FrameGrabber.cpp 6.4 KB
Newer Older
Thiago Santini's avatar
Thiago Santini committed
1 2
#include "FrameGrabber.h"

3 4
#include "globals.h"

Thiago Santini's avatar
Thiago Santini committed
5 6 7 8 9 10 11
using namespace std;
using namespace cv;

FrameGrabber::FrameGrabber(QString id, int code, QObject *parent) :
    QAbstractVideoSurface(parent),
    id(id),
    code(code),
Thiago Santini's avatar
Thiago Santini committed
12
    yuvBuffer(nullptr),
Thiago Santini's avatar
Thiago Santini committed
13
    yuvBufferSize(0),
14 15
	timestampOffset(0),
	timeoutMs(2e3)
Thiago Santini's avatar
Thiago Santini committed
16 17 18 19
{
#ifdef TURBOJPEG
    tjh = tjInitDecompress();
#endif
20

Thiago Santini's avatar
Thiago Santini committed
21 22
    watchdog = new QTimer(this);
    connect(watchdog, SIGNAL(timeout()), this, SIGNAL(timedout()));
23 24 25

    // for the first frame, we give a bit of extra leeway becase gstreamer is slow...
    //watchdog->start(timeoutMs);
26
	watchdog->start(15e3);
27 28

    pmIdx = gPerformanceMonitor.enrol(id, "Frame Grabber");
Thiago Santini's avatar
Thiago Santini committed
29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45
}

FrameGrabber::~FrameGrabber()
{
    watchdog->stop();
    watchdog->deleteLater();
#ifdef TURBOJPEG
    tjDestroy(tjh);
#endif
}

QList<QVideoFrame::PixelFormat> FrameGrabber::supportedPixelFormats(QAbstractVideoBuffer::HandleType handleType) const
{
    Q_UNUSED(handleType);
    return QList<QVideoFrame::PixelFormat>()
            << QVideoFrame::Format_Jpeg
            << QVideoFrame::Format_RGB32
Thiago Santini's avatar
Thiago Santini committed
46 47
			<< QVideoFrame::Format_YUYV
			<< QVideoFrame::Format_RGB24;
Thiago Santini's avatar
Thiago Santini committed
48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87
            //<< QVideoFrame::Format_ARGB32_Premultiplied
            //<< QVideoFrame::Format_RGB565
            //<< QVideoFrame::Format_RGB555
            //<< QVideoFrame::Format_ARGB8565_Premultiplied
            //<< QVideoFrame::Format_BGRA32
            //<< QVideoFrame::Format_BGRA32_Premultiplied
            //<< QVideoFrame::Format_BGR24
            //<< QVideoFrame::Format_BGR565
            //<< QVideoFrame::Format_BGR555
            //<< QVideoFrame::Format_BGRA5658_Premultiplied
            //<< QVideoFrame::Format_AYUV444
            //<< QVideoFrame::Format_AYUV444_Premultiplied
            //<< QVideoFrame::Format_YUV444
            //<< QVideoFrame::Format_YUV420P
            //<< QVideoFrame::Format_YV12
            //<< QVideoFrame::Format_UYVY
            //<< QVideoFrame::Format_YUYV
            //<< QVideoFrame::Format_NV12
            //<< QVideoFrame::Format_NV21
            //<< QVideoFrame::Format_IMC1
            //<< QVideoFrame::Format_IMC2
            //<< QVideoFrame::Format_IMC3
            //<< QVideoFrame::Format_IMC4
            //<< QVideoFrame::Format_Y8
            //<< QVideoFrame::Format_Y16
            //<< QVideoFrame::Format_CameraRaw
            //<< QVideoFrame::Format_AdobeDng;
}

bool FrameGrabber::present(const QVideoFrame &frame)
{
    /*
     * IMPORTANT:
     *
     * This frame's data lifetime is not guaranteed once we leave this function
     * so it shouldn't be used outside.
     * If sending the data somewhere else (e.g., for the preview) is necessary,
     * we must copy the data
     *
     */
88
	Timestamp t = ns2ms(gTimer.nsecsElapsed());
Thiago Santini's avatar
Thiago Santini committed
89

90 91 92
	const QString tMetaStr = "timestamp";
	if ( frame.metaData(tMetaStr).isValid() ) {
		Timestamp ft = qvariant_cast<Timestamp>( frame.metaData(tMetaStr) );
93 94
		if ( timestampOffsetEstimators.size() < 30) {
			// Use median of first N frames to estimate the offset
95
			timestampOffsetEstimators.emplace_back( t - ft );
96 97 98
			std::sort(timestampOffsetEstimators.begin(), timestampOffsetEstimators.end());
			timestampOffset = timestampOffsetEstimators[ 0.5*(timestampOffsetEstimators.size()-1) ];
		}
99
		t = ft + timestampOffset;
100
	}
Thiago Santini's avatar
Thiago Santini committed
101 102 103 104 105 106 107

    if (!frame.isValid())
        return false;

    QVideoFrame copy(frame);
    Mat cvFrame;

Thiago Santini's avatar
Thiago Santini committed
108
	copy.map(QAbstractVideoBuffer::ReadOnly);
Thiago Santini's avatar
Thiago Santini committed
109 110 111 112 113 114 115
    bool success = false;
    switch (frame.pixelFormat()) {
        case QVideoFrame::Format_Jpeg:
            success = jpeg2bmp(copy, cvFrame);
            break;
        case QVideoFrame::Format_RGB32:
            success = rgb32_2bmp(copy, cvFrame);
116 117
            break;
        case QVideoFrame::Format_YUYV:
Thiago Santini's avatar
Thiago Santini committed
118 119 120 121
			success = yuyv_2bmp(copy, cvFrame);
			break;
		default:
			qWarning() << "Unknown pixel format:" << frame.pixelFormat();
Thiago Santini's avatar
Thiago Santini committed
122 123 124 125 126
            break;
    }
    copy.unmap();

    if (success && !cvFrame.empty()) {
127 128
		watchdog->start(timeoutMs);
		emit newFrame(t, cvFrame);
129 130
    } else
        gPerformanceMonitor.account(pmIdx);
Thiago Santini's avatar
Thiago Santini committed
131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169

    return success;
}

void FrameGrabber::setColorCode(int code)
{
    this->code = code;
}

bool FrameGrabber::jpeg2bmp(const QVideoFrame &in, cv::Mat &cvFrame)
{
    unsigned char *frame = const_cast<unsigned char*>(in.bits());
    int len = in.mappedBytes();

#ifdef TURBOJPEG
    int width, height, subsamp, res;
    res = tjDecompressHeader2( tjh, frame, len, &width, &height, &subsamp);
    if (res < 0)
    {
        qWarning() << QString("Frame drop; invalid header: ").append(tjGetErrorStr());
        return false;
    }

    long unsigned int bufSize = tjBufSizeYUV(width, height, subsamp);
    if (bufSize != yuvBufferSize)
    {
        //qInfo() << "YUV buffer size changed";
        yuvBufferSize = bufSize;
        delete yuvBuffer;
        yuvBuffer = new unsigned char[yuvBufferSize];
    }

    res = tjDecompressToYUV( tjh, frame, len, yuvBuffer, 0);
    if (res < 0)
    {
        qWarning() << QString("Frame drop; failed to decompress: ").append(tjGetErrorStr());
        return false;
    }

Thiago Santini's avatar
Thiago Santini committed
170
	cvFrame = Mat(height, width, code);
Thiago Santini's avatar
Thiago Santini committed
171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199
    int decode = code == CV_8UC3 ? TJPF_BGR : TJPF_GRAY;
    res = tjDecodeYUV(tjh, yuvBuffer, 4, subsamp, cvFrame.data, width, 0, height, decode, 0);
    if (res < 0)
    {
        qWarning() << QString("Frame drop; failed to decode: ").append(tjGetErrorStr());
        return false;
    }
#else
    std::vector<char> data(frame, frame+len);
    if (code == CV_8U)
        cvFrame = imdecode(Mat(data), CV_LOAD_IMAGE_GRAYSCALE);
    else
        cvFrame = imdecode(Mat(data), CV_LOAD_IMAGE_COLOR);
#endif

    return true;
}

bool FrameGrabber::rgb32_2bmp(const QVideoFrame &in, cv::Mat &cvFrame)
{
    // why abs? Some cameras seem to report some negative frame sizes for DirectShow; I'm looking at you Grasshopper!
    Mat rgba = Mat(abs(in.height()), abs(in.width()), CV_8UC4, (void*) in.bits());
    if (code == CV_8UC3)
        cvtColor(rgba, cvFrame, CV_BGRA2BGR);
    else
        cvtColor(rgba, cvFrame, CV_BGRA2GRAY);
    return true;
}

200 201
bool FrameGrabber::yuyv_2bmp(const QVideoFrame &in, cv::Mat &cvFrame)
{
Thiago Santini's avatar
Thiago Santini committed
202 203 204
	// some of the cheaper cameras tend to mess up the data for the first frames
	if (abs(in.height()) * abs(in.width()) * 2 > in.mappedBytes())
			return false;
Thiago Santini's avatar
Thiago Santini committed
205 206 207 208 209
	Mat yuyv = Mat(abs(in.height()), abs(in.width()), CV_8UC2, (void*) in.bits());
	if (code == CV_8UC3)
		cvtColor(yuyv, cvFrame, CV_YUV2BGR_YUYV);
	else
		cvtColor(yuyv, cvFrame, CV_YUV2GRAY_YUYV);
210 211
    return true;
}
Thiago Santini's avatar
Thiago Santini committed
212

Thiago Santini's avatar
Thiago Santini committed
213
//TODO: add support for other frame formats