樹莓派4使用USB3.0 HDMI視頻採集卡H.264編碼測試程序

樹莓派4使用USB3.0 HDMI視頻採集卡H.264編碼測試程序

/*=============================================================================
# 樹莓派4使用USB3.0 HDMI視頻採集卡H.264編碼測試程序
# 定義一個AVFrame *frame幀
# 編譯：gcc ./v4l2_encode_2.c -o v4l2_encode_2  -lavcodec -lavutil 
=============================================================================*/
#include <unistd.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <stdio.h>
#include <sys/ioctl.h>
#include <stdlib.h>
#include <linux/types.h>
#include <linux/videodev2.h>
#include <malloc.h>
#include <math.h>
#include <string.h>
#include <sys/mman.h>
#include <errno.h>
#include <assert.h>
#include <sys/time.h>
#include <stdlib.h>
#include <string.h>
#include <stdint.h>
#include <stdbool.h>


#include <libavcodec/avcodec.h>
#include <libavutil/opt.h>
#include <libavutil/imgutils.h>

#define FILE_VIDEO  "/dev/video0"
#define WIDTH 1920
#define HEIGHT 1080
#define LOOP 30*60*60*2//2個小時
#define BIT_RATE 1024000*4

typedef struct{
    void *start;
	int length;
}BUFTYPE;
BUFTYPE *usr_buf;
static unsigned int n_buffer = 0;
struct timeval first_time, second_time;//用時間差統計幀速率
int j=0;//開始計時標誌

const char *filename = "test.264";
const char *codec_name = "h264_omx";//libx264 軟編碼  h264_omx 樹莓派硬編碼
const AVCodec *codec;
AVCodecContext *c= NULL;

FILE *f;
AVFrame *frame;
AVPacket *pkt;
uint8_t endcode[] = { 0, 0, 1, 0xb7 };
 
//將YUYV422轉換成YUV420P
void YUYV422toYUV420P(uint8_t *yuyv422, int width, int height, uint8_t *yuv420p, int length) {
    int i, j;
    uint8_t *pY = yuv420p;
    uint8_t *pU = yuv420p + width * height;
    uint8_t *pV = pU + (width * height) / 4;

    uint8_t *pYUVTemp = yuyv422;
    uint8_t *pYUVTempNext = yuyv422+width * 2;

    for (i = 0; i < height; i += 2) {
        for (j = 0; j < width; j += 2) {
            pY[j] = *pYUVTemp++;
            pY[j + width] = *pYUVTempNext++;

            pU[j / 2] =(*(pYUVTemp) + *(pYUVTempNext)) / 2;

            pYUVTemp++;
            pYUVTempNext++;

            pY[j + 1] = *pYUVTemp++;
            pY[j + 1 + width] = *pYUVTempNext++;
            pV[j / 2] =(*(pYUVTemp) + *(pYUVTempNext)) / 2;

            pYUVTemp++;
            pYUVTempNext++;
        }

        pYUVTemp += width * 2;
        pYUVTempNext += width * 2;
        pY += width * 2;
        pU += width / 2;
        pV += width / 2;
    }
}
    
static void encode(AVCodecContext *enc_ctx, AVFrame *frame, AVPacket *pkt, FILE *outfile)
{
    int ret;
	int key_frame=0;

    ret = avcodec_send_frame(enc_ctx, frame);
    if (ret < 0) {
        fprintf(stderr, "Error sending a frame for encoding\n");
        exit(1);
    }

    while (ret >= 0) {
        ret = avcodec_receive_packet(enc_ctx, pkt);
        if(ret == AVERROR_EOF){
            return;
		}else if (ret == AVERROR(EAGAIN)){	
            return;
        }else if (ret < 0) {
            fprintf(stderr, "Error during encoding\n");
            exit(1);
        }
        if(pkt->flags & AV_PKT_FLAG_KEY){//by aphero
			key_frame=1;
			printf("@-");//輸出的是關鍵幀
		}

        //if(!(pkt->pts % 30)){//30個壓縮幀統計一次
			gettimeofday(&second_time, NULL);
			double time_val = (second_time.tv_sec - first_time.tv_sec) * 1000000 + second_time.tv_usec - first_time.tv_usec;
			//printf("time_val(ms) = %lf\n", time_val / 1000.0);
			printf("+encode packet %3"PRId64" (size=%7d) time(ms) = %lf fps=%lf\n", pkt->pts, pkt->size,time_val / 1000.0, (pkt->pts)*1000.0/(time_val/1000.0));
		//}
        fwrite(pkt->data, 1, pkt->size, outfile);//將編碼後的h.264數據寫入文件
     
        av_packet_unref(pkt);
    }
}

int openencoder()
{
    int ret;
    avcodec_register_all();
    codec = avcodec_find_encoder_by_name(codec_name);
    if (!codec) {
        fprintf(stderr, "Codec '%s' not found\n", codec_name);
        exit(1);
    }

    c = avcodec_alloc_context3(codec);
    if (!c) {
        fprintf(stderr, "Could not allocate video codec context\n");
        exit(1);
    }

    pkt = av_packet_alloc();
    if (!pkt){
		printf("av_packet_alloc error\n");
        exit(1);
	}

    c->bit_rate = BIT_RATE; //編碼速率
    c->width = WIDTH;		//視頻寬度
    c->height = HEIGHT;     //視頻高度
    c->time_base.num = 1;   //視頻幀速率
	c->time_base.den = 30;  //視頻幀速率
    c->thread_count = 4;    //編碼線程數
    c->gop_size = 30;       //I幀間隔
    c->max_b_frames = 0;    //B幀數
    c->pix_fmt = AV_PIX_FMT_YUV420P;//AV_PIX_FMT_YUV420P; 樹莓派在ffmpeg中不支持AV_PIX_FMT_YUYV422格式編碼

    if (codec->id == AV_CODEC_ID_H264){
		av_opt_set(c->priv_data, "profile", "baseline", 0);//H.264的profile：baseline/main/h
		av_opt_set(c->priv_data, "zerocopy", "0", 0);//修改了ffmpeg-3.4.6中omx.c的源碼，禁用了強制樹莓派爲1，s->input_zerocopy = 1
		//c->me_range = 16;
		//c->qmin = 10;
		//c->qmax = 51;
		//c->max_qdiff = 4;
		//av_opt_set(c->priv_data, "preset", "ultrafast", 0); //ultrafast,superfast, veryfast, faster, fast, medium, slow, slower, veryslow,
		//av_opt_set(c->priv_data, "tune", "zerolatency", 0);
    }
	//c->flags |= AV_CODEC_FLAG_GLOBAL_HEADER;//第1個包不會輸出sps信息，而是將sps pps存入到extradata中
    ret = avcodec_open2(c, codec, NULL);
    if (ret < 0) {
        fprintf(stderr, "Could not open codec: %s\n", av_err2str(ret));
        exit(1);
    }

    f = fopen(filename, "wb");
    if (!f) {
        fprintf(stderr, "Could not open %s\n", filename);
        exit(1);
    }

    frame = av_frame_alloc();
    if (!frame) {
        fprintf(stderr, "Could not allocate video frame\n");
        exit(1);
    }
    frame->format = c->pix_fmt;
    frame->width  = c->width;
    frame->height = c->height;

    ret = av_frame_get_buffer(frame, 32);//必須設置，否則卡死
    if (ret < 0) {
        fprintf(stderr, "Could not allocate the video frame data\n");
        exit(1);
    }
}
 
int stopencoder()
{
	avcodec_free_context(&c);
    av_frame_free(&frame);
    av_packet_free(&pkt);
	
}

/*set video capture ways(mmap)*/
int init_mmap(int fd)
{
	/*to request frame cache, contain requested counts*/
	struct v4l2_requestbuffers reqbufs;
 
	memset(&reqbufs, 0, sizeof(reqbufs));
	reqbufs.count = 3; 	 							/*the number of buffer*/
	reqbufs.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;    
	reqbufs.memory = V4L2_MEMORY_MMAP;				
 
	if(-1 == ioctl(fd,VIDIOC_REQBUFS,&reqbufs))	{
		perror("Fail to ioctl 'VIDIOC_REQBUFS'");
		exit(EXIT_FAILURE);
	}
	
	n_buffer = reqbufs.count;
	printf("n_buffer = %d\n", n_buffer);
	//usr_buf = calloc(reqbufs.count, sizeof(usr_buf));
	usr_buf = calloc(reqbufs.count, sizeof(BUFTYPE));
	if(usr_buf == NULL)	{
		printf("Out of memory\n");
		exit(-1);
	}
 
	/*map kernel cache to user process*/
	for(n_buffer = 0; n_buffer < reqbufs.count; ++n_buffer)	{
		//stand for a frame
		struct v4l2_buffer buf;
		memset(&buf, 0, sizeof(buf));
		buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
		buf.memory = V4L2_MEMORY_MMAP;
		buf.index = n_buffer;
		
		/*check the information of the kernel cache requested*/
		if(-1 == ioctl(fd,VIDIOC_QUERYBUF,&buf)){
			perror("Fail to ioctl : VIDIOC_QUERYBUF");
			exit(EXIT_FAILURE);
		}
 
		usr_buf[n_buffer].length = buf.length;
		usr_buf[n_buffer].start = (char *)mmap(NULL,buf.length,PROT_READ | PROT_WRITE,MAP_SHARED, fd,buf.m.offset);
		//由原來的MAP_PRIVATE 模式改爲MAP_SHARED方式
		if(MAP_FAILED == usr_buf[n_buffer].start){
			perror("Fail to mmap");
			exit(EXIT_FAILURE);
		}
	}
}

int open_camera(void)
{
	int fd;
	struct v4l2_input inp;
 
	fd = open(FILE_VIDEO, O_RDWR | O_NONBLOCK,0);//camera 打開由阻塞打開改爲了非阻塞方式打開
	if(fd < 0){	
		fprintf(stderr, "%s open err \n", FILE_VIDEO);
		exit(EXIT_FAILURE);
	}
 
	inp.index = 0;
	if (-1 == ioctl (fd, VIDIOC_S_INPUT, &inp))	{
		fprintf(stderr, "VIDIOC_S_INPUT \n");
	}
 
	return fd;
}
 
int init_camera(int fd)
{
	struct v4l2_capability 	cap;	/* decive fuction, such as video input */
	struct v4l2_format 		tv_fmt; /* frame format */  
	struct v4l2_fmtdesc 	fmtdesc;  	/* detail control value */
	struct v4l2_control 	ctrl;
	int ret;
	
	/*show all the support format*/
	memset(&fmtdesc, 0, sizeof(fmtdesc));
	fmtdesc.index = 0 ;                 /* the number to check */
	fmtdesc.type=V4L2_BUF_TYPE_VIDEO_CAPTURE;
 
	/* check video decive driver capability */
	if(ret=ioctl(fd, VIDIOC_QUERYCAP, &cap)<0){
		fprintf(stderr, "fail to ioctl VIDEO_QUERYCAP \n");
		exit(EXIT_FAILURE);
	}
	
	/*judge wherher or not to be a video-get device*/
	if(!(cap.capabilities & V4L2_BUF_TYPE_VIDEO_CAPTURE)){
		fprintf(stderr, "The Current device is not a video capture device \n");
		exit(EXIT_FAILURE);
	}
 
	/*judge whether or not to supply the form of video stream*/
	if(!(cap.capabilities & V4L2_CAP_STREAMING)){
		printf("The Current device does not support streaming i/o\n");
		exit(EXIT_FAILURE);
	}
	
	printf("\ncamera driver name is : %s\n",cap.driver);
	printf("camera device name is : %s\n",cap.card);
	printf("camera bus information: %s\n",cap.bus_info);
 
	/*display the format device support*/
	printf("\n");
	while(ioctl(fd,VIDIOC_ENUM_FMT,&fmtdesc)!=-1)
	{	
		printf("support device %d.%s\n",fmtdesc.index+1,fmtdesc.description);
		fmtdesc.index++;
	}
	printf("\n");
 
	/*set the form of camera capture data*/
	tv_fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;      /*v4l2_buf_typea,camera must use V4L2_BUF_TYPE_VIDEO_CAPTURE*/
	tv_fmt.fmt.pix.width = WIDTH;
	tv_fmt.fmt.pix.height = HEIGHT;
	tv_fmt.fmt.pix.pixelformat = V4L2_PIX_FMT_YUYV;//V4L2_PIX_FMT_YUV420;	//V4L2_PIX_FMT_YUYV hdmi採集卡的格式
	tv_fmt.fmt.pix.field = V4L2_FIELD_NONE;   		/*V4L2_FIELD_NONE*/
	if (ioctl(fd, VIDIOC_S_FMT, &tv_fmt)< 0) {
		fprintf(stderr,"VIDIOC_S_FMT set err\n");
		exit(-1);
		close(fd);
	}
	
 	struct v4l2_streamparm* setfps;
	setfps=(struct v4l2_streamparm *) calloc(1, sizeof(struct v4l2_streamparm));
	memset(setfps, 0, sizeof(struct v4l2_streamparm));
	setfps->type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
	setfps->parm.capture.timeperframe.numerator = 1;
	setfps->parm.capture.timeperframe.denominator = 30;
	if (-1 == ioctl(fd, VIDIOC_S_PARM, setfps)) {
		fprintf(stderr,"v4l2: set fps fail\n");
		exit(-1);
		close(fd);
	}
	
	init_mmap(fd);
}
 
int start_capture(int fd)
{
	unsigned int i;
	enum v4l2_buf_type type;
	
	/*place the kernel cache to a queue*/
	for(i = 0; i < n_buffer; i++){
		struct v4l2_buffer buf;
		memset(&buf, 0, sizeof(buf));
		buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
		buf.memory = V4L2_MEMORY_MMAP;
		buf.index = i;
 
		if(-1 == ioctl(fd, VIDIOC_QBUF, &buf)){
			perror("Fail to ioctl 'VIDIOC_QBUF'");
			exit(EXIT_FAILURE);
		}
	}
 
	type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
	if(-1 == ioctl(fd, VIDIOC_STREAMON, &type))	{
		printf("i=%d.\n", i);
		perror("VIDIOC_STREAMON");
		close(fd);
		exit(EXIT_FAILURE);
	}
 
	return 0;
}
 

int process_image(void *addr, int length){

	int  y_size;
	int ret;
	int i,x,y;
	unsigned char *yuv420_buf = (unsigned char *)malloc(3*WIDTH*HEIGHT/2*sizeof(unsigned char));
	if(j==0) gettimeofday(&first_time, NULL);//開始計時
	y_size  = WIDTH * HEIGHT;
	ret = av_frame_make_writable(frame);
    if (ret < 0){
		printf("av_frame_make_writable error\n");
		     exit(1);
    }
    //轉換色彩空間
	YUYV422toYUV420P(addr, WIDTH, HEIGHT,  yuv420_buf, y_size*2);
	frame->data[0] = yuv420_buf;
	frame->data[1] = yuv420_buf+y_size;
	frame->data[2] = yuv420_buf+5*y_size/4;

	//if(!(j % 30)){
		gettimeofday(&second_time, NULL);
		double time_val = (second_time.tv_sec - first_time.tv_sec) * 1000000 + second_time.tv_usec - first_time.tv_usec;
		//printf("time_val(ms) = %lf\n", time_val / 1000.0);
		printf("-capture frame %3d (size=%5d) time(ms) = %lf fps=%lf\n", j, length,time_val / 1000.0, j*1000.0/(time_val/1000.0));
	//}
	
    
	frame->pts = j;
	encode(c, frame, pkt, f);
	j++;
	free(yuv420_buf);

	return 0;
}
 
int read_frame(int fd){
	struct v4l2_buffer buf;
	unsigned int i;
	memset(&buf, 0, sizeof(buf));
	buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
	buf.memory = V4L2_MEMORY_MMAP;
	//put cache from queue
	if(-1 == ioctl(fd, VIDIOC_DQBUF,&buf)){
		perror("Fail to ioctl 'VIDIOC_DQBUF'");
		exit(EXIT_FAILURE);
	}
	assert(buf.index < n_buffer);
	//read process space's data to a file
	process_image(usr_buf[buf.index].start, usr_buf[buf.index].length);
	if(-1 == ioctl(fd, VIDIOC_QBUF,&buf)){
		perror("Fail to ioctl 'VIDIOC_QBUF'");
		exit(EXIT_FAILURE);
	}
	return 1;
}
 
 
int mainloop(int fd)
{
	int count = LOOP;
	while(count-- > 0){
		for(;;)	{
			fd_set fds;
			struct timeval tv;
			int r;
 
			FD_ZERO(&fds);
			FD_SET(fd,&fds);
 
			/*Timeout*/
			tv.tv_sec = 1;
			tv.tv_usec = 0;
			r = select(fd + 1,&fds,NULL,NULL,&tv);
			
			if(-1 == r){
			printf("rrr\n");
				 if(EINTR == errno)
					continue;
				perror("Fail to select");
				exit(EXIT_FAILURE);
			}
			if(0 == r){
				fprintf(stderr,"select Timeout\n");
				exit(-1);
			}

			if(read_frame(fd)){
				break;
			}else{
				printf("error\n");
			}
		}
	}
	return 0;
}
 
void stop_capture(int fd)
{
	enum v4l2_buf_type type;
	type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
	if(-1 == ioctl(fd,VIDIOC_STREAMOFF,&type)){
		perror("Fail to ioctl 'VIDIOC_STREAMOFF'");
		exit(EXIT_FAILURE);
	}
}
 
void close_camera_device(int fd)
{
	unsigned int i;
	for(i = 0;i < n_buffer; i++){
		if(-1 == munmap(usr_buf[i].start,usr_buf[i].length)){
			exit(-1);
		}
	}
 
	free(usr_buf);
 
	if(-1 == close(fd)){
		perror("Fail to close fd");
		exit(EXIT_FAILURE);
	}
}
 
 
void main(void)
{
	int fd;
	fd = open_camera();
	init_camera(fd);
	openencoder();
	start_capture(fd);
	mainloop(fd);
	stop_capture(fd);
	close_camera_device(fd);
	stopencoder();
}
 

測試結果：(在採集1080P30fps情況下編碼，編碼速率26fps左右)

./v4l2_encode_2
...............
+encode packet 683 (size=   3867) time(ms) = 26053.245000 fps=26.215544
-capture frame 685 (size=4147200) time(ms) = 26082.934000 fps=26.262383
+encode packet 684 (size=   4031) time(ms) = 26091.628000 fps=26.215306
-capture frame 686 (size=4147200) time(ms) = 26120.953000 fps=26.262441
+encode packet 685 (size=    202) time(ms) = 26130.025000 fps=26.215053
-capture frame 687 (size=4147200) time(ms) = 26159.614000 fps=26.261855
+encode packet 686 (size=  27643) time(ms) = 26168.684000 fps=26.214539