(control));
+ control.id = V4L2_CID_VFLIP;
+ rc = xioctl(fd, VIDIOC_G_CTRL, &control);
+ fprintf(stderr, "rc: %d - get value: %d\n", rc, control.value);
+ control.value = vflip;
+ rc = xioctl(fd, VIDIOC_S_CTRL, &control);
+ fprintf(stderr, "rc: %d - new value: %d\n", rc, control.value);
+ return rc;
+}
+#endif
+
+int v4l2_init_camera(int fd)
+{
+ uint32_t i;
+ uint32_t index;
+ struct v4l2_streamparm parms;
+ struct v4l2_format fmt;
+ struct v4l2_input input;
+ struct v4l2_capability caps;
+
+ CLEAR(fmt);
+ CLEAR(input);
+ CLEAR(caps);
+
+
+ if (xioctl(fd, VIDIOC_QUERYCAP, &caps) == -1) {
+ CAP_ERROR_RET("unable to query capabilities.");
+ }
+
+ if (!(caps.capabilities & V4L2_CAP_VIDEO_CAPTURE)) {
+ CAP_ERROR_RET("doesn't support video capturing.");
+ }
+
+ fprintf(stderr, "Driver: \"%s\"\n", caps.driver);
+ fprintf(stderr, "Card: \"%s\"\n", caps.card);
+ fprintf(stderr, "Bus: \"%s\"\n", caps.bus_info);
+ fprintf(stderr, "Version: %d.%d\n", (caps.version >> 16) && 0xff, (caps.version >> 24) && 0xff);
+ fprintf(stderr, "Capabilities: %08x\n", caps.capabilities);
+
+ input.index = 0;
+ if (xioctl(fd, VIDIOC_ENUMINPUT, &input) == -1) {
+ CAP_ERROR_RET("unable to enumerate input.");
+ }
+
+ fprintf(stderr, "Input: %d\n", input.index);
+ if (xioctl(fd, VIDIOC_S_INPUT, &input.index) == -1) {
+ CAP_ERROR_RET("unable to set input.");
+ }
+
+ parms.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
+ parms.parm.capture.capturemode = sensor_video_mode ? V4L2_MODE_VIDEO : V4L2_MODE_IMAGE;
+ parms.parm.capture.timeperframe.numerator = 1;
+ parms.parm.capture.timeperframe.denominator = sensor_video_mode ? 30 : 7;
+ if (-1 == xioctl(fd, VIDIOC_S_PARM, &parms)) {
+ CAP_ERROR_RET("unable to set stream parm.");
+ }
+
+ v4l2_display_pix_format(fd);
+ v4l2_display_sizes_pix_format(fd);
+ fprintf(stderr, "\n");
+
+ fmt.fmt.pix.width = width;
+ fmt.fmt.pix.height = height;
+ fmt.fmt.pix.field = V4L2_FIELD_NONE; // V4L2_FIELD_ANY;
+ fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
+ fmt.fmt.pix.pixelformat = V4L2_PIX_FMT_YUV420;
+ //fmt.fmt.pix.pixelformat = V4L2_PIX_FMT_RGB24;
+
+ if (xioctl(fd, VIDIOC_TRY_FMT, &fmt) == -1) {
+ CAP_ERROR_RET("failed trying to set pixel format.");
+ }
+
+ if (fmt.fmt.pix.width != width || fmt.fmt.pix.height != height) {
+ width = fmt.fmt.pix.width;
+ height = fmt.fmt.pix.height;
+ fprintf(stderr, "Sensor size adjusted to: %dx%d pixels\n", width, height);
+ } else {
+ fprintf(stderr, "Sensor size: %dx%d pixels\n", width, height);
+ }
+
+ if (xioctl(fd, VIDIOC_S_FMT, &fmt) == -1) {
+ CAP_ERROR_RET("failed to set pixel format.");
+ }
+
+ switch (fmt.fmt.pix.pixelformat) {
+ case V4L2_PIX_FMT_RGB24:
+ fprintf(stderr, "Pixel Format: V4L2_PIX_FMT_RGB24 [0x%08X]\n",fmt.fmt.pix.pixelformat);
+ break;
+
+ case V4L2_PIX_FMT_YUV420:
+ fprintf(stderr, "Pixel Format: V4L2_PIX_FMT_YUV420 [0x%08X]\n",fmt.fmt.pix.pixelformat);
+ break;
+
+ }
+
+ return CAP_OK;
+}
+
+int v4l2_set_mmap(int fd, int *buffers_count)
+{
+ int i;
+ int nbf;
+ enum v4l2_buf_type type;
+ struct v4l2_requestbuffers req;
+ struct v4l2_buffer buf;
+
+ CLEAR(req);
+ req.count = sensor_video_mode ? n_buffers : 1;
+ req.memory = V4L2_MEMORY_MMAP;
+ req.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
+ if (xioctl(fd, VIDIOC_REQBUFS, &req) == -1) {
+ CAP_ERROR_RET("failed requesting buffers.");
+ }
+ nbf = req.count;
+ if (n_buffers != nbf) {
+ CAP_ERROR_RET("insufficient buffer memory.");
+ }
+
+ buffers = (v4l2_buffer_t *) calloc(nbf, sizeof(v4l2_buffer_t));
+ if (!buffers) {
+ CAP_ERROR_RET("failed to allocated buffers memory.");
+ }
+
+ for (i = 0; i < nbf; i++) {
+ CLEAR(buf);
+ buf.index = i;
+ buf.memory = V4L2_MEMORY_MMAP;
+ buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
+ if (xioctl(fd, VIDIOC_QUERYBUF, &buf) == -1) {
+ CAP_ERROR_RET("failed to query buffer.");
+ }
+ buffers[i].length = buf.length;
+ buffers[i].start = mmap(NULL, buf.length, PROT_READ | PROT_WRITE, MAP_SHARED, fd, buf.m.offset);
+ if (MAP_FAILED == buffers[i].start) {
+ CAP_ERROR_RET("failed to mmap buffer.");
+ }
+ }
+
+ for (i = 0; i < nbf; i++) {
+ CLEAR(buf);
+ buf.index = i;
+ buf.memory = V4L2_MEMORY_MMAP;
+ buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
+
+ if (xioctl(fd, VIDIOC_QBUF, &buf) == -1) {
+ CAP_ERROR_RET("failed to queue buffer.");
+ }
+ }
+
+ type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
+ if (xioctl(fd, VIDIOC_STREAMON, &type) == -1) {
+ CAP_ERROR_RET("failed to stream on.");
+ }
+
+ *buffers_count = nbf;
+
+ return CAP_OK;
+}
+
+int v4l2_retrieve_frame(int fd, int buffers_count, vpx_image_t *raw, vpx_codec_ctx_t *codec, int frame_index, int kframe_interval)
+{
+ int sz;
+ fd_set fds;
+ unsigned char *frame_yuv;
+ struct timeval tv;
+ struct v4l2_buffer buf;
+ int rc;
+ char err_msg[128];
+ int flags = 0;
+
+ CLEAR(tv);
+ CLEAR(buf);
+
+ rc = 1;
+ while (rc > 0) {
+ FD_ZERO(&fds);
+ FD_SET(fd, &fds);
+
+ tv.tv_sec = 2;
+ tv.tv_usec = 0;
+
+ rc = select(fd + 1, &fds, NULL, NULL, &tv);
+ if (-1 == rc) {
+ if (EINTR == errno) {
+ rc = 1; // try again
+ continue;
+ }
+ CAP_ERROR_RET("failed to select frame.");
+ }
+ /* we got something */
+ break;
+ }
+ if (rc <= 0) {
+ sprintf(err_msg, "errno: %d - check sensor, something wrong.", errno);
+ CAP_ERROR_RET(err_msg);
+ }
+
+ buf.memory = V4L2_MEMORY_MMAP;
+ buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
+ if (xioctl(fd, VIDIOC_DQBUF, &buf) == -1) {
+ CAP_ERROR_RET("failed to retrieve frame.");
+ }
+
+ // fprintf(stderr, "Length: %d \tBytesused: %d \tAddress: %p\n", buf.length, buf.bytesused, &buffers[buf.index]);
+
+ sz = ALIGN_16B(width) * height * 3 / 2;
+ if (!vpx_img_read(raw, buffers[buf.index].start, sz)) {
+ die_codec(NULL, "Failed to read image.");
+ }
+ if (frame_index % kframe_interval == 0) flags |= VPX_EFLAG_FORCE_KF;
+ vpx_encode_frame(codec, raw, frame_index, flags);
+
+ if (xioctl(fd, VIDIOC_QBUF, &buf) == -1) {
+ CAP_ERROR_RET("failed to queue buffer.");
+ }
+
+ return CAP_OK;
+}
+
+int v4l2_close_camera(int fd, int buffers_count)
+{
+ int i;
+ enum v4l2_buf_type type;
+
+ type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
+ if (xioctl(fd, VIDIOC_STREAMOFF, &type) == -1) {
+ CAP_ERROR_RET("failed to stream off.");
+ }
+
+ for (i = 0; i < buffers_count; i++)
+ munmap(buffers[i].start, buffers[i].length);
+
+ close(fd);
+}
+
+int main(int argc, char *argv[])
+{
+ int fd;
+ int target_bitrate = 200;
+ double after;
+ double before;
+ double avg, fps;
+ int buffers_count;
+ int kframe_interval;
+ vpx_codec_er_flags_t err_resilient;
+ char *address;
+ char *my_key;
+ char *vcs_key;
+
+ if (argc != 14) {
+ CAP_ERROR_RET("./cap <width> <height> <buffers [4,8]> <video mode [0,1]> <exposure [-4,4]> <hflip [0,1]> <vflip [0,1]> <kframe interval> <bitrate> <err resilient> <address> <my key> <vcs pub key>")
+ }
+ width = (int) atoi(argv[1]);
+ height = (int) atoi(argv[2]);
+ n_buffers = (int) atoi(argv[3]);
+ if (n_buffers < 4)
+ n_buffers = 4;
+ if (n_buffers > 8)
+ n_buffers = 8; // enough in VIDEO MODE!!!
+
+ sensor_video_mode = (int) atoi(argv[4]);
+ if (!sensor_video_mode)
+ n_buffers = 1;
+ sensor_exposure = (int) atoi(argv[5]);
+ sensor_hflip = (int) atoi(argv[6]);
+ sensor_vflip = (int) atoi(argv[7]);
+ kframe_interval = (int) atoi(argv[8]);
+ target_bitrate = (int) atoi(argv[9]);
+ err_resilient = strtoul(argv[10], NULL, 0);
+ address = argv[11];
+ my_key = argv[12];
+ vcs_key = argv[13];
+
+ fprintf(stderr, "---- cap parameters -----\nwidth: %d\nheight: %d\nv4l2 buffers: %d\nexposure: %d\nhflip: %d\nvflip: %d\nMode: %s\n", width, height, n_buffers, sensor_exposure, sensor_hflip, sensor_vflip, sensor_video_mode ? "V4L2_MODE_VIDEO" : "V4L2_MODE_IMAGE");
+
+ fd = open("/dev/video0", O_RDWR | O_NONBLOCK);
+ if (fd == -1) {
+ CAP_ERROR_RET("failed to open the camera.");
+ }
+
+ if (v4l2_init_camera(fd) == -1) {
+ CAP_ERROR_RET("failed to init camera.");
+ }
+#ifdef _V4L2_KERNEL_
+ if (sensor_exposure != -999) {
+ v4l2_set_exposure(fd, sensor_exposure);
+ }
+ if (sensor_hflip != -1) {
+ v4l2_set_hflip(fd, sensor_hflip);
+ }
+
+ if (sensor_vflip != -1) {
+ v4l2_set_vflip(fd, sensor_vflip);
+ }
+#endif
+
+ if (v4l2_set_mmap(fd, &buffers_count) == -1) {
+ CAP_ERROR_RET("failed to mmap.");
+ }
+
+ int n = 0;
+ int _fps = 30;
+ const char *codec_arg = "vp9";
+ vpx_codec_ctx_t codec;
+ vpx_image_t raw;
+
+ vpx_open(codec_arg, width, height, _fps, target_bitrate, err_resilient, &codec, &raw);
+ init_server(address, my_key, vcs_key);
+
+ while (1) {
+ if (!conn_is_open()) {
+ sleep(1);
+ continue;
+ }
+ before = get_wall_time();
+ if (v4l2_retrieve_frame(fd, buffers_count, &raw, &codec, n, kframe_interval)) {
+ CAP_ERROR_RET("failed to retrieve frame.");
+ }
+ after = get_wall_time();
+ fps = 1.0 / (after - before);
+ avg += fps;
+ n++;
+ // fprintf(stderr, "FPS[%d]: %.2f\n", i, fps);
+ }
+
+ vpx_close(&codec, &raw);
+ v4l2_close_camera(fd, buffers_count);
+
+ if (n) {
+ fprintf(stderr, "\n------- Avg FPS: %.2f --------\n\n", (double) (avg / (double) n));
+ }
+
+ return CAP_OK;
+}
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