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1、添加配置文件控制推流参数；

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2、解决遥控器解码时帧序混乱的问题（gop_size = 1）；
3、完善代码；
This commit is contained in:
tangchao0503
2024-01-29 17:21:07 +08:00
parent 2e4679aaef
commit a91f5f5b04
6 changed files with 445 additions and 385 deletions
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2
Header_Files/configfile.h
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@ -42,6 +42,8 @@ public:
bool getBufferPolicy(int &bufferPolicy);
bool getAcqBufferSize(int &acqBufferSize);
bool getPushFlowParam(int &flowSwitch, int &rgbHeight, int &framerateVideo);
bool createConfigFile();
bool updateConfigFile();

41
Header_Files/rgbImage.h
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@ -24,28 +24,6 @@ extern "C"
#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
{
@ -55,7 +33,8 @@ public:
rgbImage(QWidget* pParent = NULL);
~rgbImage();
void SetRgbImageWidthAndHeight(int BandCount, int Sample, int FrameNumber);
void SetRgbImageWidthAndHeight(int BandCount, int Width, int height);
void SetRgbBandNumber(int redBandNumber, int greenBandNumber, int blueBandNumber);
void FillRgbImage(unsigned short *datacube);
void FillFocusGrayImage(unsigned short *datacube);
void FillFocusGrayQImage(unsigned short * datacube);
@ -71,24 +50,16 @@ public:
cv::Mat *m_matFocusGrayImage;//用于调焦时，显示一帧的灰度图
//cv::Mat m_matFocusGrayImage;//用于调焦时，显示一帧的灰度图
CvVideoWriter *m_frame_writer;
VideoWriter m_VideoWriter;
// VideoWriter m_video("appsrc ! autovideoconvert ! filesink location=/media/nvme/delete/live.avi", CV_FOURCC('M', 'J', 'P', 'G'), 25.0, Size(640, 480));
// VideoWriter video("test.avi", CV_FOURCC('M', 'J', 'P', 'G'), 25.0, Size(640, 480));//
//控制该填充rgb图像第几帧（行）数据
//以下两种情况需要重置为0：1）调用函数SetRgbImageWidthAndHeight；2）每次开始填充数据前
int m_iFrameCounter;
int m_iFramerate;//
protected:
private:
@ -99,15 +70,15 @@ private:
void initffmpeg();
int m_iRedBandNumber;
int m_iGreenBandNumber;
int m_iBlueBandNumber;
public slots:
signals :
void sendstr(QString str);
void sendstr1(QString str);
void refreslabelimg(QImage* img1);
};
#endif //XIMEAAIRBORNESYSTEM_RGBIMAGE_H

38
Header_Files/ximeaimager.h
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@ -27,6 +27,8 @@
#include <exception>
#include <fcntl.h>
#include <sys/mman.h>
#include <cmath>
#include <vector>
#include <QObject>
#include <QDateTime>
@ -125,6 +127,32 @@ public slots:
signals:
};
class PushFlow : public QObject
{
Q_OBJECT
public:
PushFlow();
void setParm(rgbImage * img, int width, int height, int framerateVideo);
void exitPushFlow();
void setVedioFilePath(QString path);
private:
QString m_QVedioFilePath;
bool isExitPushFlow;
rgbImage * m_rgbImage;
int m_iWidth;
int m_iHeight;
int m_iFramerateVideo;
public slots:
void encodePushFlow();
signals:
};
class XimeaImager : public QObject
{
Q_OBJECT
@ -148,6 +176,9 @@ public:
int getWindowEndBand();
double geWavelengthAtBand(int x);
static int findClosestIndex(const std::vector<double>& numbers, double target);
void getRgbBandNumber(int &redBandNumber, int &greenBandNumber, int &blueBandNumber);
void stopRecord();
int getFrameCounter();
void writeXiApiErrorCodes(QString filePath, int xiApiErrorCodes);
@ -155,8 +186,6 @@ 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;
@ -174,6 +203,10 @@ private:
queue<int> * m_qFrameCounter;
MemoryPool<DataBuffer> * m_pool;
QThread * m_pushFlowThread;
PushFlow * m_pushFlow;
int m_iFlowSwitch;
QString m_baseFileName;
QString m_ximeaTemperatureCSVPath;
@ -212,6 +245,7 @@ signals:
void recordXimeaTemperatureSignal(QString);
void startWriteDiskSignal();
void startPushFlowSignal();
void autoExposeMaxValueOfOneFrame(int, double);
void frameRateSignal(double);

58
Source_Files/configfile.cpp
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@ -166,6 +166,64 @@ bool Configfile::getEffectiveWindowRoi(int &width, int &offsetx)
return true;
}
bool Configfile::getPushFlowParam(int &flowSwitch, int &rgbHeight, int &framerateVideo)
{
Setting& root = cfg.getRoot();
if (!root.exists("push_flow_param"))
{
// 配置项不存在，添加配置项
Setting & push_flow_param = root.add("push_flow_param", Setting::TypeGroup);
push_flow_param.add("flow_switch", Setting::TypeInt) = 0;
push_flow_param.add("rgb_height", Setting::TypeInt) = 720;
push_flow_param.add("framerate_video", Setting::TypeInt) = 5;
// 保存修改后的配置到文件
try
{
QList<QString> fileInfo = getFileInfo(QString::fromStdString(m_configfilePath));
bool ret = createDir(fileInfo[0]);
cfg.writeFile(m_configfilePath.c_str());
std::cout << "Config item 'push_flow_param' added." << std::endl;
flowSwitch = 0;
rgbHeight = 720;
framerateVideo = 5;
return true;
}
catch (const libconfig::FileIOException &fioex)
{
std::cerr << "I/O error while writing file." << std::endl;
return false;
}
}
else
{
try
{
const Setting &push_flow_param = root["push_flow_param"];
if(!(push_flow_param.lookupValue("rgb_height", rgbHeight)
&& push_flow_param.lookupValue("framerate_video", framerateVideo)
&& push_flow_param.lookupValue("flow_switch", flowSwitch)
))
{
return false;
}
}
catch(const SettingNotFoundException &nfex)
{
// Ignore.
return false;
}
return true;
}
}
bool Configfile::getWindowOffsety_HeightOfSpectral(int &offsety, int &height, string spectralBinString)
{
const Setting& root = cfg.getRoot();

223
Source_Files/rgbImage.cpp
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@ -4,138 +4,16 @@
#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)
{
m_QRgbImage = nullptr;
m_matRgbImage = nullptr;
m_matFocusGrayImage = nullptr;
m_qimageFocusGrayImage = nullptr;
m_iRedBandNumber = 0;
m_iGreenBandNumber = 0;
m_iBlueBandNumber = 0;
}
rgbImage::~rgbImage()
@ -143,8 +21,18 @@ rgbImage::~rgbImage()
}
void rgbImage::SetRgbBandNumber(int redBandNumber, int greenBandNumber, int blueBandNumber)
{
m_iRedBandNumber = redBandNumber;
m_iGreenBandNumber = greenBandNumber;
m_iBlueBandNumber = blueBandNumber;
void rgbImage::SetRgbImageWidthAndHeight(int BandCount, int Sample, int FrameNumber)
// std::cout<<"rgbImage::SetRgbBandNumber，红波段的波段号："<< redBandNumber <<std::endl;
// std::cout<<"rgbImage::SetRgbBandNumber，绿波段的波段号："<< greenBandNumber <<std::endl;
// std::cout<<"rgbImage::SetRgbBandNumber，蓝波段的波段号："<< blueBandNumber <<std::endl;
}
void rgbImage::SetRgbImageWidthAndHeight(int BandCount, int Width, int height)
{
using namespace cv;
@ -152,21 +40,21 @@ void rgbImage::SetRgbImageWidthAndHeight(int BandCount, int Sample, int FrameNum
{
delete m_QRgbImage;//有问题？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？
}
//m_QRgbImage = new QImage(Sample, FrameNumber, QImage::Format_RGB888);
//m_QRgbImage = new QImage(Width, height, QImage::Format_RGB888);
if (m_matRgbImage != nullptr)
{
delete m_matRgbImage;
}
m_matRgbImage = new Mat(FrameNumber, Sample, CV_8UC3, Scalar(0, 0, 0));
m_matRgbImage = new Mat(height, Width, CV_8UC3, Scalar(0, 0, 0));
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);
// 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));
@ -178,33 +66,26 @@ void rgbImage::SetRgbImageWidthAndHeight(int BandCount, int Sample, int FrameNum
if (m_qimageFocusGrayImage == nullptr)
{
m_qimageFocusGrayImage = new QImage(Sample, BandCount, QImage::Format_RGB32);
m_qimageFocusGrayImage = new QImage(Width, BandCount, QImage::Format_RGB32);
}
if (m_matFocusGrayImage == nullptr)
{
m_matFocusGrayImage = new Mat(BandCount, Sample, CV_16U, Scalar(0));
m_matFocusGrayImage = new Mat(BandCount, Width, CV_16U, Scalar(0));
//cv::Mat matAdjustPreview = Mat::zeros(BandCount, Sample, CV_16U);
//cv::Mat matAdjustPreview = Mat::zeros(BandCount, Width, CV_16U);
}
//cv::Mat matAdjustPreview = Mat::zeros(BandCount, Sample, CV_16U);
//cv::Mat matAdjustPreview = Mat::zeros(BandCount, Width, CV_16U);
//m_matFocusGrayImage = matAdjustPreview;
std::cout << "设置帧数：" << FrameNumber << std::endl;
std::cout << "高光谱rgb图像设置高度：" << height << std::endl;
m_iFrameCounter = 0;//每次都重置为0
m_iSampleNumber = Sample;
m_iSampleNumber = Width;
m_iBandNumber = BandCount;
m_iFrameNumber = FrameNumber;
m_iFrameNumber = height;
//std::cout << "rgb影像内存地址为：" << m_QRgbImage << std::endl;
}
@ -216,13 +97,13 @@ void rgbImage::FillOnerowofRgbImage(cv::Mat * matRgbImage, int rowNumber, unsign
// 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 + m_iRedBandNumber * m_iSampleNumber + j)*255/4096;
// g = *(datacube + m_iGreenBandNumber * m_iSampleNumber + j)*255/4096;
// b = *(datacube + m_iBlueBandNumber * m_iSampleNumber + j)*255/4096;
//
//// r = *(datacube + 121 * m_iSampleNumber + j);
//// g = *(datacube + 79 * m_iSampleNumber + j);
//// b = *(datacube + 40 * m_iSampleNumber + j);
//// r = *(datacube + m_iRedBandNumber * m_iSampleNumber + j);
//// g = *(datacube + m_iGreenBandNumber * m_iSampleNumber + j);
//// b = *(datacube + m_iBlueBandNumber * 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
@ -257,10 +138,10 @@ void rgbImage::FillOnerowofRgbImage(cv::Mat * matRgbImage, int rowNumber, unsign
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;
//取值：一帧影像中，从左到右的rgb像元值，线性拉伸
r = *(datacube + m_iRedBandNumber * m_iSampleNumber + j)*255/4096;
g = *(datacube + m_iGreenBandNumber * m_iSampleNumber + j)*255/4096;
b = *(datacube + m_iBlueBandNumber * m_iSampleNumber + j)*255/4096;
*p_row0_b = b;
*p_row0_g = g;
@ -320,25 +201,15 @@ QImage rgbImage::Mat2QImage(cv::Mat cvImg)//https://www.cnblogs.com/annt/p/ant00
void rgbImage::FillRgbImage(unsigned short *datacube)
{
//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);
//从第二行开始，向下移动一行，https://blog.csdn.net/u014686356/article/details/65937750
// m_matRgbImage->rowRange(0, m_matRgbImage->rows - 1).copyTo(m_matRgbImage->rowRange(1, m_matRgbImage->rows));//经tc验证：此行代码工作异常，为啥不加.clone()就异常？？？？？？
// m_matRgbImage->rowRange(0, m_matRgbImage->rows - 1).clone().copyTo(m_matRgbImage->rowRange(1, m_matRgbImage->rows));//此方式，ximea帧率130hz，1min左右就出现漏帧
for (int i = m_matRgbImage->rows - 2; i >= 0; --i)
// cv::Mat upperPart = m_matRgbImage->rowRange(0, m_matRgbImage->rows - 1).clone();//此方式，ximea帧率130hz，1min左右就出现漏帧
// upperPart.copyTo(m_matRgbImage->rowRange(1, m_matRgbImage->rows));
for (int i = m_matRgbImage->rows - 2; i >= 0; --i)//此方式，ximea帧率130hz，4.5min左右出现漏帧 → 此方式效率最高
{
// std::cout << "大于：" << i << std::endl;
m_matRgbImage->row(i).copyTo(m_matRgbImage->row(i+1));
}

468
Source_Files/ximeaimager.cpp
View File

@ -47,6 +47,12 @@ XimeaImager::XimeaImager()
writeData2DiskThread->start(QThread::HighestPriority);
connect(this, SIGNAL(startWriteDiskSignal()), writeData2Disk, SLOT(write2Disk()));
m_pushFlowThread=new QThread();
m_pushFlow = new PushFlow();
m_pushFlow->moveToThread(m_pushFlowThread);
m_pushFlowThread->start();
connect(this, SIGNAL(startPushFlowSignal()), m_pushFlow, SLOT(encodePushFlow()));
m_pool = new MemoryPool<DataBuffer>;
q = new queue<DataBuffer *>;
m_qFrameCounter = new queue<int>;
@ -100,8 +106,21 @@ void XimeaImager::openImger()
ret = m_configfile.getEffectiveWindow(width, offsetx, height, offsety);
if (ret)
{
int rgbHeight;
int framerateVideo;
m_configfile.getPushFlowParam(m_iFlowSwitch, rgbHeight, framerateVideo);
std::cout <<"rgbHeight：" << rgbHeight << ", framerateVideo：" << framerateVideo << std::endl;
m_imager.setEffectiveWindow(offsetx, width, offsety, height);
m_rgbImage->SetRgbImageWidthAndHeight(height, width, 720);
m_rgbImage->SetRgbImageWidthAndHeight(height, width, rgbHeight);
m_pushFlow->setParm(m_rgbImage,width,rgbHeight,framerateVideo);
int redBandNumber;
int greenBandNumber;
int blueBandNumber;
getRgbBandNumber(redBandNumber, greenBandNumber, blueBandNumber);
m_rgbImage->SetRgbBandNumber(redBandNumber, greenBandNumber, blueBandNumber);
std::cout<<"height："<< height <<std::endl;
std::cout<<"width："<< width <<std::endl;
std::cout<<"每帧字节数："<< width * height * 2 <<std::endl;
@ -487,6 +506,65 @@ double XimeaImager::geWavelengthAtBand(int x)
}
}
void XimeaImager::getRgbBandNumber(int &redBandNumber, int &greenBandNumber, int &blueBandNumber)
{
vector<double> wavelengths;
if (m_imager.getSpectralBin() == 1)
{
for (int i = getWindowStartBand(); i < getWindowEndBand(); i++)
{
wavelengths.push_back(geWavelengthAtBand(i));
}
}
else if (m_imager.getSpectralBin() == 2)
{
for (int i = m_iOffsetyOfSpectralBin2; i < m_iOffsetyOfSpectralBin2 + m_iHeightOfSpectralBin2; i++)
{
if (i*2 + 1 > m_iOffsetyOfSpectralBin1 + m_iHeightOfSpectralBin1)
{
printf("XimeaImager::writeHdr 出现错误：窗口中，光谱 bin1 波段数小于 bin2 的 2 倍。\n");
break;
}
wavelengths.push_back((geWavelengthAtBand(i*2) + geWavelengthAtBand(i*2 + 1)) / 2);
}
}
//envi打开文件时的红绿蓝波长（nm）
int r_envi = 640;
int g_envi = 550;
int b_envi = 470;
redBandNumber = findClosestIndex(wavelengths, r_envi);
greenBandNumber = findClosestIndex(wavelengths, g_envi);
blueBandNumber = findClosestIndex(wavelengths, b_envi);
// std::cout<<"红波段的波段号："<< redBandNumber <<std::endl;
// std::cout<<"绿波段的波段号："<< greenBandNumber <<std::endl;
// std::cout<<"蓝波段的波段号："<< blueBandNumber <<std::endl;
}
int XimeaImager::findClosestIndex(const std::vector<double>& numbers, double target)
{
if (numbers.empty()) {
// 处理空向量的情况
return -1;
}
double minDifference = std::abs(numbers[0] - target);
int closestIndex = 0;
for (int i = 1; i < numbers.size(); ++i)
{
double currentDifference = std::abs(numbers[i] - target);
if (currentDifference < minDifference)
{
minDifference = currentDifference;
closestIndex = i;
}
}
return closestIndex;
}
int XimeaImager::getMaxValueOfOneFrame(unsigned short * data, int numberOfPixel)
{
//排序
@ -592,124 +670,13 @@ 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)
QString vedioFileName=m_baseFileName+".h264";
m_pushFlow->setVedioFilePath(vedioFileName);
if(m_iFlowSwitch == 1)
{
qDebug() << "Error: Failed to allocate output context";
return;
emit startPushFlowSignal();
}
// 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;
@ -725,47 +692,10 @@ void XimeaImager::startRecord(double TimeDifferenceBetweensOSAndSbg,QString base
}
fwrite(m_imager.m_image.bp,1,m_iFrameSizeInByte, hFile);
//构造rgb图像，用于推流到m300遥控器
if(m_iFlowSwitch == 1)
{
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;
@ -801,23 +731,7 @@ 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);
m_pushFlow->exitPushFlow();
delete[] sbgTimeBuffer;
@ -1239,3 +1153,213 @@ void WriteData2Disk::setParm(queue<DataBuffer *> * q, queue<int> * qFrameCounter
m_rgbImage = rgbImage;
}
PushFlow::PushFlow()
{
m_iWidth = 1368;
m_iHeight = 720;
m_iFramerateVideo = 5;
}
void PushFlow::setParm(rgbImage * img, int width, int height, int framerateVideo)
{
m_rgbImage = img;
m_iWidth = width;
m_iHeight = height;
m_iFramerateVideo = framerateVideo;
}
void PushFlow::setVedioFilePath(QString path)
{
m_QVedioFilePath = path;
}
void PushFlow::exitPushFlow()
{
isExitPushFlow = true;
}
void PushFlow::encodePushFlow()
{
// 创建输出视频的AVFormatContext
const char* outputVideoPath = "/media/nvme/delete/300tc.h264";
FILE *fp = fopen(m_QVedioFilePath.toStdString().c_str(),"w+b");
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 = m_iWidth;
videoStream->codecpar->height = m_iHeight;
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 = m_iWidth;
codecContext->height = m_iHeight;
codecContext->time_base = {1, m_iFramerateVideo};
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(m_iWidth, m_iHeight, AV_PIX_FMT_BGR24,
m_iWidth, m_iHeight, 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, m_iWidth, m_iHeight, AV_PIX_FMT_YUV420P, 1);
// 设置目标图像参数
dstFrame->width = m_iWidth;
dstFrame->height = m_iHeight;
dstFrame->format = AV_PIX_FMT_YUV420P;
AVFrame* frame = av_frame_alloc();
av_image_alloc(frame->data, frame->linesize, m_iWidth, m_iHeight, AV_PIX_FMT_BGR24, 1);
QUdpSocket * m_udpSocket = new QUdpSocket();
m_udpSocket->bind(PUSH_FLOW_PORT, QUdpSocket::ShareAddress);
QHostAddress m_clientIpAddress=QHostAddress(QHostAddress::LocalHost);
// QHostAddress m_clientIpAddress("192.168.1.30");
// QHostAddress m_clientIpAddress("192.168.111.1");
int udpSendCounter=0;
int encodeCounter=0;
isExitPushFlow = false;
unsigned long sleepTime = 1/(float)m_iFramerateVideo * 1000;
std::cout<< "推流帧率: " << m_iFramerateVideo << ", sleepTime：" << sleepTime << "ms." << std::endl;
while(true)
{
QThread::msleep(sleepTime);
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, m_iHeight,
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 << "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++;
if(isExitPushFlow)
{
std::cout<<"PushFlow::encodePushFlow-----------------------推流线程将退出！"<<std::endl;
break;
}
}
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);
std::cout<<"PushFlow::encodePushFlow-----------------------推流线程已经退出！" << std::endl;
}