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实现功能：提取rgb波段并通过h264编码；

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This commit is contained in:
tangchao0503
2024-01-23 09:35:01 +08:00
parent 061e1f83bd
commit 2e4679aaef
5 changed files with 492 additions and 81 deletions
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9
CMakeLists.txt
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@ -23,6 +23,9 @@ find_package(OpenCV 4.2.0 REQUIRED)
include_directories(/usr/local/include/opencv4/)
link_directories(/usr/local/lib)
include_directories(/home/300tc/library/ffmpeg_build/include)
link_directories(/home/300tc/library/ffmpeg_build/lib)
add_executable(${CMAKE_PROJECT_NAME}
Source_Files/fileoperation.cpp
Header_Files/fileoperation.h
@ -53,4 +56,8 @@ target_link_libraries(${CMAKE_PROJECT_NAME}
irisXimeaImager
libconfig.so
libconfig++.so
${OpenCV_LIBS})
${OpenCV_LIBS}
avformat
avcodec
swscale
avutil)

38
Header_Files/rgbImage.h
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@ -11,6 +11,40 @@
#include <QObject>
#include <QImage>
#include <opencv2/opencv.hpp>//包含了所有东西，编译很慢
#include "opencv2/imgproc/types_c.h"
extern "C"
{
#include <libavcodec/avcodec.h>
#include <libavutil/opt.h>
#include "libavutil/pixfmt.h"
#include "libswscale/swscale.h"
#include <libavutil/imgutils.h>
#include <libavutil/avutil.h>
#include "libavdevice/avdevice.h"
}
class Encode
{
public:
Encode();
void initffmpeg(int width, int height);
FILE *fp;
AVCodecContext *avcodeccontext;
void savedata(AVFrame *frame);
void encode(AVCodecContext *enc_ctx, AVFrame *frame, AVPacket *pkt, FILE *outfile);
AVPacket m_avpacket;
AVFrame *inpic;
AVFrame *outpic;
bool isinit;
int index1;
private:
};
using namespace cv;
class rgbImage :public QObject
@ -27,9 +61,11 @@ public:
void FillFocusGrayQImage(unsigned short * datacube);
void FillOnerowofRgbImage(cv::Mat * matRgbImage, int rowNumber, unsigned short *datacube);
QImage Mat2QImage(cv::Mat cvImg);//https://www.cnblogs.com/annt/p/ant003.html
QImage *m_QRgbImage;
cv::Mat *m_matRgbImage;
QImage m_Qphoto;
QImage *m_qimageFocusGrayImage;
cv::Mat *m_matFocusGrayImage;//用于调焦时，显示一帧的灰度图
@ -61,6 +97,8 @@ private:
int m_iFrameNumber;//
void initffmpeg();
public slots:
signals :

5
Header_Files/ximeaimager.h
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@ -42,9 +42,12 @@
#include "MemoryPool.h"
#include <queue>
#include <QMutex>
#include <QUdpSocket>
#include "rgbImage.h"
#define PUSH_FLOW_PORT 666
//#ifdef WIN32
@ -152,6 +155,8 @@ public:
int getMaxValueOfOneFrame(unsigned short * data, int numberOfPixel);
int getImagerState() const;
Encode ffmpegEncode;
private:
//0-61：ximea官方错误代码；99：发生的ximea官方错误代码，没有处理；100：未打开；101：打开；102：设置帧率；103：自动曝光；104：正在采集；
int m_iImagerState;

339
Source_Files/rgbImage.cpp
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@ -4,6 +4,131 @@
#include "../Header_Files/rgbImage.h"
Encode::Encode()
{
fp= fopen("/media/nvme/delete/av.h264","wb");
index1 = 0;
}
void Encode::initffmpeg(int width, int height)
{
const AVCodec *codec;
int i, ret, x, y, got_output;
std::cout<<"init ok";
codec = avcodec_find_encoder(AV_CODEC_ID_H264);
if (!codec)
{
fprintf(stderr, "Codec not found\n");
exit(1);
}
// 根据编码器，创建相对应的编码器上下文
avcodeccontext = avcodec_alloc_context3(codec);
if (!avcodeccontext) {
fprintf(stderr, "Could not allocate video codec context\n");
exit(1);
}
avcodeccontext->bit_rate = 400000;
avcodeccontext->width = width;
avcodeccontext->height = height;
/* frames per second */
//时间基，每一秒25帧，每一刻度25分之1(时间基根据帧率而变化)
avcodeccontext->time_base = (AVRational){1, 25};
//帧率
avcodeccontext->framerate = (AVRational){25, 1};
/* emit one intra frame every ten frames
* check frame pict_type before passing frame
* to encoder, if frame->pict_type is AV_PICTURE_TYPE_I
* then gop_size is ignored and the output of encoder
* will always be I frame irrespective to gop_size
*/
//多少帧产生一组关键帧
avcodeccontext->gop_size = 10;
//b帧，参考帧
avcodeccontext->max_b_frames = 1;
//编码的原始数据的YUV格式
avcodeccontext->pix_fmt = AV_PIX_FMT_YUV420P;
//如果编码器id 是 h264
if (codec->id == AV_CODEC_ID_H264)
// preset表示采用一个预先设定好的h264参数集，级别是slow，slow表示压缩速度是慢的，慢的可以保证视频质量，用快的会降低视频质量
av_opt_set(avcodeccontext->priv_data, "preset", "slow", 0);
/* open it */
//打开编码器
if (avcodec_open2(avcodeccontext, codec, NULL) < 0) {
fprintf(stderr, "Could not open codec\n");
exit(1);
}
// avcodeccontext=c;
std::cout<<"init ok";
inpic = av_frame_alloc();
outpic = av_frame_alloc();
//avpicture_fill sets all of the data pointers in the AVFrame structures
//to the right places in the data buffers. It does not copy the data so
//the QImage and out_buffer still need to live after calling these.
inpic->width=width;
inpic->height=height;
inpic->format=AV_PIX_FMT_ARGB;
inpic->linesize[0]=width;
outpic->width=width;
outpic->height=height;
outpic->format=AV_PIX_FMT_YUV420P;
outpic->linesize[0]=width;
isinit= true;
}
void Encode::savedata(AVFrame *frame)
{
AVPacket pkt;
av_init_packet(&pkt);
pkt.data = NULL; // packet data will be allocated by the encoder
pkt.size = 0;
frame->pts = index1;
AVCodecInternal *avci = avcodeccontext->internal;
// if (avci->draining)
// return AVERROR_EOF;
// if (avci->buffer_frame->data[0])
// return AVERROR(EAGAIN);
encode(avcodeccontext,frame,&pkt,fp);
av_packet_unref(&pkt);
index1++;
}
void Encode::encode(AVCodecContext *enc_ctx, AVFrame *frame, AVPacket *pkt, FILE *outfile)
{
int ret;
/* send the frame to the encoder */
if (frame)
// printf("Send frame %3\"PRId64\"\n", frame->pts);
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(EAGAIN) || ret == AVERROR_EOF)
return;
else if (ret < 0) {
fprintf(stderr, "Error during encoding\n");
exit(1);
}
// printf("Write packet %3\"PRId64\" (size=%5d)\n", pkt->pts, pkt->size);
fwrite(pkt->data, 1, pkt->size, outfile);
QByteArray buf;
buf.append((char *)pkt->data,pkt->size);
// emit senddata(buf);
av_packet_unref(pkt);
}
}
rgbImage::rgbImage(QWidget* pParent)
{
@ -11,9 +136,6 @@ rgbImage::rgbImage(QWidget* pParent)
m_matRgbImage = nullptr;
m_matFocusGrayImage = nullptr;
m_qimageFocusGrayImage = nullptr;
}
rgbImage::~rgbImage()
@ -39,10 +161,12 @@ void rgbImage::SetRgbImageWidthAndHeight(int BandCount, int Sample, int FrameNum
}
m_matRgbImage = new Mat(FrameNumber, Sample, CV_8UC3, Scalar(0, 0, 0));
int codec = VideoWriter::fourcc('M', 'P', '4', '2'); // select desired codec (must be available at runtime)
double fps = 20.0; // framerate of the created video stream
std::string filename = "appsrc ! autovideoconvert ! filesink location=/media/nvme/delete/live.avi";//https://blog.csdn.net/ancientapesman/article/details/117324638
m_VideoWriter.open(filename, codec, fps, m_matRgbImage->size(), true);
int codec = VideoWriter::fourcc('H', '2', '6', '4'); // select desired codec (must be available at runtime)
double fps = 20.0;// framerate of the created video stream
std::string filename = "appsrc ! autovideoconvert ! filesink location=/media/nvme/live.mp4";//https://blog.csdn.net/ancientapesman/article/details/117324638
// std::string filename = "/media/nvme/live.mp4";
auto ddddd=m_matRgbImage->size();
m_VideoWriter.open(filename, codec, fps, Size(20, 1368), true);
// VideoWriter video("test.avi", CV_FOURCC('M', 'J', 'P', 'G'), 25.0, Size(640, 480));
@ -87,7 +211,50 @@ void rgbImage::SetRgbImageWidthAndHeight(int BandCount, int Sample, int FrameNum
void rgbImage::FillOnerowofRgbImage(cv::Mat * matRgbImage, int rowNumber, unsigned short *datacube)
{
//方式1：逐像素修改
// unsigned short r, g, b;
// for (int j = 0; j < m_iSampleNumber; j++)
// {
// //取值：一帧影像中，从左到右的rgb像元值
// r = *(datacube + 121 * m_iSampleNumber + j)*255/4096;
// g = *(datacube + 79 * m_iSampleNumber + j)*255/4096;
// b = *(datacube + 40 * m_iSampleNumber + j)*255/4096;
//
//// r = *(datacube + 121 * m_iSampleNumber + j);
//// g = *(datacube + 79 * m_iSampleNumber + j);
//// b = *(datacube + 40 * m_iSampleNumber + j);
//
// //将像元值赋值到cv::Mat中，操作像元值：https://zhuanlan.zhihu.com/p/51842288
// //int dataType = m_matRgbImage->type();//当数据类型为CV_16UC3时，返回18
// //std::cout << "m_matRgbImage数据类型为：" << dataType << std::endl;
// if (matRgbImage->type() == CV_8UC3)
// {
//// std::cout << "操作像素值！" << std::endl;
// matRgbImage->at<cv::Vec3b>(rowNumber, j)[2] = r;
// matRgbImage->at<cv::Vec3b>(rowNumber, j)[1] = g;
// matRgbImage->at<cv::Vec3b>(rowNumber, j)[0] = b;
//
//// QString savePath_cv = "/media/nvme/delete/" + QString::number(m_iFrameCounter) + "_cv.png";
//// cv::imwrite(savePath_cv.toStdString(), *matRgbImage);
// }
//
// int column = 800;
// if(j == column)
// {
// std::cout << "行：" << rowNumber << "提取：第 " << column << " 列的 r g b 分别为 " << r << " " << g << " " << b << std::endl;
// std::cout << "mat：第 " << column << " 列的 r g b 分别为 " << (unsigned short)matRgbImage->at<cv::Vec3b>(rowNumber, j)[2] << " " << (unsigned short)matRgbImage->at<cv::Vec3b>(rowNumber, j)[1] << " " << (unsigned short)matRgbImage->at<cv::Vec3b>(rowNumber, j)[0] << std::endl;
// }
// }
//方式2：通过指针操作，更快
unsigned short r, g, b;
const int cols = matRgbImage->cols;
const int step = matRgbImage->channels();
unsigned char *p_row0_b = matRgbImage->ptr(rowNumber);
unsigned char *p_row0_g = matRgbImage->ptr(rowNumber) + 1;
unsigned char *p_row0_r = matRgbImage->ptr(rowNumber) + 2;
for (int j = 0; j < m_iSampleNumber; j++)
{
//取值：一帧影像中，从左到右的rgb像元值
@ -95,86 +262,102 @@ void rgbImage::FillOnerowofRgbImage(cv::Mat * matRgbImage, int rowNumber, unsign
g = *(datacube + 79 * m_iSampleNumber + j)*255/4096;
b = *(datacube + 40 * m_iSampleNumber + j)*255/4096;
//将像元值赋值到cv::Mat中，操作像元值：https://zhuanlan.zhihu.com/p/51842288
//int dataType = m_matRgbImage->type();//当数据类型为CV_16UC3时，返回18
//std::cout << "m_matRgbImage数据类型为：" << dataType << std::endl;
if (matRgbImage->type() == CV_16UC3)
{
//std::cout << "操作像素值！" << std::endl;
matRgbImage->at<cv::Vec3w>(rowNumber, j)[2] = r;
matRgbImage->at<cv::Vec3w>(rowNumber, j)[1] = g;
matRgbImage->at<cv::Vec3w>(rowNumber, j)[0] = b;
}
*p_row0_b = b;
*p_row0_g = g;
*p_row0_r = r;
// int column = 800;
// if(j == column)
// {
// std::cout << "行：" << rowNumber << "提取：第 " << column << " 列的 r g b 分别为 " << r << " " << g << " " << b << std::endl;
//// std::cout << "修改后" << rowNumber << "提取：第 " << column << " 列的 r g b 分别为 " << (unsigned short)*p_row0_r << " " << (unsigned short)*p_row0_g << " " << (unsigned short)*p_row0_b << std::endl;
//// std::cout << "mat：第 " << column << " 列的 r g b 分别为 " << (unsigned short)matRgbImage->at<cv::Vec3b>(rowNumber, j)[2] << " " << (unsigned short)matRgbImage->at<cv::Vec3b>(rowNumber, j)[1] << " " << (unsigned short)matRgbImage->at<cv::Vec3b>(rowNumber, j)[0] << std::endl;
// }
p_row0_b += step;
p_row0_g += step;
p_row0_r += step;
}
//方式3：通过内存拷贝快速提取rgb
// if (matRgbImage->isContinuous())// check mat is continuous or not
// matRgbImage->reshape(1, matRgbImage->rows * matRgbImage->cols).col(0).setTo(Scalar(value));
// else
// {
// for (int i = 0; i < matRgbImage->rows; i++)
// matRgbImage->row(i).reshape(1, matRgbImage->cols).col(0).setTo(Scalar(value));
// }
}
QImage rgbImage::Mat2QImage(cv::Mat cvImg)//https://www.cnblogs.com/annt/p/ant003.html
{
QImage qImg;
if (cvImg.channels() == 3)//3 channels color image
{
cv::cvtColor(cvImg, cvImg, CV_BGR2RGB);
qImg = QImage((const unsigned char*)(cvImg.data),
cvImg.cols, cvImg.rows,
cvImg.cols*cvImg.channels(),
QImage::Format_RGB888);
}
else if (cvImg.channels() == 1)//grayscale image
{
qImg = QImage((const unsigned char*)(cvImg.data),
cvImg.cols, cvImg.rows,
cvImg.cols*cvImg.channels(),
QImage::Format_Indexed8);
}
else
{
qImg = QImage((const unsigned char*)(cvImg.data),
cvImg.cols, cvImg.rows,
cvImg.cols*cvImg.channels(),
QImage::Format_RGB888);
}
return qImg;
}
void rgbImage::FillRgbImage(unsigned short *datacube)
{
unsigned short *r_row, *g_row, *b_row;
if(m_iFrameCounter<m_iFrameNumber)
{
FillOnerowofRgbImage(m_matRgbImage, m_iFrameCounter, datacube);
// std::cout << "小于：" << m_iFrameNumber << std::endl;
}
else
{
// std::cout << "大于：" << m_iFrameNumber << std::endl;
//通过行赋值将前m_iFrameNumber-1行向上移动一行，https://blog.csdn.net/u014686356/article/details/65937750
// m_matRgbImage->rowRange(1, m_matRgbImage->rows).copyTo(m_matRgbImage->rowRange(0, m_matRgbImage->rows-1));
for (int i = 1; i < m_matRgbImage->rows; ++i)
{
// std::cout << "大于：" << i << std::endl;
m_matRgbImage->col(i).copyTo(m_matRgbImage->col(i-1));
// std::cout << "--------------" << i << std::endl;
}
// std::cout << "1111111111111111111111111111"<< std::endl;
//通过FillOnerowofRgbImage为m_iFrameNumber行赋值
FillOnerowofRgbImage(m_matRgbImage, m_iFrameNumber-1, datacube);
// std::cout << "22222222222222222"<< std::endl;
// //循环给每行像素赋值
// r_row = datacube + 121 * m_iSampleNumber;
// g_row = datacube + 79 * m_iSampleNumber;
// b_row = datacube + 40 * m_iSampleNumber;
// for (int j = 0; j < m_iFrameNumber; j++)
// {
// p = m_matRgbImage.ptr<uchar>(j);
// for ( j = 0; j < nCols; ++j){
// p[j] = table[p[j]];
// }
//通过行赋值将前m_iFrameNumber-1行向上移动一行，https://blog.csdn.net/u014686356/article/details/65937750
//经tc验证：此行代码工作异常，
// m_matRgbImage->rowRange(0, m_matRgbImage->rows - 1).copyTo(m_matRgbImage->rowRange(1, m_matRgbImage->rows));
//
// }
// QString savePath_cv_3 = "/media/nvme/delete/" + QString::number(m_iFrameCounter) + "full0_cv.jpg";
// cv::imwrite(savePath_cv_3.toStdString(), *m_matRgbImage);
//
// cv::Mat upperPart = m_matRgbImage->rowRange(0, m_matRgbImage->rows - 1);
// QString savePath_cv_ = "/media/nvme/delete/" + QString::number(m_iFrameCounter) + "upperPart_cv.jpg";
// cv::imwrite(savePath_cv_.toStdString(), upperPart);
//
// // 将上半部分的数据复制到下一行
// upperPart.copyTo(m_matRgbImage->rowRange(1, m_matRgbImage->rows));//?????????????????????????????????????????
// QString savePath_cv_2 = "/media/nvme/delete/" + QString::number(m_iFrameCounter) + "full_cv.jpg";
// cv::imwrite(savePath_cv_2.toStdString(), *m_matRgbImage);
//保存rgb图片
if (m_iFrameCounter % m_iFramerate == 0 || m_iFrameCounter == m_iFrameNumber - 1)
{
////保存文件
//FileOperation * fileOperation = new FileOperation();
//string directory = fileOperation->getDirectoryOfExe();
//string rgbFilePathStrech = “/media/nvme/300TC/config/” + "\\tmp_image_strech.png";//没有拉伸图片
// std::string rgbFilePathNoStrech = "/media/nvme/300TC/config/" + std::to_string(m_iFrameCounter) + "ctmp_image_no_strech.png";
//m_QRgbImage->save(QString::fromStdString(rgbFilePathNoStrech), "PNG");
// cv::imwrite(rgbFilePathNoStrech, *m_matRgbImage);
//cv::imwrite(rgbFilePathStrech, CStretch(*m_matRgbImage, 0.01));
}
m_VideoWriter.write(*m_matRgbImage);
std::string rgbFilePathNoStrech = "/media/nvme/delete/" + std::to_string(m_iFrameCounter) + "ctmp_image_no_strech.png";
cv::imwrite(rgbFilePathNoStrech, *m_matRgbImage);
for (int i = m_matRgbImage->rows - 2; i >= 0; --i)
{
// std::cout << "大于：" << i << std::endl;
m_matRgbImage->row(i).copyTo(m_matRgbImage->row(i+1));
}
FillOnerowofRgbImage(m_matRgbImage, 0, datacube);
// m_Qphoto = Mat2QImage(*m_matRgbImage);
//保存rgb图片
// if (m_iFrameCounter % m_iFramerate == 0 || m_iFrameCounter == m_iFrameNumber - 1)
// {
//// QString savePath = "/media/nvme/delete/" + QString::number(m_iFrameCounter) + "_qt.jpg";
//// m_Qphoto.save(savePath);
//
// QString savePath_cv = "/media/nvme/delete/" + QString::number(m_iFrameCounter) + "_cv.jpg";
// cv::imwrite(savePath_cv.toStdString(), *m_matRgbImage);
// }
// m_VideoWriter.write(*m_matRgbImage);
// std::string rgbFilePathNoStrech = "/media/nvme/delete/" + std::to_string(m_iFrameCounter) + "ctmp_image_no_strech.png";
// cv::imwrite(rgbFilePathNoStrech, *m_matRgbImage);
m_iFrameCounter++;
}

182
Source_Files/ximeaimager.cpp
View File

@ -101,7 +101,7 @@ void XimeaImager::openImger()
if (ret)
{
m_imager.setEffectiveWindow(offsetx, width, offsety, height);
m_rgbImage->SetRgbImageWidthAndHeight(height, width, 20);
m_rgbImage->SetRgbImageWidthAndHeight(height, width, 720);
std::cout<<"height："<< height <<std::endl;
std::cout<<"width："<< width <<std::endl;
std::cout<<"每帧字节数："<< width * height * 2 <<std::endl;
@ -592,6 +592,124 @@ void XimeaImager::startRecord(double TimeDifferenceBetweensOSAndSbg,QString base
FILE *hFile=fopen(imageFileName.toStdString().c_str(),"w+b");
double * imageBuffer = new double[number_WriteDisk];
//tc+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// 创建输出视频的AVFormatContext
const char* outputVideoPath = "/media/nvme/delete/300tc.h264";
int width = 1368;
int height = 720;
int framerateVideo = 10;
AVFormatContext* formatContext = nullptr;
avformat_alloc_output_context2(&formatContext, nullptr, "mp4", outputVideoPath);
if (!formatContext)
{
qDebug() << "Error: Failed to allocate output context";
return;
}
// 查找H.264编码器
const AVCodec* codec = avcodec_find_encoder(AV_CODEC_ID_H264);
if (!codec)
{
qDebug() << "Error: Codec not found";
avformat_free_context(formatContext);
return;
}
// 创建输出视频流
AVStream* videoStream = avformat_new_stream(formatContext, codec);
if (!videoStream)
{
qDebug() << "Error: Failed to create video stream";
avformat_free_context(formatContext);
return;
}
// 设置视频流的参数，例如分辨率、帧率等
videoStream->codecpar->width = width;
videoStream->codecpar->height = height;
videoStream->codecpar->codec_id = AV_CODEC_ID_H264; // 设置为H.264编解码器
videoStream->codecpar->format = AV_PIX_FMT_YUV420P; // 设置为YUV420P像素格式
// 配置视频流的参数
AVCodecContext* codecContext = avcodec_alloc_context3(codec);
if (!codecContext)
{
qDebug() << "Error: Failed to allocate codec context";
avformat_free_context(formatContext);
return;
}
// 设置视频流的参数，例如分辨率、帧率等
codecContext->width = width;
codecContext->height = height;
codecContext->time_base = {1, framerateVideo}; // 30 frames per second
codecContext->pix_fmt = AV_PIX_FMT_YUV420P; // 设置为YUV420P格式
codecContext->gop_size = 1;//多少帧产生一组关键帧
codecContext->max_b_frames = 1;//b帧，参考帧
// codecContext->bit_rate = 1000000; // 设置比特率为 1000000
// 打开视频编码器
if (avcodec_open2(codecContext, codec, nullptr) < 0)
{
qDebug() << "Error: Failed to open codec";
avcodec_free_context(&codecContext);
avformat_free_context(formatContext);
return;
}
// 打开输出文件
if (avio_open(&formatContext->pb, outputVideoPath, AVIO_FLAG_WRITE) < 0)
{
qDebug() << "Error: Failed to open output file";
avcodec_close(codecContext);
avcodec_free_context(&codecContext);
avformat_free_context(formatContext);
return;
}
// 写入文件头
avformat_write_header(formatContext, nullptr);
// 使用sws_scale进行颜色空间转换
SwsContext* swsContext = sws_getContext(width, height, AV_PIX_FMT_BGR24,
width, height, AV_PIX_FMT_YUV420P,
SWS_BICUBIC, nullptr, nullptr, nullptr);
if (!swsContext)
{
qDebug() << "Error: Failed to create sws context";
avio_closep(&formatContext->pb);
avcodec_close(codecContext);
avcodec_free_context(&codecContext);
avformat_free_context(formatContext);
return;
}
// 创建 AVFrame 作为目标图像
AVFrame* dstFrame = av_frame_alloc();
av_image_alloc(dstFrame->data, dstFrame->linesize, width, height, AV_PIX_FMT_YUV420P, 1);
// 设置目标图像参数
dstFrame->width = width;
dstFrame->height = height;
dstFrame->format = AV_PIX_FMT_YUV420P;
AVFrame* frame = av_frame_alloc();
av_image_alloc(frame->data, frame->linesize, width, height, AV_PIX_FMT_BGR24, 1);
double framerate = getFramerate();
int pushFlowFactor = framerate/framerateVideo;
FILE * fp= fopen("/media/nvme/delete/300tc_fp.h264","wb");
QUdpSocket * m_udpSocket = new QUdpSocket();
m_udpSocket->bind(PUSH_FLOW_PORT, QUdpSocket::ShareAddress);
QHostAddress m_clientIpAddress=QHostAddress(QHostAddress::LocalHost);
// QHostAddress m_clientIpAddress("192.168.1.21");
// QHostAddress m_clientIpAddress("192.168.111.1");
int udpSendCounter=0;
int encodeCounter=0;
//tc--------------------------------------------------------------------------------------------------------------------------
m_imager.start();
struct timeval timeStart, timeEnd;
double runTime=0;
@ -606,6 +724,48 @@ void XimeaImager::startRecord(double TimeDifferenceBetweensOSAndSbg,QString base
timeDifferenceBetweenSbgAndXimea = calculateTimeDifferenceBetweenSbgAndximea(&m_imager.m_image, TimeDifferenceBetweensOSAndSbg);
}
fwrite(m_imager.m_image.bp,1,m_iFrameSizeInByte, hFile);
//构造rgb图像，用于推流到m300遥控器
m_rgbImage->FillRgbImage((unsigned short *)m_imager.m_image.bp);
if (m_iFrameCounter % pushFlowFactor == 0)
{
memcpy(frame->data[0], m_rgbImage->m_matRgbImage->data, m_rgbImage->m_matRgbImage->rows * m_rgbImage->m_matRgbImage->step[0]);
// memcpy(frame->data[0], m_rgbImage->m_Qphoto.bits(), m_rgbImage->m_Qphoto.byteCount());
// 使用sws_scale进行颜色空间转换
sws_scale(swsContext, frame->data, frame->linesize, 0, height,
dstFrame->data, dstFrame->linesize);
dstFrame->pts = encodeCounter;
// 将AVFrame编码为视频帧
AVPacket pkt;
av_init_packet(&pkt);
pkt.data = nullptr;
pkt.size = 0;
if (avcodec_send_frame(codecContext, dstFrame) == 0 &&
avcodec_receive_packet(codecContext, &pkt) == 0)
{
// fwrite(pkt.data, 1, pkt.size, fp);
//
m_udpSocket->writeDatagram((const char *)pkt.data,pkt.size,m_clientIpAddress, PUSH_FLOW_PORT);
//
// std::cout<< "第 " << m_iFrameCounter<< " 帧，" << "编码第 " << udpSendCounter << " 帧数据大小: " << pkt.size << std::endl;
// std::cout<< "pkt.pts: " << pkt.pts << std::endl;
// std::cout<< "pkt.dts: " << pkt.dts << std::endl << std::endl;
udpSendCounter++;
// 将编码后的帧写入文件
// pkt.stream_index = videoStream->index;
// av_interleaved_write_frame(formatContext, &pkt);
// av_write_frame(formatContext, &pkt);
av_packet_unref(&pkt);
}
encodeCounter++;
}
indexofbuff = m_iFrameCounter % number_WriteDisk;
@ -641,6 +801,24 @@ void XimeaImager::startRecord(double TimeDifferenceBetweensOSAndSbg,QString base
writeData2Disk->exitWriteData2Disk();
writeHdr();
fclose(fp);
// 写入文件尾
av_write_trailer(formatContext);
// 释放AVFrame和相关资源
av_freep(&frame->data[0]);
av_frame_free(&frame);
// 释放资源
sws_freeContext(swsContext);
av_freep(&dstFrame->data[0]);
av_frame_free(&dstFrame);
// av_packet_free(&pkt);
avcodec_close(codecContext);
avcodec_free_context(&codecContext);
avio_closep(&formatContext->pb);
avformat_free_context(formatContext);
delete[] sbgTimeBuffer;
double frameInTheory=runTime * getFramerate();
@ -1025,7 +1203,7 @@ void WriteData2Disk::write2Disk()
r_qtx.unlock();
//构造rgb图像，用于推流到m300遥控器
// m_rgbImage->FillRgbImage(dataBuffer);
m_rgbImage->FillRgbImage(dataBuffer);
// std::cout<<"WriteData2Disk::write2Disk-----------------------正在写磁盘!" << m_pool->max_size() <<std::endl;//