From a3f0e09379759e4cfb79e1d5c7d7ac752728fe5f Mon Sep 17 00:00:00 2001 From: Uros Majstorovic Date: Tue, 22 Aug 2017 05:46:13 +0200 Subject: added video test --- code/test/vid/Makefile | 17 ++ code/test/vid/cap.c | 568 +++++++++++++++++++++++++++++++++++++++++++++++++ code/test/vid/cap.sh | 3 + code/test/vid/enc.c | 239 +++++++++++++++++++++ code/test/vid/enc.h | 10 + code/test/vid/tools.c | 54 +++++ code/test/vid/tools.h | 29 +++ 7 files changed, 920 insertions(+) create mode 100644 code/test/vid/Makefile create mode 100644 code/test/vid/cap.c create mode 100755 code/test/vid/cap.sh create mode 100644 code/test/vid/enc.c create mode 100644 code/test/vid/enc.h create mode 100644 code/test/vid/tools.c create mode 100644 code/test/vid/tools.h diff --git a/code/test/vid/Makefile b/code/test/vid/Makefile new file mode 100644 index 0000000..757429d --- /dev/null +++ b/code/test/vid/Makefile @@ -0,0 +1,17 @@ +LIBVPX_HOME=../libvpx +CFLAGS=-D_V4L2_KERNEL_ -I/usr/src/linux-headers-$(uname -r) -I$(LIBVPX_HOME) +LDFLAGS=-L$(LIBVPX_HOME) +deps=$(LIBVPX_HOME)/ivfenc.c.o $(LIBVPX_HOME)/video_writer.c.o + +all: cap + +%.o: %.c + $(CC) $(CFLAGS) -c $< + +cap: cap.o enc.o tools.o + $(CC) -o $@ $< enc.o tools.o $(deps) -lvpx -lm -pthread $(LDFLAGS) + +clean: + rm -f *.o + rm -f cap + diff --git a/code/test/vid/cap.c b/code/test/vid/cap.c new file mode 100644 index 0000000..c156fab --- /dev/null +++ b/code/test/vid/cap.c @@ -0,0 +1,568 @@ +/* + * 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 +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +/* ----------------------------------------------------------------------------- + * 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 +#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) { \ + printf("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 "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; + + printf("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) { + printf("( %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; + + printf("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) { + printf("%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; + } + // printf("\n"); +} + +#ifdef _V4L2_KERNEL_ +int v4l2_set_exposure(int fd, int exposure) +{ + struct v4l2_queryctrl queryctrl; + struct v4l2_control control; + int rc; + + printf("set Exposure: %d\n", exposure); + rc = 0; + memset(&control, 0, sizeof(control)); + control.id = V4L2_CID_EXPOSURE; + rc = xioctl(fd, VIDIOC_G_CTRL, &control); + printf("rc: %d - get exposure: %d\n", rc, control.value); + control.value = exposure; + rc = xioctl(fd, VIDIOC_S_CTRL, &control); + printf("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; + + printf("set Hflip: %d\n", hflip); + rc = 0; + memset(&control, 0, sizeof(control)); + control.id = V4L2_CID_HFLIP; + rc = xioctl(fd, VIDIOC_G_CTRL, &control); + printf("rc: %d - get value: %d\n", rc, control.value); + control.value = hflip; + rc = xioctl(fd, VIDIOC_S_CTRL, &control); + printf("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; + + printf("set Vflip: %d\n", vflip); + rc = 0; + memset(&control, 0, sizeof(control)); + control.id = V4L2_CID_VFLIP; + rc = xioctl(fd, VIDIOC_G_CTRL, &control); + printf("rc: %d - get value: %d\n", rc, control.value); + control.value = vflip; + rc = xioctl(fd, VIDIOC_S_CTRL, &control); + printf("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."); + } + + printf("Driver: \"%s\"\n", caps.driver); + printf("Card: \"%s\"\n", caps.card); + printf("Bus: \"%s\"\n", caps.bus_info); + printf("Version: %d.%d\n", (caps.version >> 16) && 0xff, (caps.version >> 24) && 0xff); + printf("Capabilities: %08x\n", caps.capabilities); + + input.index = 0; + if (xioctl(fd, VIDIOC_ENUMINPUT, &input) == -1) { + CAP_ERROR_RET("unable to enumerate input."); + } + + printf("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); + printf("\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; + printf("Sensor size adjusted to: %dx%d pixels\n", width, height); + } else { + printf("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: + printf("Pixel Format: V4L2_PIX_FMT_RGB24 [0x%08X]\n",fmt.fmt.pix.pixelformat); + break; + + case V4L2_PIX_FMT_YUV420: + printf("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_count, 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."); + } + + // printf("Length: %d \tBytesused: %d \tAddress: %p\n", buf.length, buf.bytesused, &buffers[buf.index]); + + sz = ALIGN_16B(width) * height * 3 / 2; + vpx_img_read(raw, buffers[buf.index].start, sz); + if (frame_count % kframe_interval == 0) + flags |= VPX_EFLAG_FORCE_KF; + vpx_encode_frame(codec, raw, frame_count, 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 i, n; + 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; + int frame_count; + char *out_fname; + + if (argc != 13) { + CAP_ERROR_RET("./cap