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7d8cfb5596b00c49ca01c4d59ee74c8b88059909 - 19_argus_camera_sw_encode/Makefile
0237b5299525c072e55e721dcedbfd3d06e182ca - 19_argus_camera_sw_encode/FFMPEG-LICENSE.md
de91caa771262821be9e97cfe54154efd19b3741 - 19_argus_camera_sw_encode/argus_camera_sw_encode_main.cpp
7b299759a546d9c7ed36d7ab0db92bcd15eb5892 - 19_argus_camera_sw_encode/argus_camera_sw_encode.h

Change-Id: Id16016f5bb68baba070a0e4d956af4a0d9c62d2a
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svcmobrel-release
2025-09-19 10:09:40 -07:00
parent 84f8c99859
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19_argus_camera_sw_encode/FFMPEG-LICENSE.md Normal file
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# License
Most files in FFmpeg are under the GNU Lesser General Public License version 2.1
or later (LGPL v2.1+). Read the file `COPYING.LGPLv2.1` for details. Some other
files have MIT/X11/BSD-style licenses. In combination the LGPL v2.1+ applies to
FFmpeg.
Some optional parts of FFmpeg are licensed under the GNU General Public License
version 2 or later (GPL v2+). See the file `COPYING.GPLv2` for details. None of
these parts are used by default, you have to explicitly pass `--enable-gpl` to
configure to activate them. In this case, FFmpeg's license changes to GPL v2+.
Specifically, the GPL parts of FFmpeg are:
- libpostproc
- optional x86 optimization in the files
- `libavcodec/x86/flac_dsp_gpl.asm`
- `libavcodec/x86/idct_mmx.c`
- `libavfilter/x86/vf_removegrain.asm`
- the following building and testing tools
- `compat/solaris/make_sunver.pl`
- `doc/t2h.pm`
- `doc/texi2pod.pl`
- `libswresample/swresample-test.c`
- `tests/checkasm/*`
- `tests/tiny_ssim.c`
- the following filters in libavfilter:
- `vf_blackframe.c`
- `vf_boxblur.c`
- `vf_colormatrix.c`
- `vf_cover_rect.c`
- `vf_cropdetect.c`
- `vf_delogo.c`
- `vf_eq.c`
- `vf_find_rect.c`
- `vf_fspp.c`
- `vf_geq.c`
- `vf_histeq.c`
- `vf_hqdn3d.c`
- `vf_interlace.c`
- `vf_kerndeint.c`
- `vf_mcdeint.c`
- `vf_mpdecimate.c`
- `vf_owdenoise.c`
- `vf_perspective.c`
- `vf_phase.c`
- `vf_pp.c`
- `vf_pp7.c`
- `vf_pullup.c`
- `vf_repeatfields.c`
- `vf_sab.c`
- `vf_smartblur.c`
- `vf_spp.c`
- `vf_stereo3d.c`
- `vf_super2xsai.c`
- `vf_tinterlace.c`
- `vf_uspp.c`
- `vsrc_mptestsrc.c`
Should you, for whatever reason, prefer to use version 3 of the (L)GPL, then
the configure parameter `--enable-version3` will activate this licensing option
for you. Read the file `COPYING.LGPLv3` or, if you have enabled GPL parts,
`COPYING.GPLv3` to learn the exact legal terms that apply in this case.
There are a handful of files under other licensing terms, namely:
* The files `libavcodec/jfdctfst.c`, `libavcodec/jfdctint_template.c` and
`libavcodec/jrevdct.c` are taken from libjpeg, see the top of the files for
licensing details. Specifically note that you must credit the IJG in the
documentation accompanying your program if you only distribute executables.
You must also indicate any changes including additions and deletions to
those three files in the documentation.
* `tests/reference.pnm` is under the expat license.
## External libraries
FFmpeg can be combined with a number of external libraries, which sometimes
affect the licensing of binaries resulting from the combination.
### Compatible libraries
The following libraries are under GPL:
- frei0r
- libcdio
- librubberband
- libvidstab
- libx264
- libx265
- libxavs
- libxvid
When combining them with FFmpeg, FFmpeg needs to be licensed as GPL as well by
passing `--enable-gpl` to configure.
The OpenCORE and VisualOn libraries are under the Apache License 2.0. That
license is incompatible with the LGPL v2.1 and the GPL v2, but not with
version 3 of those licenses. So to combine these libraries with FFmpeg, the
license version needs to be upgraded by passing `--enable-version3` to configure.
### Incompatible libraries
There are certain libraries you can combine with FFmpeg whose licenses are not
compatible with the GPL and/or the LGPL. If you wish to enable these
libraries, even in circumstances that their license may be incompatible, pass
`--enable-nonfree` to configure. This will cause the resulting binary to be
unredistributable.
The Fraunhofer FDK AAC and OpenSSL libraries are under licenses which are
incompatible with the GPLv2 and v3. To the best of our knowledge, they are
compatible with the LGPL.

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# SPDX-FileCopyrightText: Copyright (c) 2022-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
# SPDX-License-Identifier: Apache-2.0
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
include ../Rules.mk
APP := camera_sw_encode
ARGUS_UTILS_DIR := $(TOP_DIR)/argus/samples/utils
SRCS := \
argus_camera_sw_encode_main.cpp \
$(wildcard $(CLASS_DIR)/*.cpp) \
$(ARGUS_UTILS_DIR)/Thread.cpp \
$(ARGUS_UTILS_DIR)/NativeBuffer.cpp \
$(ARGUS_UTILS_DIR)/nvmmapi/NvNativeBuffer.cpp
OBJS := $(SRCS:.cpp=.o)
CPPFLAGS += \
-I"$(ARGUS_UTILS_DIR)"
LDFLAGS += \
-lnvargus_socketclient -lavcodec -lavutil
all: $(APP)
$(CLASS_DIR)/%.o: $(CLASS_DIR)/%.cpp
$(AT)$(MAKE) -C $(CLASS_DIR)
%.o: %.cpp
@echo "Compiling: $<"
$(CPP) $(CPPFLAGS) -c $< -o $@
$(APP): $(OBJS)
@echo "Linking: $@"
$(CPP) -o $@ $(OBJS) $(CPPFLAGS) $(LDFLAGS)
clean:
$(AT)rm -rf $(APP) $(OBJS)

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19_argus_camera_sw_encode/argus_camera_sw_encode.h Normal file
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/*
* SPDX-FileCopyrightText: Copyright (c) 2022-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
* SPDX-License-Identifier: Apache-2.0
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#ifndef __ARGUS_CAMERA_SW_ENCODE_H__
#define __ARGUS_CAMERA_SW_ENCODE_H__
#include "Error.h"
#include "Thread.h"
#include "nvmmapi/NvNativeBuffer.h"
#include "NvBuffer.h"
#include "NvBufSurface.h"
#include <Argus/Argus.h>
#ifdef __cplusplus
extern "C"
{
#endif
#include <libavcodec/avcodec.h>
#include <libavutil/opt.h>
#include <libavutil/imgutils.h>
#ifdef __cplusplus
}
#endif
using namespace Argus;
/* Specifies the input pixel format */
enum pix_fmt
{
NV12 = 1,
I420
};
/* Debug print macros */
#define PRODUCER_PRINT(...) printf("PRODUCER: " __VA_ARGS__)
#define CONSUMER_PRINT(...) printf("CONSUMER: " __VA_ARGS__)
#define CHECK_ERROR(expr) \
do { \
if ((expr) < 0) { \
abort(); \
ORIGINATE_ERROR(#expr " failed"); \
} \
} while (0);
namespace ArgusSamples
{
/**
* Helper class to map NvNativeBuffer to Argus::Buffer and vice versa.
* A reference to DmaBuffer will be saved as client data in each Argus::Buffer.
* Also DmaBuffer will keep a reference to corresponding Argus::Buffer.
* This class also extends NvBuffer to act as a share buffer between Argus and encoder.
*/
class DmaBuffer : public NvNativeBuffer, public NvBuffer
{
public:
/* Always use this static method to create DmaBuffer */
static DmaBuffer* create(const Argus::Size2D<uint32_t>& size,
NvBufSurfaceColorFormat colorFormat,
NvBufSurfaceLayout layout = NVBUF_LAYOUT_PITCH);
/* Help function to convert Argus Buffer to DmaBuffer */
static DmaBuffer* fromArgusBuffer(Buffer *buffer);
/* Return DMA buffer handle */
int getFd() const { return m_fd; }
/* Get and set reference to Argus buffer */
void setArgusBuffer(Buffer *buffer) { m_buffer = buffer; }
Buffer *getArgusBuffer() const { return m_buffer; }
private:
DmaBuffer(const Argus::Size2D<uint32_t>& size)
: NvNativeBuffer(size),
NvBuffer(0, 0),
m_buffer(NULL)
{
}
Buffer *m_buffer; /**< Holds the reference to Argus::Buffer */
};
/**
* Consumer thread:
* Acquire frames from BufferOutputStream and extract the DMABUF fd from it.
* Provide DMABUF to V4L2 for video encoding. The encoder will save the encoded
* stream to disk.
*/
class ConsumerThread : public Thread
{
public:
explicit ConsumerThread(OutputStream* stream);
~ConsumerThread();
bool isInError()
{
return m_gotError;
}
private:
/** @name Thread methods */
/**@{*/
virtual bool threadInitialize();
virtual bool threadExecute();
virtual bool threadShutdown();
/**@}*/
/* Initialize and set properties of Libav Encoder */
bool createVideoEncoder();
/* Destroy the Libav Encoder */
bool destroyVideoEncoder();
/* Perform Encode operation */
int libavEncode(AVCodecContext *ctx, AVFrame *frame, AVPacket *pkt, int fd);
/* Abort the encode operation */
void abort();
OutputStream* m_stream; /**< Holds the Output stream */
const AVCodec* codec; /**< Holds the encoder type and name */
AVCodecContext* m_enc_ctx; /**< Holds the libav codec context */
AVFrame* m_frame; /**< Holds the libav input frame data and info */
AVPacket* m_pkt; /**< Holds the libav output packet data and info */
std::ofstream* m_outputFile;
bool m_gotError;
NvBufSurface* m_blitSurf; /**< Holds the I420 Buffer if applicable */
NvBufSurface** m_sysBuffers; /**< Holds the system buffers */
int m_count; /**< Holds the count of buffers sent */
};
/**
* Argus Producer thread:
* Opens the Argus camera driver, creates an BufferOutputStream to output
* frames, then performs repeating capture requests for CAPTURE_TIME
* seconds before closing the producer and Argus driver.
*/
bool execute();
} /* namespace ArgusSamples */
/* Function to parse commandline arguments */
bool parseCmdline(int argc, char **argv);
/* Function to print help */
void printHelp();
#endif // __ARGUS_CAMERA_SW_ENCODE_H__

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/*
* SPDX-FileCopyrightText: Copyright (c) 2022-2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
* SPDX-License-Identifier: Apache-2.0
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#include <unistd.h>
#include <stdio.h>
#include <stdlib.h>
#include <iostream>
#include <fstream>
#include "argus_camera_sw_encode.h"
using namespace ArgusSamples;
/* Constant configuration */
const int MAX_ENCODER_FRAMES = 5;
const int DEFAULT_FPS = 30;
enum pix_fmt ENCODER_INPIXFMT = NV12;
/* This value is tricky.
Too small value will impact the FPS */
const int NUM_BUFFERS = 10;
/* Configurations which can be overrided by cmdline */
int CAPTURE_TIME = 5; // In seconds.
uint32_t CAMERA_INDEX = 0;
Size2D<uint32_t> STREAM_SIZE (640, 480);
std::string OUTPUT_FILENAME ("output.h264");
bool VERBOSE_ENABLE = false;
EGLDisplay eglDisplay = EGL_NO_DISPLAY;
DmaBuffer* DmaBuffer::create(const Argus::Size2D<uint32_t>& size,
NvBufSurfaceColorFormat colorFormat,
NvBufSurfaceLayout layout)
{
DmaBuffer* buffer = new DmaBuffer(size);
if (!buffer)
return NULL;
NvBufSurf::NvCommonAllocateParams cParams;
cParams.memtag = NvBufSurfaceTag_CAMERA;
cParams.width = size.width();
cParams.height = size.height();
cParams.colorFormat = colorFormat;
cParams.layout = layout;
cParams.memType = NVBUF_MEM_SURFACE_ARRAY;
if (NvBufSurf::NvAllocate(&cParams, 1, &buffer->m_fd))
{
delete buffer;
return NULL;
}
return buffer;
}
DmaBuffer* DmaBuffer::fromArgusBuffer(Buffer *buffer)
{
IBuffer* iBuffer = interface_cast<IBuffer>(buffer);
const DmaBuffer *dmabuf = static_cast<const DmaBuffer*>(iBuffer->getClientData());
return const_cast<DmaBuffer*>(dmabuf);
}
ConsumerThread::ConsumerThread(OutputStream* stream) :
m_stream(stream),
m_enc_ctx(NULL),
m_frame(NULL),
m_pkt(NULL),
m_outputFile(NULL),
m_gotError(false),
m_blitSurf(NULL)
{
}
ConsumerThread::~ConsumerThread()
{
if (m_outputFile)
delete m_outputFile;
}
bool ConsumerThread::threadInitialize()
{
/* Create Video Encoder */
if (!createVideoEncoder())
ORIGINATE_ERROR("Failed to create video VideoEncoder");
/* Create output file */
m_outputFile = new std::ofstream(OUTPUT_FILENAME.c_str());
if (!m_outputFile)
ORIGINATE_ERROR("Failed to open output file.");
return true;
}
bool ConsumerThread::threadExecute()
{
IBufferOutputStream* stream = interface_cast<IBufferOutputStream>(m_stream);
DmaBuffer *dmabuf = NULL;
Argus::Status status = STATUS_OK;
if (!stream)
ORIGINATE_ERROR("Failed to get IBufferOutputStream interface");
for (int bufferIndex = 0; bufferIndex < MAX_ENCODER_FRAMES; bufferIndex++)
{
Buffer* buffer = stream->acquireBuffer(TIMEOUT_INFINITE, &status);
if (status != STATUS_OK)
{
m_gotError = true;
ORIGINATE_ERROR("Failed to acquire camera buffer");
break;
}
/* Convert Argus::Buffer to DmaBuffer*/
dmabuf = DmaBuffer::fromArgusBuffer(buffer);
int dmabuf_fd = dmabuf->getFd();
if (VERBOSE_ENABLE)
CONSUMER_PRINT("Acquired Frame:%d fd:%d\n", m_count, dmabuf_fd);
/* encode the image */
libavEncode(m_enc_ctx, m_frame, m_pkt, dmabuf_fd);
/* Release the frame */
stream->releaseBuffer(buffer);
if (VERBOSE_ENABLE)
CONSUMER_PRINT("Released frame:%d fd:%d\n", m_count - 1, dmabuf->getFd());
}
/* Keep acquire frames and queue into encoder */
while (!m_gotError)
{
/* Acquire a Buffer from a completed capture request */
Buffer* buffer = stream->acquireBuffer(TIMEOUT_INFINITE, &status);
if (status == STATUS_END_OF_STREAM)
{
/* Timeout or error happen, exit */
break;
}
else if (status != STATUS_OK)
{
ORIGINATE_ERROR("Failed to acquire camera buffer");
break;
}
/* Convert Argus::Buffer to DmaBuffer and get FD */
dmabuf = DmaBuffer::fromArgusBuffer(buffer);
int dmabuf_fd = dmabuf->getFd();
if (VERBOSE_ENABLE)
CONSUMER_PRINT("Acquired Frame:%d fd:%d\n", m_count, dmabuf_fd);
/* Push the frame to libavEncoder. */
CHECK_ERROR(libavEncode(m_enc_ctx, m_frame, m_pkt, dmabuf_fd));
stream->releaseBuffer(buffer);
if (VERBOSE_ENABLE)
CONSUMER_PRINT("Released frame:%d fd:%d\n", m_count - 1, dmabuf->getFd());
}
/* Send EOS and flush the encoder */
CHECK_ERROR(libavEncode(m_enc_ctx, NULL, m_pkt, -1));
CONSUMER_PRINT("Done.\n");
requestShutdown();
return true;
}
bool ConsumerThread::threadShutdown()
{
/* Destroy Video Encoder */
if (!destroyVideoEncoder())
ORIGINATE_ERROR("Failed to destroy video VideoEncoder");
return true;
}
bool ConsumerThread::createVideoEncoder()
{
int ret = 0;
NvBufSurfaceAllocateParams input_params = { 0 };
codec = avcodec_find_encoder_by_name("libx264");
if (!codec)
ORIGINATE_ERROR("Codec 'libx264' not found. Please install x264");
m_enc_ctx = avcodec_alloc_context3(codec);
if (!m_enc_ctx)
ORIGINATE_ERROR("Could not allocate video codec context");
m_count = 0;
// Setting common properties of encoder available as part of AVCodecContext
// Ref: https://libav.org/documentation/doxygen/master/structAVCodecContext.html
/* put sample parameters */
m_enc_ctx->bit_rate = 4000000;
m_enc_ctx->width = STREAM_SIZE.width();
m_enc_ctx->height = STREAM_SIZE.height();
/* frames per second */
m_enc_ctx->time_base = (AVRational){1, 30};
m_enc_ctx->framerate = (AVRational){30, 1};
m_enc_ctx->gop_size = 30;
m_enc_ctx->max_b_frames = 0;
m_enc_ctx->pix_fmt = (ENCODER_INPIXFMT == NV12) ? AV_PIX_FMT_NV12 : AV_PIX_FMT_YUV420P;
m_enc_ctx->profile = FF_PROFILE_H264_HIGH;
// Setting some specific properties of libx264
// Ref: http://www.chaneru.com/Roku/HLS/X264_Settings.htm
av_opt_set(m_enc_ctx->priv_data, "level", "5", 0);
av_opt_set(m_enc_ctx->priv_data, "preset", "ultrafast", 0);
// Set CBR mode in libx264
av_opt_set(m_enc_ctx->priv_data, "bitrate", "4000000", 0);
av_opt_set(m_enc_ctx->priv_data, "vbv-maxrate", "4000000", 0);
av_opt_set(m_enc_ctx->priv_data, "vbv-bufsize", "4000000", 0);
// Set num of reference to 1
av_opt_set(m_enc_ctx->priv_data, "ref", "1", 0);
/* open the encoder */
ret = avcodec_open2(m_enc_ctx, codec, NULL);
if (ret < 0)
ORIGINATE_ERROR("Could not open libx264 encoder");
m_frame = av_frame_alloc();
if (!m_frame)
ORIGINATE_ERROR("Could not allocate video frame");
m_frame->format = m_enc_ctx->pix_fmt; // Camera input is NV12 format by default
m_frame->width = STREAM_SIZE.width();
m_frame->height = STREAM_SIZE.height();
ret = av_frame_get_buffer(m_frame, 0);
if (ret < 0)
ORIGINATE_ERROR("Could not allocate the video frame data");
m_pkt = av_packet_alloc();
if (!m_pkt)
ORIGINATE_ERROR("Could not allocate video packet");
if(m_frame->format == AV_PIX_FMT_YUV420P)
{
input_params.params.width = m_frame->width;
input_params.params.height = m_frame->height;
input_params.params.layout = NVBUF_LAYOUT_BLOCK_LINEAR;
input_params.params.colorFormat = NVBUF_COLOR_FORMAT_YUV420;
input_params.params.memType = NVBUF_MEM_SURFACE_ARRAY;
input_params.memtag = NvBufSurfaceTag_VIDEO_CONVERT;
ret = NvBufSurfaceAllocate(&m_blitSurf, 1, &input_params);
if (ret < 0)
ORIGINATE_ERROR("Could not allocate the yuv420p surf data");
m_blitSurf->numFilled = 1;
}
memset(&input_params, 0, sizeof(input_params));
input_params.params.width = m_frame->width;
input_params.params.height = m_frame->height;
if(m_frame->format == AV_PIX_FMT_YUV420P)
input_params.params.colorFormat = NVBUF_COLOR_FORMAT_YUV420;
else
input_params.params.colorFormat = NVBUF_COLOR_FORMAT_NV12;
input_params.params.layout = NVBUF_LAYOUT_PITCH;
input_params.params.memType = NVBUF_MEM_SYSTEM;
input_params.memtag = NvBufSurfaceTag_NONE;
input_params.disablePitchPadding = true;
//Allocate system memory to perform copy from HW to SW
m_sysBuffers = (NvBufSurface**) malloc(NUM_BUFFERS * sizeof(NvBufSurface*));
for (int i = 0; i < NUM_BUFFERS; i++)
{
ret = NvBufSurfaceAllocate(&m_sysBuffers[i], 1, &input_params);
if (ret < 0)
ORIGINATE_ERROR("Could not allocate the system memory buffer");
m_sysBuffers[i]->numFilled = 1;
}
return true;
}
int ConsumerThread::libavEncode(AVCodecContext *ctx, AVFrame *frame, AVPacket *pkt, int fd)
{
int ret = 0;
NvBufSurface *surf;
int nplanes = 2;
int width = 0, height = 0, size = 0;
if (frame)
{
av_init_packet(pkt);
pkt->data = NULL; // packet data will be allocated by the encoder
pkt->size = 0;
/* make sure the frame data is writable */
ret = av_frame_make_writable(frame);
if (ret < 0)
{
av_log(ctx, AV_LOG_ERROR, "AV Frame is not writable\n");
return ret;
}
ret = NvBufSurfaceFromFd(fd, (void**)&surf);
if (ret)
{
ORIGINATE_ERROR("%s: NvBufSurfaceFromFd failed", __func__);
return ret;
}
// NOTE: An additional Transform is required if input pix_fmt is I420
// Conversion to NV12 -> I420 is performed using VIC.
if (frame->format == AV_PIX_FMT_YUV420P)
{
nplanes = 3;
NvBufSurfTransformRect src_rect, dest_rect;
src_rect.top = dest_rect.top = 0;
src_rect.left = dest_rect.left = 0;
src_rect.width = dest_rect.width = frame->width;
src_rect.height = dest_rect.height = frame->height;
NvBufSurfTransformParams transform_params;
memset(&transform_params,0,sizeof (transform_params));
transform_params.transform_flag = NVBUFSURF_TRANSFORM_FILTER;
transform_params.transform_flip = NvBufSurfTransform_None;
transform_params.transform_filter = NvBufSurfTransformInter_Algo3;
transform_params.src_rect = &src_rect;
transform_params.dst_rect = &dest_rect;
ret = NvBufSurfTransform(surf, m_blitSurf, &transform_params);
if (ret < 0)
{
ORIGINATE_ERROR("Could not transform nv12 to yuv420p surf data");
return ret;
}
}
// NOTE: A HW to SW copy is required due to alignment contraints
// The given input is HW buffer. Call NvBufSurfaceCopy to copy to raw AVFrame buffer.
ret = NvBufSurfaceCopy((nplanes == 2 ? surf : m_blitSurf), m_sysBuffers[m_count % NUM_BUFFERS]);
if (ret < 0)
{
ORIGINATE_ERROR("NvBufSurfaceCopy Failed");
return ret;
}
uint8_t *data = (uint8_t *)m_sysBuffers[m_count % NUM_BUFFERS]->surfaceList[0].dataPtr;
// Set the avframe data
for (int plane = 0; plane < nplanes; plane++)
{
frame->data[plane] = (uint8_t *)(data + size);
frame->linesize[plane] = m_sysBuffers[m_count % NUM_BUFFERS]->surfaceList[0].planeParams.pitch[plane];
size += m_sysBuffers[m_count % NUM_BUFFERS]->surfaceList[0].planeParams.psize[plane];
}
frame->pts = m_count;
m_count++;
}
ret = avcodec_send_frame(m_enc_ctx, frame);
if (ret < 0)
{
av_log(ctx, AV_LOG_ERROR, "Error while encoding frame\n");
return ret;
}
EOS:
ret = avcodec_receive_packet(m_enc_ctx, pkt);
if (ret == AVERROR(EAGAIN) || ret == AVERROR_EOF)
return 0;
else if (ret < 0)
{
av_log(ctx, AV_LOG_ERROR, "Error while encoding frame\n");
return ret;
}
if (pkt->size > 0)
{
this->m_outputFile->write((char *) pkt->data, pkt->size);
av_packet_unref(pkt);
// Loop back to retrieve remaining encoded packets
if (frame == NULL)
goto EOS;
}
return ret;
}
bool ConsumerThread::destroyVideoEncoder()
{
if (m_frame && m_frame->format == AV_PIX_FMT_YUV420P)
{
NvBufSurfaceDestroy(m_blitSurf);
m_blitSurf = NULL;
}
for (int i = 0; i < NUM_BUFFERS; i++)
{
NvBufSurfaceDestroy(m_sysBuffers[i]);
m_sysBuffers[i] = NULL;
}
free(m_sysBuffers);
m_sysBuffers = NULL;
if (m_pkt)
{
av_packet_free(&m_pkt);
m_pkt = NULL;
}
if (m_frame)
{
av_frame_free(&m_frame);
m_frame = NULL;
}
if (m_enc_ctx)
{
//avcodec_close(&m_enc_ctx);
avcodec_free_context(&m_enc_ctx);
m_enc_ctx = NULL;
}
return true;
}
void ConsumerThread::abort()
{
destroyVideoEncoder();
m_gotError = true;
}
bool ArgusSamples::execute()
{
NvBufSurface *surf[NUM_BUFFERS] = {0};
/* Create the CameraProvider object and get the core interface */
UniqueObj<CameraProvider> cameraProvider = UniqueObj<CameraProvider>(CameraProvider::create());
ICameraProvider *iCameraProvider = interface_cast<ICameraProvider>(cameraProvider);
if (!iCameraProvider)
ORIGINATE_ERROR("Failed to create CameraProvider");
/* Get the camera devices */
std::vector<CameraDevice*> cameraDevices;
iCameraProvider->getCameraDevices(&cameraDevices);
if (cameraDevices.size() == 0)
ORIGINATE_ERROR("No cameras available");
if (CAMERA_INDEX >= cameraDevices.size())
{
PRODUCER_PRINT("CAMERA_INDEX out of range. Fall back to 0\n");
CAMERA_INDEX = 0;
}
/* Create the capture session using the first device and get the core interface */
UniqueObj<CaptureSession> captureSession(
iCameraProvider->createCaptureSession(cameraDevices[CAMERA_INDEX]));
ICaptureSession *iCaptureSession = interface_cast<ICaptureSession>(captureSession);
if (!iCaptureSession)
ORIGINATE_ERROR("Failed to get ICaptureSession interface");
/* Create the OutputStream */
PRODUCER_PRINT("Creating output stream\n");
UniqueObj<OutputStreamSettings> streamSettings(
iCaptureSession->createOutputStreamSettings(STREAM_TYPE_BUFFER));
IBufferOutputStreamSettings *iStreamSettings =
interface_cast<IBufferOutputStreamSettings>(streamSettings);
if (!iStreamSettings)
ORIGINATE_ERROR("Failed to get IBufferOutputStreamSettings interface");
/* Configure the OutputStream to use the EGLImage BufferType */
iStreamSettings->setBufferType(BUFFER_TYPE_EGL_IMAGE);
/* Create the OutputStream */
UniqueObj<OutputStream> outputStream(iCaptureSession->createOutputStream(streamSettings.get()));
IBufferOutputStream *iBufferOutputStream = interface_cast<IBufferOutputStream>(outputStream);
/* Allocate native buffers */
DmaBuffer* nativeBuffers[NUM_BUFFERS];
for (uint32_t i = 0; i < NUM_BUFFERS; i++)
{
nativeBuffers[i] = DmaBuffer::create(STREAM_SIZE, NVBUF_COLOR_FORMAT_NV12,
NVBUF_LAYOUT_BLOCK_LINEAR);
if (!nativeBuffers[i])
ORIGINATE_ERROR("Failed to allocate NativeBuffer");
}
/* Create EGLImages from the native buffers */
EGLImageKHR eglImages[NUM_BUFFERS];
for (uint32_t i = 0; i < NUM_BUFFERS; i++)
{
int ret = 0;
ret = NvBufSurfaceFromFd(nativeBuffers[i]->getFd(), (void**)(&surf[i]));
if (ret)
ORIGINATE_ERROR("%s: NvBufSurfaceFromFd failed", __func__);
ret = NvBufSurfaceMapEglImage (surf[i], 0);
if (ret)
ORIGINATE_ERROR("%s: NvBufSurfaceMapEglImage failed", __func__);
eglImages[i] = surf[i]->surfaceList[0].mappedAddr.eglImage;
if (eglImages[i] == EGL_NO_IMAGE_KHR)
ORIGINATE_ERROR("Failed to create EGLImage");
}
/* Create the BufferSettings object to configure Buffer creation */
UniqueObj<BufferSettings> bufferSettings(iBufferOutputStream->createBufferSettings());
IEGLImageBufferSettings *iBufferSettings =
interface_cast<IEGLImageBufferSettings>(bufferSettings);
if (!iBufferSettings)
ORIGINATE_ERROR("Failed to create BufferSettings");
/* Create the Buffers for each EGLImage (and release to
stream for initial capture use) */
UniqueObj<Buffer> buffers[NUM_BUFFERS];
for (uint32_t i = 0; i < NUM_BUFFERS; i++)
{
iBufferSettings->setEGLImage(eglImages[i]);
iBufferSettings->setEGLDisplay(eglDisplay);
buffers[i].reset(iBufferOutputStream->createBuffer(bufferSettings.get()));
IBuffer *iBuffer = interface_cast<IBuffer>(buffers[i]);
/* Reference Argus::Buffer and DmaBuffer each other */
iBuffer->setClientData(nativeBuffers[i]);
nativeBuffers[i]->setArgusBuffer(buffers[i].get());
if (!interface_cast<IEGLImageBuffer>(buffers[i]))
ORIGINATE_ERROR("Failed to create Buffer");
if (iBufferOutputStream->releaseBuffer(buffers[i].get()) != STATUS_OK)
ORIGINATE_ERROR("Failed to release Buffer for capture use");
}
/* Launch the FrameConsumer thread to consume frames from the OutputStream */
PRODUCER_PRINT("Launching consumer thread\n");
ConsumerThread frameConsumerThread(outputStream.get());
PROPAGATE_ERROR(frameConsumerThread.initialize());
/* Wait until the consumer is connected to the stream */
PROPAGATE_ERROR(frameConsumerThread.waitRunning());
/* Create capture request and enable output stream */
UniqueObj<Request> request(iCaptureSession->createRequest());
IRequest *iRequest = interface_cast<IRequest>(request);
if (!iRequest)
ORIGINATE_ERROR("Failed to create Request");
iRequest->enableOutputStream(outputStream.get());
ISourceSettings *iSourceSettings = interface_cast<ISourceSettings>(iRequest->getSourceSettings());
if (!iSourceSettings)
ORIGINATE_ERROR("Failed to get ISourceSettings interface");
iSourceSettings->setFrameDurationRange(Range<uint64_t>(1e9/DEFAULT_FPS));
/* Submit capture requests */
PRODUCER_PRINT("Starting repeat capture requests.\n");
if (iCaptureSession->repeat(request.get()) != STATUS_OK)
ORIGINATE_ERROR("Failed to start repeat capture request");
/* Wait for CAPTURE_TIME seconds */
for (int i = 0; i < CAPTURE_TIME && !frameConsumerThread.isInError(); i++)
sleep(1);
/* Stop the repeating request and wait for idle */
iCaptureSession->stopRepeat();
iBufferOutputStream->endOfStream();
iCaptureSession->waitForIdle();
/* Wait for the consumer thread to complete */
PROPAGATE_ERROR(frameConsumerThread.shutdown());
/* Destroy the output stream to end the consumer thread */
outputStream.reset();
/* Destroy the EGLImages */
for (uint32_t i = 0; i < NUM_BUFFERS; i++)
NvBufSurfaceUnMapEglImage (surf[i], 0);
/* Destroy the native buffers */
for (uint32_t i = 0; i < NUM_BUFFERS; i++)
delete nativeBuffers[i];
PRODUCER_PRINT("Done -- exiting.\n");
return true;
}
void printHelp()
{
printf("Usage: camera_recording [OPTIONS]\n"
"Options:\n"
" -r Set output resolution WxH [Default 640x480]\n"
" -f Set output filename [Default output.h264]\n"
" -d Set capture duration [Default 5 seconds]\n"
" -i Set camera index [Default 0]\n"
" -v Enable verbose message\n"
" -p Encoder input format 1 - NV12 [Default] 2 - I420\n"
" -h Print this help\n"
"Note: Only H.264 format is supported for SW encoding.\n"
"If encoder input format I420 is selected, additional transform to convert input to I420 is done.\n");
}
bool parseCmdline(int argc, char **argv)
{
int c, w, h;
bool haveFilename = false;
while ((c = getopt(argc, argv, "r:f:t:d:i:p:s::v::h")) != -1)
{
switch (c)
{
case 'r':
if (sscanf(optarg, "%dx%d", &w, &h) != 2)
return false;
STREAM_SIZE.width() = w;
STREAM_SIZE.height() = h;
break;
case 'f':
OUTPUT_FILENAME = optarg;
haveFilename = true;
break;
case 'd':
CAPTURE_TIME = atoi(optarg);
break;
case 'i':
CAMERA_INDEX = atoi(optarg);
break;
case 'v':
VERBOSE_ENABLE = true;
break;
case 'p':
if (2 == atoi(optarg))
ENCODER_INPIXFMT = I420;
else
ENCODER_INPIXFMT = NV12;
break;
default:
return false;
}
}
return true;
}
int main(int argc, char *argv[])
{
if (!parseCmdline(argc, argv))
{
printHelp();
return EXIT_FAILURE;
}
/* Get default EGL display */
eglDisplay = eglGetDisplay(EGL_DEFAULT_DISPLAY);
if (eglDisplay == EGL_NO_DISPLAY)
{
printf("Cannot get EGL display.\n");
}
if (!ArgusSamples::execute())
return EXIT_FAILURE;
/* Terminate EGL display */
eglTerminate(eglDisplay);
return EXIT_SUCCESS;
}

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Updating prebuilts and/or headers
7d8cfb5596b00c49ca01c4d59ee74c8b88059909 - 19_argus_camera_sw_encode/Makefile
0237b5299525c072e55e721dcedbfd3d06e182ca - 19_argus_camera_sw_encode/FFMPEG-LICENSE.md
de91caa771262821be9e97cfe54154efd19b3741 - 19_argus_camera_sw_encode/argus_camera_sw_encode_main.cpp
7b299759a546d9c7ed36d7ab0db92bcd15eb5892 - 19_argus_camera_sw_encode/argus_camera_sw_encode.h

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jetson_38.2.1