From 6fab6a3e2feb3f24d772aa151c5f43d447ec2010 Mon Sep 17 00:00:00 2001 From: RashmiShinde21 Date: Tue, 14 Oct 2025 09:57:01 +0530 Subject: [PATCH 01/22] changes for creating the EGLImage from the DMA buffer, addded some logs, arguscamera->DMAtoHostCopy->VirtualCamera works with no errors --- base/CMakeLists.txt | 43 ++++---- base/include/DMAUtils.h | 25 ++++- base/src/DMAFDWrapper.cpp | 178 +++++++++++++++--------------- base/src/DMAUtils.cpp | 124 +++++++++++---------- base/src/NvArgusCamera.cpp | 7 +- base/src/NvArgusCameraHelper.cpp | 65 ++++++++++- base/test/nvarguscamera_tests.cpp | 42 ++++--- base/vcpkg-configuration.json | 2 +- base/vcpkg.json | 2 +- 9 files changed, 289 insertions(+), 199 deletions(-) diff --git a/base/CMakeLists.txt b/base/CMakeLists.txt index 46ef22106..106c0d1a1 100755 --- a/base/CMakeLists.txt +++ b/base/CMakeLists.txt @@ -54,7 +54,7 @@ find_package(LibLZMA REQUIRED) find_package(FFMPEG REQUIRED) find_package(ZXing CONFIG REQUIRED) find_package(bigint CONFIG REQUIRED) -find_package(SFML COMPONENTS system window audio graphics CONFIG REQUIRED) +find_package(SFML COMPONENTS System Window Audio Graphics CONFIG REQUIRED) find_package(whisper CONFIG REQUIRED) @@ -188,15 +188,15 @@ SET(CORE_FILES src/Split.cpp src/Utils.cpp src/FIndexStrategy.cpp - src/AudioCaptureSrc.cpp + #src/AudioCaptureSrc.cpp src/QRReader.cpp - src/Mp4WriterSink.cpp + #src/Mp4WriterSink.cpp src/Mp4WriterSinkUtils.cpp src/MultimediaQueueXform.cpp src/Mp4ReaderSource.cpp src/RTSPClientSrc.cpp src/RTSPClientSrc.cpp - src/MotionVectorExtractor.cpp + #src/MotionVectorExtractor.cpp src/OverlayModule.cpp src/OrderedCacheOfFiles.cpp src/SimpleControlModule.cpp @@ -409,24 +409,24 @@ SET(CUDA_IP_FILES IF(ENABLE_ARM64) SET(CUDA_IP_FILES ${CUDA_IP_FILES} - # src/JPEGDecoderL4TM.cpp - # src/JPEGDecoderL4TMHelper.cpp + src/JPEGDecoderL4TM.cpp + src/JPEGDecoderL4TMHelper.cpp src/JPEGEncoderL4TM.cpp src/JPEGEncoderL4TMHelper.cpp src/AV4L2Buffer.cpp src/AV4L2ElementPlane.cpp - # src/H264EncoderV4L2Helper.cpp - # src/V4L2CUYUV420Converter.cpp - # src/H264EncoderV4L2.cpp + src/H264EncoderV4L2Helper.cpp + src/V4L2CUYUV420Converter.cpp + src/H264EncoderV4L2.cpp src/DMAFDWrapper.cpp - # src/NvArgusCameraHelper.cpp - # src/NvArgusCamera.cpp + src/NvArgusCameraHelper.cpp + src/NvArgusCamera.cpp # src/NvV4L2Camera.cpp # src/NvV4L2CameraHelper.cpp # src/EglRenderer.cpp # src/NvEglRenderer.cpp src/DMAUtils.cpp - # src/NvTransform.cpp + src/NvTransform.cpp src/ApraEGLDisplay.cpp src/DMAFDToHostCopy.cpp src/H264DecoderV4L2Helper.cpp @@ -531,16 +531,16 @@ target_include_directories ( aprapipes PRIVATE IF (ENABLE_ARM64) SET(ARM64_UT_FILES - # test/jpegencoderl4tm_tests.cpp - # test/jpegdecoderl4tm_tests.cpp + test/jpegencoderl4tm_tests.cpp + test/jpegdecoderl4tm_tests.cpp # test/l4tm_dec_enc_1_tests.cpp #todo this test needs to be improved to add to jetson suite - # test/opencvresize_tests.cpp + #test/opencvresize_tests.cpp # test/h264encoderv4l2_tests.cpp - # test/nvarguscamerahelper_tests.cpp - # test/nvarguscamera_tests.cpp + #test/nvarguscamerahelper_tests.cpp + test/nvarguscamera_tests.cpp # test/nvv4l2camera_test.cpp # test/nvv4l2camerahelper_test.cpp - # test/nvtransform_tests.cpp + test/nvtransform_tests.cpp # test/eglrenderer_test.cpp # test/cuda_arm_tests.cpp # test/apraegldisplay_tests.cpp @@ -577,7 +577,7 @@ ENDIF(ENABLE_CUDA) SET(UT_FILES test/utmain.cpp test/unit_tests.cpp - test/cv_memory_leaks_tests.cpp + #test/cv_memory_leaks_tests.cpp-- test/module_tests.cpp # test/calchistogramcv_tests.cpp # test/filenamestrategy_tests.cpp @@ -692,7 +692,10 @@ target_link_libraries(aprapipesut ZLIB::ZLIB LibLZMA::LibLZMA bigint::bigint - sfml-audio + SFML::Audio + SFML::System + SFML::Window + SFML::Graphics whisper::whisper /usr/lib/aarch64-linux-gnu/libEGL.so.1.1.0 diff --git a/base/include/DMAUtils.h b/base/include/DMAUtils.h index f7991ee8d..58ec6cb7b 100644 --- a/base/include/DMAUtils.h +++ b/base/include/DMAUtils.h @@ -1,14 +1,27 @@ #pragma once - #include "EGL/egl.h" #include "cudaEGL.h" - +#include // Include the new header for NvBufSurface class Frame; class DMAUtils { public: - static uint8_t* getCudaPtrForFD(int fd, EGLImageKHR eglImage, CUgraphicsResource *pResource, CUeglFrame eglFrame, EGLDisplay eglDisplay); - static uint8_t* getCudaPtr(EGLImageKHR eglImage, CUgraphicsResource *pResource, CUeglFrame eglFrame, EGLDisplay eglDisplay); - static void freeCudaPtr(EGLImageKHR eglImage, CUgraphicsResource *pResource, EGLDisplay eglDisplay); -}; \ No newline at end of file + /** + * @brief Registers an EGLImage as a CUDA resource and maps it to a CUeglFrame. + * @param eglImage The EGL image handle. + * @param pResource Pointer to the CUgraphicsResource handle. + * @param pEglFrame Pointer to the CUeglFrame structure to fill. + * @return A pointer to the CUDA mapped buffer, or nullptr on failure. + */ + static uint8_t* getCudaPtr(EGLImageKHR eglImage, CUgraphicsResource *pResource, CUeglFrame *pEglFrame); + + /** + * @brief Unregisters a CUDA resource, unmaps the EGLImage, and destroys the NvBufSurface. + * @param eglImage The EGL image handle (no longer needed, but kept for legacy reference). + * @param pResource Pointer to the CUgraphicsResource handle. + * @param surf Pointer to the NvBufSurface. + * @param eglDisplay The EGL display handle. + */ + static void freeCudaPtr(EGLImageKHR eglImage, CUgraphicsResource *pResource, NvBufSurface *surf, EGLDisplay eglDisplay); +}; diff --git a/base/src/DMAFDWrapper.cpp b/base/src/DMAFDWrapper.cpp index 9c1912184..ab4acd93c 100644 --- a/base/src/DMAFDWrapper.cpp +++ b/base/src/DMAFDWrapper.cpp @@ -7,12 +7,12 @@ #include "cuda_runtime.h" DMAFDWrapper *DMAFDWrapper::create(int index, int width, int height, - NvBufSurfaceColorFormat colorFormat, - NvBufSurfaceLayout layout, EGLDisplay eglDisplay) +NvBufSurfaceColorFormat colorFormat, +NvBufSurfaceLayout layout, EGLDisplay eglDisplay) { DMAFDWrapper *buffer = new DMAFDWrapper(index, eglDisplay); if (!buffer) - { + { return nullptr; } @@ -46,6 +46,7 @@ DMAFDWrapper *DMAFDWrapper::create(int index, int width, int height, // JP5: Set hostPtr to mapped address for plane 0 buffer->hostPtr = buffer->m_surf->surfaceList[0].mappedAddr.addr[0]; + if (colorFormat == NVBUF_COLOR_FORMAT_NV12 || colorFormat == NVBUF_COLOR_FORMAT_YUV420) { @@ -93,147 +94,142 @@ DMAFDWrapper *DMAFDWrapper::create(int index, int width, int height, buffer->hostPtrV = buffer->m_surf->surfaceList[0].mappedAddr.addr[2]; } + + // if (colorFormat != NvBufferColorFormat_UYVY) + //{ + // buffer->eglImage = NvEGLImageFromFd(eglDisplay, buffer->m_fd); + // if (buffer->eglImage == EGL_NO_IMAGE_KHR) + // { + // LOG_ERROR << "Failed to create eglImage"; + // delete buffer; + // return nullptr; + // } + if (NvBufSurfaceMapEglImage(buffer->m_surf, 0) != 0) { - // buffer->eglImage = NvEGLImageFromFd(eglDisplay, buffer->m_fd); - // if (buffer->eglImage == EGL_NO_IMAGE_KHR) - // { - // LOG_ERROR << "Failed to create eglImage"; - // delete buffer; - // return nullptr; - // } - - // cudaFree(0); - // buffer->cudaPtr = DMAUtils::getCudaPtr(buffer->eglImage, &buffer->pResource, buffer->eglFrame, eglDisplay); + LOG_ERROR << "NvBufSurfaceMapEglImage Error"; + // Clean up resources before exiting. + NvBufSurfaceDestroy(buffer->m_surf); + delete buffer; + return nullptr; } + buffer->eglImage = buffer->m_surf->surfaceList[0].mappedAddr.eglImage; + if (buffer->eglImage == EGL_NO_IMAGE_KHR) + { + LOG_ERROR << "Failed to create eglImage from NvBufSurface"; + NvBufSurfaceUnMapEglImage(buffer->m_surf, 0); // Unmap the EGL image. + NvBufSurfaceDestroy(buffer->m_surf); + delete buffer; + return nullptr; + } + // cudaFree(0); + // buffer->cudaPtr = DMAUtils::getCudaPtr(buffer->eglImage, &buffer->pResource, buffer->eglFrame, eglDisplay); + cudaFree(0); + buffer->cudaPtr = DMAUtils::getCudaPtr(buffer->eglImage, &buffer->pResource, &buffer->eglFrame); - return buffer; + + return buffer; } DMAFDWrapper::DMAFDWrapper(int _index, EGLDisplay _eglDisplay) : eglImage(EGL_NO_IMAGE_KHR), - m_fd(-1), - m_surf(nullptr), - index(_index), - eglDisplay(_eglDisplay), - hostPtr(nullptr), - hostPtrU(nullptr), - hostPtrV(nullptr), - cudaPtr(nullptr) +m_fd(-1), +m_surf(nullptr), +index(_index), +eglDisplay(_eglDisplay), +hostPtr(nullptr), +hostPtrU(nullptr), +hostPtrV(nullptr), +cudaPtr(nullptr) { } DMAFDWrapper::~DMAFDWrapper() { - if (eglImage != EGL_NO_IMAGE_KHR) - { - // cudaFree(0); - // DMAUtils::freeCudaPtr(eglImage, &pResource, eglDisplay); - } +if (eglImage != EGL_NO_IMAGE_KHR) +{ +// cudaFree(0); +// DMAUtils::freeCudaPtr(eglImage, &pResource, eglDisplay); +} - if (hostPtr) - { - auto res = NvBufSurfaceUnMap(getNvBufSurface(), 0, 0); - if (res) - { - LOG_ERROR << "NvBufSurfaceUnMap Error<>" << res; - } - } +if (hostPtr) +{ +auto res = NvBufSurfaceUnMap(getNvBufSurface(), 0, 0); +if (res) +{ +LOG_ERROR << "NvBufSurfaceUnMap Error<>" << res; +} +} - if (hostPtrU) - { - auto res = NvBufSurfaceUnMap(getNvBufSurface(), 0, 1); - if (res) - { - LOG_ERROR << "NvBufSurfaceUnMap Error<>" << res; - } - } +if (hostPtrU) +{ +auto res = NvBufSurfaceUnMap(getNvBufSurface(), 0, 1); +if (res) +{ +LOG_ERROR << "NvBufSurfaceUnMap Error<>" << res; +} +} - if (hostPtrV) - { - auto res = NvBufSurfaceUnMap(getNvBufSurface(), 0, 2); - if (res) - { - LOG_ERROR << "NvBufSurfaceUnMap Error<>" << res; - } - } +if (hostPtrV) +{ +auto res = NvBufSurfaceUnMap(getNvBufSurface(), 0, 2); +if (res) +{ +LOG_ERROR << "NvBufSurfaceUnMap Error<>" << res; +} +} - if (m_surf) - { - NvBufSurfaceDestroy(m_surf); - m_surf = nullptr; - m_fd = -1; - } +if (m_surf) +{ +NvBufSurfaceDestroy(m_surf); +m_surf = nullptr; +m_fd = -1; +} } void *DMAFDWrapper::getHostPtr() { - return hostPtr; +return hostPtr; } void *DMAFDWrapper::getHostPtrY() { - return getHostPtr(); +return getHostPtr(); } void *DMAFDWrapper::getHostPtrU() { - return hostPtrU; +return hostPtrU; } void *DMAFDWrapper::getHostPtrV() { - return hostPtrV; +return hostPtrV; } void *DMAFDWrapper::getHostPtrUV() { - return getHostPtrU(); +return getHostPtrU(); } void *DMAFDWrapper::getCudaPtr() const { - return cudaPtr; +return cudaPtr; } int DMAFDWrapper::getIndex() const { - return index; +return index; } const void *DMAFDWrapper::getClientData() const { - return clientData; +return clientData; } void DMAFDWrapper::setClientData(const void *_clientData) { - clientData = _clientData; -} -void DMAFDWrapper::refreshHostPointers() -{ - if (m_surf) { - hostPtr = m_surf->surfaceList[0].mappedAddr.addr[0]; - - // For NV12, use the actual mapped address for UV - if (m_surf->surfaceList[0].colorFormat == NVBUF_COLOR_FORMAT_NV12) { - hostPtrU = m_surf->surfaceList[0].mappedAddr.addr[1]; - if (hostPtrU == nullptr) { - // Fallback to calculated offset if addr[1] is NULL - uint32_t yPitch = m_surf->surfaceList[0].planeParams.pitch[0]; - uint32_t yHeight = m_surf->surfaceList[0].planeParams.height[0]; - hostPtrU = (uint8_t*)hostPtr + (yPitch * yHeight); - } - } else { - if (m_surf->surfaceList[0].planeParams.num_planes > 1) { - hostPtrU = m_surf->surfaceList[0].mappedAddr.addr[1]; - } - } - - if (m_surf->surfaceList[0].planeParams.num_planes > 2) { - hostPtrV = m_surf->surfaceList[0].mappedAddr.addr[2]; - } - } +clientData = _clientData; } diff --git a/base/src/DMAUtils.cpp b/base/src/DMAUtils.cpp index 61abfb2ab..b520efb81 100644 --- a/base/src/DMAUtils.cpp +++ b/base/src/DMAUtils.cpp @@ -1,60 +1,70 @@ #include "DMAUtils.h" #include "Logger.h" +#include +#include -// uint8_t* DMAUtils::getCudaPtrForFD(int fd, EGLImageKHR eglImage, CUgraphicsResource *pResource, CUeglFrame eglFrame, EGLDisplay eglDisplay){ -// eglImage = NvEGLImageFromFd(eglDisplay, fd); -// if (eglImage == NULL) -// { -// LOG_ERROR << "DID not find eglImage for File Descriptor"; -// return nullptr; -// } -// return getCudaPtr(eglImage, pResource, eglFrame, eglDisplay); -// } -// uint8_t* DMAUtils::getCudaPtr(EGLImageKHR eglImage, CUgraphicsResource *pResource, CUeglFrame eglFrame, EGLDisplay eglDisplay) -// { -// auto status = cuGraphicsEGLRegisterImage(pResource, eglImage, CU_GRAPHICS_MAP_RESOURCE_FLAGS_NONE); -// if (status != CUDA_SUCCESS) -// { -// LOG_ERROR << "cuGraphicsEGLRegisterImage failed: " << status << " cuda process stop"; -// return NULL; -// } - -// status = cuGraphicsResourceGetMappedEglFrame(&eglFrame, *pResource, 0, 0); -// if (status != CUDA_SUCCESS) -// { -// LOG_ERROR << "cuGraphicsSubResourceGetMappedArray failed status<" << status << ">"; -// return NULL; -// } - -// status = cuCtxSynchronize(); -// if (status != CUDA_SUCCESS) -// { -// LOG_ERROR << "cuCtxSynchronize failed status<" << status << ">"; -// return NULL; -// } - -// return static_cast(eglFrame.frame.pPitch[0]); -// } - -// void DMAUtils::freeCudaPtr(EGLImageKHR eglImage, CUgraphicsResource *pResource, EGLDisplay eglDisplay) -// { -// auto status = cuCtxSynchronize(); -// if (status != CUDA_SUCCESS) -// { -// LOG_ERROR << "cuCtxSynchronize failed after cc status<" << status << ">"; -// return; -// } - -// status = cuGraphicsUnregisterResource(*pResource); -// if (status != CUDA_SUCCESS) -// { -// LOG_ERROR << "cuGraphicsEGLUnRegisterResource failed: " << status; -// return; -// } - -// auto res = NvDestroyEGLImage(eglDisplay, eglImage); -// if (res) -// { -// LOG_ERROR << "NvDestroyEGLImage Error<>" << res; -// } -// } \ No newline at end of file +// Forward declaration of NvBufSurface to avoid header dependencies if possible +//struct _NvBufSurface; +//typedef struct _NvBufSurface NvBufSurface; + +// This function is the equivalent of the old getCudaPtr. +// It directly uses the EGLImageKHR, which is created externally now. +uint8_t* DMAUtils::getCudaPtr(EGLImageKHR eglImage, CUgraphicsResource *pResource, CUeglFrame *pEglFrame) +{ + // Register the EGL image as a CUDA graphics resource + auto status = cuGraphicsEGLRegisterImage(pResource, eglImage, CU_GRAPHICS_MAP_RESOURCE_FLAGS_NONE); + if (status != CUDA_SUCCESS) + { + LOG_ERROR << "cuGraphicsEGLRegisterImage failed: " << status << " cuda process stop"; + return NULL; + } + + // Get the mapped CUeglFrame from the resource + status = cuGraphicsResourceGetMappedEglFrame(pEglFrame, *pResource, 0, 0); + if (status != CUDA_SUCCESS) + { + LOG_ERROR << "cuGraphicsResourceGetMappedEglFrame failed status<" << status << ">"; + return NULL; + } + + status = cuCtxSynchronize(); + if (status != CUDA_SUCCESS) + { + LOG_ERROR << "cuCtxSynchronize failed status<" << status << ">"; + return NULL; + } + + return static_cast(pEglFrame->frame.pPitch[0]); +} + +// Updated freeCudaPtr function to handle cleanup for JetPack 6 +void DMAUtils::freeCudaPtr(EGLImageKHR eglImage, CUgraphicsResource *pResource, NvBufSurface *surf, EGLDisplay eglDisplay) +{ + auto status = cuCtxSynchronize(); + if (status != CUDA_SUCCESS) + { + LOG_ERROR << "cuCtxSynchronize failed after cc status<" << status << ">"; + // Continue cleanup even if sync fails + } + + status = cuGraphicsUnregisterResource(*pResource); + if (status != CUDA_SUCCESS) + { + LOG_ERROR << "cuGraphicsUnregisterResource failed: " << status; + // Continue cleanup even if unregister fails + } + + // Unmap the EGLImage + auto res_unmap_egl = NvBufSurfaceUnMapEglImage(surf, 0); + if (res_unmap_egl) + { + LOG_ERROR << "NvBufSurfaceUnMapEglImage Error: " << res_unmap_egl; + } + + // Destroy the NvBufSurface + auto res_destroy = NvBufSurfaceDestroy(surf); + if (res_destroy) + { + LOG_ERROR << "NvBufSurfaceDestroy Error: " << res_destroy; + } +} diff --git a/base/src/NvArgusCamera.cpp b/base/src/NvArgusCamera.cpp index 33e2a6574..938d36e5a 100755 --- a/base/src/NvArgusCamera.cpp +++ b/base/src/NvArgusCamera.cpp @@ -35,7 +35,12 @@ bool NvArgusCamera::init() frame_container frames; frames.insert(make_pair(mOutputPinId, frame)); send(frames); }, [&]() -> frame_sp { return makeFrame(); }); - mHelper->start(mProps.width, mProps.height, static_cast(mProps.fps), mProps.cameraId); + + if (!mHelper->start(mProps.width, mProps.height, static_cast(mProps.fps), mProps.cameraId)) + { + LOG_ERROR << "Failed to start camera helper"; + return false; + } return true; } diff --git a/base/src/NvArgusCameraHelper.cpp b/base/src/NvArgusCameraHelper.cpp index 969678c69..bfc543316 100644 --- a/base/src/NvArgusCameraHelper.cpp +++ b/base/src/NvArgusCameraHelper.cpp @@ -33,10 +33,29 @@ void NvArgusCameraHelper::sendFrame(Argus::Buffer *buffer) { Argus::IBuffer *iBuffer = Argus::interface_cast(buffer); auto ptr = const_cast(iBuffer->getClientData()); - auto frame = mQueuedFrames[ptr]; + + // DEBUG: Track frame lookup + LOG_INFO << "sendFrame: looking up dmaFDWrapper=" << ptr; + + auto frameIt = mQueuedFrames.find(ptr); + if (frameIt == mQueuedFrames.end()) { + LOG_ERROR << "sendFrame: FRAME NOT FOUND in mQueuedFrames! ptr=" << ptr + << " map_size=" << mQueuedFrames.size(); + return; + } + + auto frame = frameIt->second; + LOG_INFO << "sendFrame: found frame=" << frame.get() + << " use_count=" << frame.use_count() + << " before sending"; + mSendFrame(frame); + + LOG_INFO << "sendFrame: after mSendFrame, use_count=" << frame.use_count(); + std::lock_guard lock(mQueuedFramesMutex); - mQueuedFrames.erase(ptr); + auto erased = mQueuedFrames.erase(ptr); + LOG_INFO << "sendFrame: erased " << erased << " entries, remaining=" << mQueuedFrames.size(); } void NvArgusCameraHelper::operator()() @@ -53,7 +72,7 @@ void NvArgusCameraHelper::operator()() /* Timeout or error happen, exit */ break; } - + LOG_INFO << "AT operator to acquireBuffer to capture camera frames"<(frame->data()); + + // DEBUG: Track frame lifecycle + LOG_INFO << "queueFrameToCamera: frame.get()=" << frame.get() + << " dmaFDWrapper=" << dmaFDWrapper + << " use_count=" << frame.use_count() + << " clientData=" << dmaFDWrapper->getClientData(); Argus::IBufferOutputStream *stream = Argus::interface_cast(outputStream); auto status = stream->releaseBuffer(static_cast(const_cast(dmaFDWrapper->getClientData()))); @@ -76,7 +101,21 @@ bool NvArgusCameraHelper::queueFrameToCamera() } std::lock_guard lock(mQueuedFramesMutex); + + // DEBUG: Check if this wrapper is already in the map + auto existing = mQueuedFrames.find(dmaFDWrapper); + if (existing != mQueuedFrames.end()) { + LOG_ERROR << "DOUBLE MAP ENTRY! dmaFDWrapper=" << dmaFDWrapper + << " existing_frame=" << existing->second.get() + << " existing_use_count=" << existing->second.use_count() + << " new_frame=" << frame.get() + << " new_use_count=" << frame.use_count(); + } + mQueuedFrames[dmaFDWrapper] = frame; + LOG_INFO << "queueFrameToCamera: stored in map, total entries=" << mQueuedFrames.size(); + + return true; } boost::shared_ptr NvArgusCameraUtils::instance; @@ -157,6 +196,11 @@ bool NvArgusCameraHelper::start(uint32_t width, uint32_t height, uint32_t fps, i /* Create the OutputStream */ outputStream.reset(iCaptureSession->createOutputStream(streamSettings.get())); Argus::IBufferOutputStream *iBufferOutputStream = Argus::interface_cast(outputStream); + if (!iBufferOutputStream) + { + LOG_ERROR << "Failed to get Argus::IBufferOutputStream interface"; + return false; + } /* Create the Argus::BufferSettings object to configure Argus::Buffer creation */ Argus::UniqueObj bufferSettings(iBufferOutputStream->createBufferSettings()); @@ -180,8 +224,19 @@ bool NvArgusCameraHelper::start(uint32_t width, uint32_t height, uint32_t fps, i auto dmaFDWrapper = static_cast(frame->data()); - iBufferSettings->setEGLImage(dmaFDWrapper->getEGLImage()); - iBufferSettings->setEGLDisplay(dmaFDWrapper->getEGLDisplay()); + // Debug: Check EGL image validity + EGLImageKHR eglImg = dmaFDWrapper->getEGLImage(); + EGLDisplay eglDisp = dmaFDWrapper->getEGLDisplay(); + LOG_INFO<< "Buffer[" << i << "] EGLImage: " << eglImg << " (EGL_NO_IMAGE_KHR=" << EGL_NO_IMAGE_KHR << ")"; + LOG_INFO<< "Buffer[" << i << "] EGLDisplay: " << eglDisp; + LOG_INFO << "Buffer[" << i << "] DMA FD: " << dmaFDWrapper->getFd(); + + if (eglImg == EGL_NO_IMAGE_KHR) { + LOG_ERROR << "Buffer[" << i << "] EGLImage is EGL_NO_IMAGE_KHR - this will cause Argus createBuffer to fail"; + } + + iBufferSettings->setEGLImage(eglImg); + iBufferSettings->setEGLDisplay(eglDisp); buffers[i].reset(iBufferOutputStream->createBuffer(bufferSettings.get())); Argus::IBuffer *iBuffer = Argus::interface_cast(buffers[i]); if (!Argus::interface_cast(buffers[i])) diff --git a/base/test/nvarguscamera_tests.cpp b/base/test/nvarguscamera_tests.cpp index 6c999c1d5..27f744788 100755 --- a/base/test/nvarguscamera_tests.cpp +++ b/base/test/nvarguscamera_tests.cpp @@ -14,7 +14,7 @@ BOOST_AUTO_TEST_SUITE(nvarguscamera_tests) -BOOST_AUTO_TEST_CASE(basic, *boost::unit_test::disabled()) +/*BOOST_AUTO_TEST_CASE(basic, *boost::unit_test::disabled()) { auto argValue = Test_Utils::getArgValue("n", "1"); auto n_cams = atoi(argValue.c_str()); @@ -70,10 +70,14 @@ BOOST_AUTO_TEST_CASE(basic, *boost::unit_test::disabled()) p.term(); p.wait_for_all(); -} +}*/ -BOOST_AUTO_TEST_CASE(vcam_nv12, *boost::unit_test::disabled()) +BOOST_AUTO_TEST_CASE(vcam_nv12) { + LoggerProps logProps; + logProps.enableConsoleLog = true; + Logger::initLogger(logProps); + Logger::setLogLevel(boost::log::trivial::severity_level::trace); NvArgusCameraProps sourceProps(1280, 720); sourceProps.maxConcurrentFrames = 10; sourceProps.fps = 30; @@ -95,12 +99,12 @@ BOOST_AUTO_TEST_CASE(vcam_nv12, *boost::unit_test::disabled()) p.appendModule(source); BOOST_TEST(p.init()); - Logger::setLogLevel(boost::log::trivial::severity_level::info); + //Logger::setLogLevel(boost::log::trivial::severity_level::info); p.run_all_threaded(); - boost::this_thread::sleep_for(boost::chrono::seconds(1000)); - Logger::setLogLevel(boost::log::trivial::severity_level::error); + boost::this_thread::sleep_for(boost::chrono::seconds(10)); + ///Logger::setLogLevel(boost::log::trivial::severity_level::error); p.stop(); p.term(); @@ -108,15 +112,19 @@ BOOST_AUTO_TEST_CASE(vcam_nv12, *boost::unit_test::disabled()) p.wait_for_all(); } -BOOST_AUTO_TEST_CASE(vcam_yuv420, *boost::unit_test::disabled()) +BOOST_AUTO_TEST_CASE(vcam_yuv420) { + LoggerProps logProps; + logProps.enableConsoleLog = true; + Logger::initLogger(logProps); + Logger::setLogLevel(boost::log::trivial::severity_level::trace); NvArgusCameraProps sourceProps(1280, 720); sourceProps.maxConcurrentFrames = 10; sourceProps.fps = 30; auto source = boost::shared_ptr(new NvArgusCamera(sourceProps)); - auto copySource = boost::shared_ptr(new DMAFDToHostCopy); - source->setNext(copySource); + //auto copySource = boost::shared_ptr(new DMAFDToHostCopy); + //source->setNext(copySource); auto transform = boost::shared_ptr(new NvTransform(NvTransformProps(ImageMetadata::YUV420))); source->setNext(transform); @@ -139,12 +147,12 @@ BOOST_AUTO_TEST_CASE(vcam_yuv420, *boost::unit_test::disabled()) p.appendModule(source); BOOST_TEST(p.init()); - Logger::setLogLevel(boost::log::trivial::severity_level::info); + //Logger::setLogLevel(boost::log::trivial::severity_level::info); p.run_all_threaded(); - boost::this_thread::sleep_for(boost::chrono::seconds(100)); - Logger::setLogLevel(boost::log::trivial::severity_level::error); + boost::this_thread::sleep_for(boost::chrono::seconds(10)); + //Logger::setLogLevel(boost::log::trivial::severity_level::error); p.stop(); p.term(); @@ -152,7 +160,7 @@ BOOST_AUTO_TEST_CASE(vcam_yuv420, *boost::unit_test::disabled()) p.wait_for_all(); } -BOOST_AUTO_TEST_CASE(vcam, *boost::unit_test::disabled()) +BOOST_AUTO_TEST_CASE(vcam) { NvArgusCameraProps sourceProps(1280, 720); sourceProps.maxConcurrentFrames = 10; @@ -162,7 +170,7 @@ BOOST_AUTO_TEST_CASE(vcam, *boost::unit_test::disabled()) auto copySource = boost::shared_ptr(new DMAFDToHostCopy); source->setNext(copySource); - auto transform = boost::shared_ptr(new NvTransform(NvTransformProps(ImageMetadata::BGRA))); + auto transform = boost::shared_ptr(new NvTransform(NvTransformProps(ImageMetadata::RGBA))); source->setNext(transform); auto copy = boost::shared_ptr(new DMAFDToHostCopy); @@ -187,7 +195,7 @@ BOOST_AUTO_TEST_CASE(vcam, *boost::unit_test::disabled()) p.run_all_threaded(); - boost::this_thread::sleep_for(boost::chrono::seconds(100)); + boost::this_thread::sleep_for(boost::chrono::seconds(10)); Logger::setLogLevel(boost::log::trivial::severity_level::error); p.stop(); @@ -195,7 +203,7 @@ BOOST_AUTO_TEST_CASE(vcam, *boost::unit_test::disabled()) p.wait_for_all(); } - +/* BOOST_AUTO_TEST_CASE(encoder, *boost::unit_test::disabled()) { NvArgusCameraProps sourceProps(800, 800); @@ -274,6 +282,6 @@ BOOST_AUTO_TEST_CASE(encoderrtsppush, *boost::unit_test::disabled()) p.term(); p.wait_for_all(); -} +}*/ BOOST_AUTO_TEST_SUITE_END() diff --git a/base/vcpkg-configuration.json b/base/vcpkg-configuration.json index 5f8f8c262..a1fcd893b 100644 --- a/base/vcpkg-configuration.json +++ b/base/vcpkg-configuration.json @@ -6,7 +6,7 @@ "default-registry": { "kind": "git", "repository": "https://github.com/Apra-Labs/vcpkg.git", - "baseline": "a1c6d4f053281b8e961c24a0035903f5f9d66329" + "baseline": "6ba64191f73b82b71ffa5263b26189f7b2b82f92" }, "registries": [ { diff --git a/base/vcpkg.json b/base/vcpkg.json index 5750a984b..46b3e3591 100644 --- a/base/vcpkg.json +++ b/base/vcpkg.json @@ -2,7 +2,7 @@ "$schema": "https://raw.githubusercontent.com/microsoft/vcpkg/master/scripts/vcpkg.schema.json", "name": "apra-pipes-cuda", "version": "0.0.1", - "builtin-baseline": "4658624c5f19c1b468b62fe13ed202514dfd463e", + "builtin-baseline": "6ba64191f73b82b71ffa5263b26189f7b2b82f92", "overrides": [ { "name": "ffmpeg", From 6341040fcf73c93d07c1a67406ed9efd2b92f76a Mon Sep 17 00:00:00 2001 From: RashmiShinde21 Date: Thu, 6 Nov 2025 09:38:07 +0530 Subject: [PATCH 02/22] added timeout to the select() call in the camera event loop. This presevnts indefinite blocking in case no camera events occur --- base/src/NvV4L2CameraHelper.cpp | 43 ++++++++++++++++++++++----------- 1 file changed, 29 insertions(+), 14 deletions(-) diff --git a/base/src/NvV4L2CameraHelper.cpp b/base/src/NvV4L2CameraHelper.cpp index 3911d84d9..f894f07f3 100644 --- a/base/src/NvV4L2CameraHelper.cpp +++ b/base/src/NvV4L2CameraHelper.cpp @@ -2,15 +2,19 @@ #include "DMAFDWrapper.h" #include "NvEglRenderer.h" #include "NvUtils.h" -#include "nvbuf_utils.h" #include "Logger.h" +#include +#include +#include +#include +#include NvV4L2CameraHelper::NvV4L2CameraHelper(SendFrame sendFrame,std::function _makeFrame) { // hardcoded device name and pixfmt which is fine for now mCamDevname = "/dev/video0"; mCamFD = -1; - mCamPixFmt = V4L2_PIX_FMT_UYVY; + mCamPixFmt = V4L2_PIX_FMT_YUYV; mRunning = false; mSendFrame = sendFrame; @@ -72,7 +76,7 @@ bool NvV4L2CameraHelper::cameraInitialize(bool isMirror) fmt.fmt.pix.height != mCamHeight || fmt.fmt.pix.pixelformat != mCamPixFmt) { - LOG_ERROR << "The desired format is not supported"; + LOG_ERROR << "The desired format is not supported"< 0 && mRunning) + /* Wait for camera event with timeout = 10 sec */ + while (select(fds + 1, &rset, NULL, NULL, &timeout) > 0 && mRunning) { - if (FD_ISSET(fds, &rset)) - { - struct v4l2_buffer v4l2_buf; + if (FD_ISSET(fds, &rset)) + { + struct v4l2_buffer v4l2_buf; /* Dequeue a camera buff */ memset(&v4l2_buf, 0, sizeof(v4l2_buf)); @@ -134,22 +142,28 @@ void NvV4L2CameraHelper::operator()() v4l2_buf.memory = V4L2_MEMORY_DMABUF; if (ioctl(mCamFD, VIDIOC_DQBUF, &v4l2_buf) < 0) { - LOG_ERROR << "Failed to dequeue camera buff"; + LOG_ERROR << "Failed to dequeue camera buffer"; break; } // lock std::lock_guard lock(mBufferFDMutex); - auto frameItr = mBufferFD.find(v4l2_buf.m.fd); - if(frameItr == mBufferFD.end()) + auto frameItr = mBufferFD.find(v4l2_buf.m.fd); + if (frameItr == mBufferFD.end()) { - LOG_FATAL << " mBufferFD failed. fd<" << v4l2_buf.m.fd << "> size<" << mBufferFD.size() << ">"; + LOG_FATAL << "mBufferFD failed. fd<" << v4l2_buf.m.fd << "> size<" << mBufferFD.size() << ">"; } mSendFrame(frameItr->second); mBufferFD.erase(frameItr); - } } + else + { + LOG_INFO<<"fd not set"; + } +} } + + bool NvV4L2CameraHelper::queueBufferToCamera() { @@ -157,6 +171,7 @@ bool NvV4L2CameraHelper::queueBufferToCamera() { auto frame = mMakeFrame(); if(!frame.get()){ + LOG_INFO<<"cannot create frames"; break; } auto dmaFDWrapper = static_cast(frame->data()); @@ -180,7 +195,7 @@ bool NvV4L2CameraHelper::queueBufferToCamera() std::lock_guard lock(mBufferFDMutex); mBufferFD.insert(make_pair(buf.m.fd, frame)); } - + if (ioctl(mCamFD, VIDIOC_QBUF, &buf) < 0){ LOG_ERROR << "Failed to enqueue buffers"; return false; From 2c425534561b33fe0248b0e522ea4f3a0e053b9a Mon Sep 17 00:00:00 2001 From: RashmiShinde21 Date: Thu, 6 Nov 2025 10:08:14 +0530 Subject: [PATCH 03/22] added capture and vcam_crop tests MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit - Added capture test to validate NvV4L2Camera → DMAFDToHostCopy → VirtualCameraSink pipeline - Added vcam_crop test with NvTransform cropping --- base/test/nvv4l2camera_test.cpp | 99 ++++++++++++++++++++------- base/test/nvv4l2camerahelper_test.cpp | 22 +++--- 2 files changed, 87 insertions(+), 34 deletions(-) diff --git a/base/test/nvv4l2camera_test.cpp b/base/test/nvv4l2camera_test.cpp index 8c8c1a339..23fe79e4d 100644 --- a/base/test/nvv4l2camera_test.cpp +++ b/base/test/nvv4l2camera_test.cpp @@ -14,7 +14,6 @@ BOOST_AUTO_TEST_SUITE(nvv4l2camera_tests) BOOST_AUTO_TEST_CASE(basic, *boost::unit_test::disabled()) { Logger::setLogLevel(boost::log::trivial::severity_level::info); - auto source = boost::shared_ptr(new NvV4L2Camera(NvV4L2CameraProps(640, 480, 10))); StatSinkProps sinkProps; @@ -36,12 +35,12 @@ BOOST_AUTO_TEST_CASE(basic, *boost::unit_test::disabled()) BOOST_AUTO_TEST_CASE(save, *boost::unit_test::disabled()) { - auto source = boost::shared_ptr(new NvV4L2Camera(NvV4L2CameraProps(1920, 1080, 10))); + auto source = boost::shared_ptr(new NvV4L2Camera(NvV4L2CameraProps(640, 480, 10))); auto copySource = boost::shared_ptr(new DMAFDToHostCopy); source->setNext(copySource); - - auto fileWriter = boost::shared_ptr(new FileWriterModule(FileWriterModuleProps("./data/testOutput/nvv4l2/frame_????.raw"))); + + auto fileWriter = boost::shared_ptr(new FileWriterModule(FileWriterModuleProps("./data/testOutput/nvv4l2/framenv4l2.raw",true))); copySource->setNext(fileWriter); PipeLine p("test"); @@ -61,41 +60,26 @@ BOOST_AUTO_TEST_CASE(save, *boost::unit_test::disabled()) p.wait_for_all(); } -BOOST_AUTO_TEST_CASE(vcam, *boost::unit_test::disabled()) +BOOST_AUTO_TEST_CASE(nvv4l2_transform, *boost::unit_test::disabled()) { Logger::setLogLevel(boost::log::trivial::severity_level::info); - auto source = boost::shared_ptr(new NvV4L2Camera(NvV4L2CameraProps(1280, 720, 10))); + auto source = boost::shared_ptr(new NvV4L2Camera(NvV4L2CameraProps(640, 480, 10))); auto copySource = boost::shared_ptr(new DMAFDToHostCopy); source->setNext(copySource); - auto transform = boost::shared_ptr(new NvTransform(NvTransformProps(ImageMetadata::YUV420))); + auto transform = boost::shared_ptr(new NvTransform(NvTransformProps(ImageMetadata::RGBA))); source->setNext(transform); auto copy = boost::shared_ptr(new DMAFDToHostCopy); transform->setNext(copy); - auto transform2 = boost::shared_ptr(new NvTransform(NvTransformProps(ImageMetadata::NV12))); - source->setNext(transform2); - - auto copy2 = boost::shared_ptr(new DMAFDToHostCopy); - transform2->setNext(copy2); - - // VirtualCameraSinkProps sinkProps("/dev/video10"); - // sinkProps.logHealth = true; - // sinkProps.logHealthFrequency = 100; - // auto sink = boost::shared_ptr(new VirtualCameraSink(sinkProps)); - // copy->setNext(sink); - - auto fileWriter1 = boost::shared_ptr(new FileWriterModule(FileWriterModuleProps("./data/testOutput/nvv4l2/uyvy_????.raw"))); + auto fileWriter1 = boost::shared_ptr(new FileWriterModule(FileWriterModuleProps("./data/testOutput/nvv4l2/uyvy.raw",true))); copySource->setNext(fileWriter1); - auto fileWriter2 = boost::shared_ptr(new FileWriterModule(FileWriterModuleProps("./data/testOutput/nvv4l2/yuv420_????.raw"))); + auto fileWriter2 = boost::shared_ptr(new FileWriterModule(FileWriterModuleProps("./data/testOutput/nvv4l2/rgba.raw",true))); copy->setNext(fileWriter2); - // auto sink = boost::shared_ptr(new EglRenderer(EglRendererProps(0, 0))); - // transform->setNext(sink); - PipeLine p("test"); p.appendModule(source); BOOST_TEST(p.init()); @@ -112,4 +96,71 @@ BOOST_AUTO_TEST_CASE(vcam, *boost::unit_test::disabled()) p.wait_for_all(); } +BOOST_AUTO_TEST_CASE(vcam_crop) +{ + LoggerProps logProps; + logProps.enableConsoleLog = true; + Logger::initLogger(logProps); + Logger::setLogLevel(boost::log::trivial::severity_level::trace); + auto source = boost::shared_ptr(new NvV4L2Camera(NvV4L2CameraProps(640, 480, 10))); + + auto transform = boost::shared_ptr(new NvTransform(NvTransformProps(ImageMetadata::RGBA,360,360,0,0))); + source->setNext(transform); + + auto copy = boost::shared_ptr(new DMAFDToHostCopy); + transform->setNext(copy); + + VirtualCameraSinkProps sinkProps("/dev/video10"); + sinkProps.logHealth = true; + sinkProps.logHealthFrequency = 100; + auto sink = boost::shared_ptr(new VirtualCameraSink(sinkProps)); + + auto fileWriter2 = boost::shared_ptr(new FileWriterModule(FileWriterModuleProps("./data/testOutput/nvv4l2/crop_640_360.raw", true))); + copy->setNext(fileWriter2); + fileWriter2->setNext(sink); + + PipeLine p("test"); + p.appendModule(source); + BOOST_TEST(p.init()); + + p.run_all_threaded(); + + boost::this_thread::sleep_for(boost::chrono::seconds(10)); + + p.stop(); + p.term(); + + p.wait_for_all(); +} + +BOOST_AUTO_TEST_CASE(capture) +{ + LoggerProps logProps; + logProps.enableConsoleLog = true; + Logger::initLogger(logProps); + Logger::setLogLevel(boost::log::trivial::severity_level::trace); + auto source = boost::shared_ptr(new NvV4L2Camera(NvV4L2CameraProps(3280, 2464, 10))); + + auto copy = boost::shared_ptr(new DMAFDToHostCopy); + VirtualCameraSinkProps sinkProps("/dev/video10"); + sinkProps.logHealth = true; + sinkProps.logHealthFrequency = 100; + auto sink = boost::shared_ptr(new VirtualCameraSink(sinkProps)); + + source->setNext(copy); + copy->setNext(sink); + + PipeLine p("test"); + p.appendModule(source); + BOOST_TEST(p.init()); + p.run_all_threaded(); + + boost::this_thread::sleep_for(boost::chrono::seconds(30)); + + p.stop(); + p.term(); + + p.wait_for_all(); +} + BOOST_AUTO_TEST_SUITE_END() diff --git a/base/test/nvv4l2camerahelper_test.cpp b/base/test/nvv4l2camerahelper_test.cpp index bacc0e360..8caf08f22 100644 --- a/base/test/nvv4l2camerahelper_test.cpp +++ b/base/test/nvv4l2camerahelper_test.cpp @@ -3,6 +3,7 @@ #include "Module.h" #include "DMAFDWrapper.h" #include "NvV4L2CameraHelper.h" +#include "DMAAllocator.h" #include "test_utils.h" #include "Logger.h" @@ -12,15 +13,16 @@ BOOST_AUTO_TEST_SUITE(nvv4l2camerahelper_tests) BOOST_AUTO_TEST_CASE(basic, *boost::unit_test::disabled()) { - uint32_t width = 640; - uint32_t height = 480; + uint32_t width = 3280; + uint32_t height = 2464; - auto framemetadata = framemetadata_sp(new RawImageMetadata(width, height, ImageMetadata::ImageType::UYVY, CV_8UC3, size_t(0), CV_8U, FrameMetadata::MemType::DMABUF)); + auto framemetadata = framemetadata_sp(new RawImageMetadata(FrameMetadata::MemType::DMABUF)); + DMAAllocator::setMetadata(framemetadata, width, height, ImageMetadata::ImageType::UYVY); framefactory_sp framefactory(new FrameFactory(framemetadata, 10)); auto helper = std::make_shared([](frame_sp &frame) -> void { if(!frame.get()) - { + { LOG_ERROR << "RECEIVED NULLPTR FRAME"; return; } @@ -41,9 +43,8 @@ BOOST_AUTO_TEST_CASE(basic, *boost::unit_test::disabled()) } ); - BOOST_TEST(helper->start(width, height, 10, false)); - - boost::this_thread::sleep_for(boost::chrono::seconds(1)); + helper->start(width, height, 10, false); + boost::this_thread::sleep_for(boost::chrono::seconds(100)); BOOST_TEST(helper->stop()); helper.reset(); @@ -55,10 +56,11 @@ BOOST_AUTO_TEST_CASE(cache, *boost::unit_test::disabled()) { frame_sp cacheFrame; { - uint32_t width = 640; - uint32_t height = 480; + uint32_t width = 3280; + uint32_t height = 2464; - auto framemetadata = framemetadata_sp(new RawImageMetadata(width, height, ImageMetadata::ImageType::UYVY, CV_8UC3, size_t(0), CV_8U, FrameMetadata::MemType::DMABUF)); + auto framemetadata = framemetadata_sp(new RawImageMetadata(FrameMetadata::MemType::DMABUF)); + DMAAllocator::setMetadata(framemetadata, width, height, ImageMetadata::ImageType::UYVY); framefactory_sp framefactory(new FrameFactory(framemetadata,10)); auto helper = std::make_shared([&](frame_sp &frame) -> void { From d85c627b72e1f6bc900a41cd01e1807b3e1897a4 Mon Sep 17 00:00:00 2001 From: RashmiShinde21 Date: Thu, 6 Nov 2025 11:01:30 +0530 Subject: [PATCH 04/22] -fix for the nvtransform error -3 NvBufSurfTransformError_InvalidParams - disabled tests related to argus camera --- base/src/DMAFDWrapper.cpp | 6 ++-- base/test/nvarguscamera_tests.cpp | 58 +++++++++++++++---------------- 2 files changed, 31 insertions(+), 33 deletions(-) diff --git a/base/src/DMAFDWrapper.cpp b/base/src/DMAFDWrapper.cpp index ab4acd93c..72262620a 100644 --- a/base/src/DMAFDWrapper.cpp +++ b/base/src/DMAFDWrapper.cpp @@ -31,7 +31,7 @@ NvBufSurfaceLayout layout, EGLDisplay eglDisplay) delete buffer; return nullptr; } - + buffer->m_surf->numFilled = 1; buffer->m_fd = buffer->m_surf->surfaceList[0].bufferDesc; // Use NvBufferMemMapEx @@ -147,8 +147,8 @@ DMAFDWrapper::~DMAFDWrapper() { if (eglImage != EGL_NO_IMAGE_KHR) { -// cudaFree(0); -// DMAUtils::freeCudaPtr(eglImage, &pResource, eglDisplay); + //cudaFree(0); + //DMAUtils::freeCudaPtr(eglImage, &pResource, m_surf, eglDisplay); } if (hostPtr) diff --git a/base/test/nvarguscamera_tests.cpp b/base/test/nvarguscamera_tests.cpp index 27f744788..f39bb0ed2 100755 --- a/base/test/nvarguscamera_tests.cpp +++ b/base/test/nvarguscamera_tests.cpp @@ -13,8 +13,8 @@ #include "test_utils.h" BOOST_AUTO_TEST_SUITE(nvarguscamera_tests) - -/*BOOST_AUTO_TEST_CASE(basic, *boost::unit_test::disabled()) +/* +BOOST_AUTO_TEST_CASE(basic, *boost::unit_test::disabled()) { auto argValue = Test_Utils::getArgValue("n", "1"); auto n_cams = atoi(argValue.c_str()); @@ -72,7 +72,7 @@ BOOST_AUTO_TEST_SUITE(nvarguscamera_tests) p.wait_for_all(); }*/ -BOOST_AUTO_TEST_CASE(vcam_nv12) +BOOST_AUTO_TEST_CASE(vcam_nv12, *boost::unit_test::disabled()) { LoggerProps logProps; logProps.enableConsoleLog = true; @@ -91,20 +91,14 @@ BOOST_AUTO_TEST_CASE(vcam_nv12) sinkProps.logHealthFrequency = 100; auto sink = boost::shared_ptr(new VirtualCameraSink(sinkProps)); copySource->setNext(sink); - - // auto fileWriter = boost::shared_ptr(new FileWriterModule(FileWriterModuleProps("./data/testOutput/nvargus/nv12_????.raw"))); - // source->setNext(fileWriter); - PipeLine p("test"); p.appendModule(source); BOOST_TEST(p.init()); - //Logger::setLogLevel(boost::log::trivial::severity_level::info); p.run_all_threaded(); boost::this_thread::sleep_for(boost::chrono::seconds(10)); - ///Logger::setLogLevel(boost::log::trivial::severity_level::error); p.stop(); p.term(); @@ -123,10 +117,14 @@ BOOST_AUTO_TEST_CASE(vcam_yuv420) sourceProps.fps = 30; auto source = boost::shared_ptr(new NvArgusCamera(sourceProps)); - //auto copySource = boost::shared_ptr(new DMAFDToHostCopy); - //source->setNext(copySource); + auto copySource = boost::shared_ptr(new DMAFDToHostCopy); + source->setNext(copySource); - auto transform = boost::shared_ptr(new NvTransform(NvTransformProps(ImageMetadata::YUV420))); + auto fileWriter = boost::shared_ptr(new FileWriterModule(FileWriterModuleProps("./data/testOutput/nvargus/nv12.raw", true))); + copySource->setNext(fileWriter); + + + auto transform = boost::shared_ptr(new NvTransform(NvTransformProps(ImageMetadata::YUV420,640,360,0,0))); source->setNext(transform); auto copy = boost::shared_ptr(new DMAFDToHostCopy); @@ -138,21 +136,17 @@ BOOST_AUTO_TEST_CASE(vcam_yuv420) auto sink = boost::shared_ptr(new VirtualCameraSink(sinkProps)); copy->setNext(sink); - // auto fileWriter = boost::shared_ptr(new FileWriterModule(FileWriterModuleProps("./data/testOutput/nvargus/yuv420_????.raw"))); - // copy->setNext(fileWriter); - // auto fileWriter2 = boost::shared_ptr(new FileWriterModule(FileWriterModuleProps("./data/testOutput/nvargus/nv12_????.raw"))); - // copySource->setNext(fileWriter2); + auto fileWriter2 = boost::shared_ptr(new FileWriterModule(FileWriterModuleProps("./data/testOutput/nvargus/yuv420-640x360.raw", true))); + copy->setNext(fileWriter2); + PipeLine p("test"); p.appendModule(source); BOOST_TEST(p.init()); - //Logger::setLogLevel(boost::log::trivial::severity_level::info); - p.run_all_threaded(); boost::this_thread::sleep_for(boost::chrono::seconds(10)); - //Logger::setLogLevel(boost::log::trivial::severity_level::error); p.stop(); p.term(); @@ -160,7 +154,7 @@ BOOST_AUTO_TEST_CASE(vcam_yuv420) p.wait_for_all(); } -BOOST_AUTO_TEST_CASE(vcam) +BOOST_AUTO_TEST_CASE(crop, *boost::unit_test::disabled()) { NvArgusCameraProps sourceProps(1280, 720); sourceProps.maxConcurrentFrames = 10; @@ -170,7 +164,7 @@ BOOST_AUTO_TEST_CASE(vcam) auto copySource = boost::shared_ptr(new DMAFDToHostCopy); source->setNext(copySource); - auto transform = boost::shared_ptr(new NvTransform(NvTransformProps(ImageMetadata::RGBA))); + auto transform = boost::shared_ptr(new NvTransform(NvTransformProps(ImageMetadata::RGBA,480,360,0,0))); source->setNext(transform); auto copy = boost::shared_ptr(new DMAFDToHostCopy); @@ -184,7 +178,7 @@ BOOST_AUTO_TEST_CASE(vcam) // auto fileWriter = boost::shared_ptr(new FileWriterModule(FileWriterModuleProps("./data/testOutput/nvargus/bgra_????.raw"))); // copy->setNext(fileWriter); - // auto fileWriter2 = boost::shared_ptr(new FileWriterModule(FileWriterModuleProps("./data/testOutput/nvargus/nv12_????.raw"))); + //auto fileWriter2 = boost::shared_ptr(new FileWriterModule(FileWriterModuleProps("./data/testOutput/nvargus/nv12_????.raw"))); // copySource->setNext(fileWriter2); PipeLine p("test"); @@ -203,7 +197,6 @@ BOOST_AUTO_TEST_CASE(vcam) p.wait_for_all(); } -/* BOOST_AUTO_TEST_CASE(encoder, *boost::unit_test::disabled()) { NvArgusCameraProps sourceProps(800, 800); @@ -233,7 +226,7 @@ BOOST_AUTO_TEST_CASE(encoder, *boost::unit_test::disabled()) p.run_all_threaded(); - boost::this_thread::sleep_for(boost::chrono::seconds(100)); + boost::this_thread::sleep_for(boost::chrono::seconds(10)); Logger::setLogLevel(boost::log::trivial::severity_level::error); p.stop(); @@ -241,9 +234,14 @@ BOOST_AUTO_TEST_CASE(encoder, *boost::unit_test::disabled()) p.wait_for_all(); } - -BOOST_AUTO_TEST_CASE(encoderrtsppush, *boost::unit_test::disabled()) +/* +BOOST_AUTO_TEST_CASE(encoderrtsppush) { + + LoggerProps logProps; + logProps.enableConsoleLog = true; + Logger::initLogger(logProps); + Logger::setLogLevel(boost::log::trivial::severity_level::trace); NvArgusCameraProps sourceProps(1280, 720); sourceProps.maxConcurrentFrames = 10; sourceProps.fps = 30; @@ -254,10 +252,10 @@ BOOST_AUTO_TEST_CASE(encoderrtsppush, *boost::unit_test::disabled()) auto encoder = boost::shared_ptr(new H264EncoderV4L2(encoderProps)); source->setNext(encoder); - // auto fileWriter = boost::shared_ptr(new FileWriterModule(FileWriterModuleProps("./data/testOutput/ArgusCamera_1280x720.h264", true))); - // encoder->setNext(fileWriter); + auto fileWriter = boost::shared_ptr(new FileWriterModule(FileWriterModuleProps("./data/testOutput/ArgusCamera_1280x720.h264", true))); + encoder->setNext(fileWriter); - RTSPPusherProps rtspPusherProps("rtsp://10.102.10.129:5544", "aprapipes_h264"); + RTSPPusherProps rtspPusherProps("rtsp://10.102.10.102:5544", "aprapipes_h264"); auto rtspPusher = boost::shared_ptr(new RTSPPusher(rtspPusherProps)); encoder->setNext(rtspPusher); @@ -275,7 +273,7 @@ BOOST_AUTO_TEST_CASE(encoderrtsppush, *boost::unit_test::disabled()) p.run_all_threaded(); - boost::this_thread::sleep_for(boost::chrono::seconds(100000)); + boost::this_thread::sleep_for(boost::chrono::seconds(10)); Logger::setLogLevel(boost::log::trivial::severity_level::error); p.stop(); From 1106990a62e5a73806352d8c29df01239cd3c9a2 Mon Sep 17 00:00:00 2001 From: RashmiShinde21 Date: Thu, 6 Nov 2025 11:14:59 +0530 Subject: [PATCH 05/22] -made changes for jpeg encoding using file descriptor of the DMABUF --- base/include/JPEGEncoderL4TMHelper.h | 10 +++ base/src/JPEGEncoderL4TM.cpp | 109 +++++++++++++++++++-------- base/src/JPEGEncoderL4TMHelper.cpp | 72 ++++++++++++++++-- 3 files changed, 152 insertions(+), 39 deletions(-) diff --git a/base/include/JPEGEncoderL4TMHelper.h b/base/include/JPEGEncoderL4TMHelper.h index 5feff099e..f12668e4b 100755 --- a/base/include/JPEGEncoderL4TMHelper.h +++ b/base/include/JPEGEncoderL4TMHelper.h @@ -1,5 +1,12 @@ #ifndef __NV_JPEG_ENCODER_H__ #define __NV_JPEG_ENCODER_H__ +#ifndef TEGRA_ACCELERATE +/** + * @c TEGRA_ACCELERATE must be defined to enable hardware acceleration of + * JPEG encoding. + */ +#define TEGRA_ACCELERATE +#endif #include #include @@ -13,6 +20,9 @@ class JPEGEncoderL4TMHelper bool init(uint32_t width, uint32_t height, uint32_t stride, J_COLOR_SPACE color_space, double scale); int encode(const unsigned char* in_buf, unsigned char **out_buf, unsigned long &out_buf_size); + int encodeFromFd(int fd, J_COLOR_SPACE color_space, + unsigned char **out_buf, unsigned long &out_buf_size, + int quality); private: struct jpeg_compress_struct cinfo; diff --git a/base/src/JPEGEncoderL4TM.cpp b/base/src/JPEGEncoderL4TM.cpp index d847eaee0..7dae73890 100755 --- a/base/src/JPEGEncoderL4TM.cpp +++ b/base/src/JPEGEncoderL4TM.cpp @@ -7,6 +7,7 @@ #include #include "Utils.h" #include "AIPExceptions.h" +#include "DMAFDWrapper.h" #define MSDK_ALIGN16(value) (((value + 15) >> 4) << 4) // round up to a multiple of 16 #define MSDK_ALIGN32(X) (((uint32_t)((X)+31)) & (~ (uint32_t)31)) @@ -43,37 +44,80 @@ class JPEGEncoderL4TM::Detail void copyYUV420PlanarToContiguous(const unsigned char* base, unsigned char* dst, RawImagePlanarMetadata* rim) { - // const int width = rim->getWidth(0); - // const int height = rim->getHeight(0); - // const size_t stepY = rim->getStep(0); - // const size_t stepU = rim->getStep(1); - // const size_t stepV = rim->getStep(2); - // const size_t offY = rim->getNextPtrOffset(0); - // const size_t offU = rim->getNextPtrOffset(1); - // const size_t offV = rim->getNextPtrOffset(2); - // const unsigned char* srcY = base + offY; - // const unsigned char* srcU = base + offU; - // const unsigned char* srcV = base + offV; - // unsigned char* dstY = dst; - // unsigned char* dstU = dst + width * height; - // unsigned char* dstV = dstU + (width * height) / 4; - // // Y - // for (int r = 0; r < height; r++) - // { - // memcpy(dstY + r * width, srcY + r * stepY, width); - // } - // // U and V are half resolution - // const int uvWidth = width / 2; - // const int uvHeight = height / 2; - // for (int r = 0; r < uvHeight; r++) - // { - // memcpy(dstU + r * uvWidth, srcU + r * stepU, uvWidth); - // memcpy(dstV + r * uvWidth, srcV + r * stepV, uvWidth); - // } + const int width = rim->getWidth(0); + const int height = rim->getHeight(0); + + const size_t stepY = rim->getStep(0); + const size_t stepU = rim->getStep(1); + const size_t stepV = rim->getStep(2); + + const size_t offY = rim->getNextPtrOffset(0); + const size_t offU = rim->getNextPtrOffset(1); + const size_t offV = rim->getNextPtrOffset(2); + + const unsigned char* srcY = base + offY; + const unsigned char* srcU = base + offU; + const unsigned char* srcV = base + offV; + + unsigned char* dstY = dst; + unsigned char* dstU = dst + width * height; + unsigned char* dstV = dstU + (width * height) / 4; + + // Copy Y plane row-by-row (handle stride) + for (int r = 0; r < height; r++) + { + memcpy(dstY + r * width, srcY + r * stepY, width); + } + + // Copy U and V planes (half resolution) + const int uvWidth = width / 2; + const int uvHeight = height / 2; + + for (int r = 0; r < uvHeight; r++) + { + memcpy(dstU + r * uvWidth, srcU + r * stepU, uvWidth); + memcpy(dstV + r * uvWidth, srcV + r * stepV, uvWidth); + } } - size_t compute(frame_sp& inFrame, frame_sp& frame) - { +size_t compute(frame_sp& inFrame, frame_sp& frame) + { + auto inMeta = inFrame->getMetadata(); + + // If input is DMABUF planar YUV420 or NV12, use encodeFromFd + if (inMeta->getMemType() == FrameMetadata::DMABUF && (inMeta->getFrameType() == FrameMetadata::RAW_IMAGE_PLANAR || inMeta->getFrameType() == FrameMetadata::RAW_IMAGE)) + { + // Extract fd + auto dma = static_cast(inFrame->data()); + int fd = dma->getFd(); + if (fd <= 0) { + LOG_ERROR << "Invalid DMABUF fd"; + return 0; + } + + // Choose color space – I420/NV12 are both YCbCr for the encoder + //J_COLOR_SPACE cs = JCS_YCbCr; + + + + // Setup output buffer + auto out_ptr = static_cast(frame->data()); + unsigned char* out_buf = out_ptr; + unsigned long out_len = static_cast(frame->size()); + + // Call NvJPEGEncoder::encodeFromFd(fd, ...) + // Assuming you have a member nvEnc of type NvJPEGEncoder* already setup in init() + int ret = encHelper->encodeFromFd(fd, color_space, &out_buf, out_len, mProps.quality); + if (ret < 0) { + LOG_ERROR << "encodeFromFd failed"; + return 0; + } + + // out_len now has the actual size; return it + return static_cast(out_len); + } + else{ + auto in_buf = static_cast(inFrame->data()); if(color_space == JCS_YCbCr) @@ -107,7 +151,7 @@ class JPEGEncoderL4TM::Detail } else if (rim->getImageType() == ImageMetadata::YUV420) { - // copyYUV420PlanarToContiguous((unsigned char*)inFrame->data(), (unsigned char*)dummyBuffer.get(), rim); + copyYUV420PlanarToContiguous((unsigned char*)inFrame->data(), (unsigned char*)dummyBuffer.get(), rim); in_buf = dummyBuffer.get(); } else @@ -132,6 +176,7 @@ class JPEGEncoderL4TM::Detail return outLength; } + } size_t getDataSize() { @@ -271,7 +316,7 @@ class JPEGEncoderL4TM::Detail } else if(rawImageMetadata->getImageType() == ImageMetadata::RGBA) { - color_space = JCS_EXT_RGBA; + color_space = JCS_RGBA_8888; } else if(rawImageMetadata->getImageType() == ImageMetadata::NV12 || rawImageMetadata->getImageType() == ImageMetadata::YUV420) { @@ -300,7 +345,7 @@ class JPEGEncoderL4TM::Detail } else if(rim->getImageType() == ImageMetadata::RGBA) { - color_space = JCS_EXT_RGBA; + color_space = JCS_RGBA_8888; } else if(rim->getImageType() == ImageMetadata::NV12 || rim->getImageType() == ImageMetadata::YUV420) { diff --git a/base/src/JPEGEncoderL4TMHelper.cpp b/base/src/JPEGEncoderL4TMHelper.cpp index 3250f169c..24580bad3 100755 --- a/base/src/JPEGEncoderL4TMHelper.cpp +++ b/base/src/JPEGEncoderL4TMHelper.cpp @@ -2,6 +2,7 @@ #include "JPEGEncoderL4TMHelper.h" #include #include +#include // https://dev.w3.org/Amaya/libjpeg/example.c @@ -40,7 +41,7 @@ JPEGEncoderL4TMHelper::~JPEGEncoderL4TMHelper() bool JPEGEncoderL4TMHelper::init(uint32_t width, uint32_t height, uint32_t _stride, J_COLOR_SPACE color_space, double scale) { - if (color_space == JCS_RGB || color_space == JCS_EXT_RGBA) + if (color_space == JCS_RGB || color_space == JCS_RGBA_8888) { planes = 1; } @@ -78,7 +79,7 @@ bool JPEGEncoderL4TMHelper::init(uint32_t width, uint32_t height, uint32_t _stri cinfo.image_width = width; cinfo.image_height = height; - if(color_space == JCS_EXT_RGBA) + if(color_space == JCS_RGBA_8888) { cinfo.input_components = 4; // RGBA } @@ -90,7 +91,7 @@ bool JPEGEncoderL4TMHelper::init(uint32_t width, uint32_t height, uint32_t _stri // Scaling functionality removed - not available in standard libjpeg // if (scale != 1) { ... } - jpeg_set_defaults(&cinfo); +jpeg_set_defaults(&cinfo); jpeg_set_quality(&cinfo, quality, TRUE); if (planes == 3) @@ -110,7 +111,7 @@ bool JPEGEncoderL4TMHelper::init(uint32_t width, uint32_t height, uint32_t _stri int JPEGEncoderL4TMHelper::encode(const unsigned char *in_buf, unsigned char **out_buf, unsigned long &out_buf_size) { - if(cinfo.in_color_space == JCS_RGB || cinfo.in_color_space == JCS_EXT_RGBA) + if(cinfo.in_color_space == JCS_RGB || cinfo.in_color_space == JCS_RGBA_8888) { // Store original color space before destroying J_COLOR_SPACE orig_color_space = cinfo.in_color_space; @@ -128,10 +129,10 @@ int JPEGEncoderL4TMHelper::encode(const unsigned char *in_buf, unsigned char **o cinfo.image_height = comp_height[0]; // Restore correct components based on original color space - if(orig_color_space == JCS_EXT_RGBA) + if(orig_color_space == JCS_RGBA_8888) { cinfo.input_components = 4; // RGBA - cinfo.in_color_space = JCS_EXT_RGBA; + cinfo.in_color_space = JCS_RGBA_8888; } else { @@ -144,7 +145,7 @@ int JPEGEncoderL4TMHelper::encode(const unsigned char *in_buf, unsigned char **o jpeg_mem_dest(&cinfo, out_buf, &out_buf_size); - // jpeg_set_hardware_acceleration_parameters_enc(&cinfo, TRUE, out_buf_size, 0, 0); + jpeg_set_hardware_acceleration_parameters_enc(&cinfo, TRUE, out_buf_size, 0, 0); unsigned char *base[planes], *end[planes]; @@ -198,3 +199,60 @@ int JPEGEncoderL4TMHelper::encode(const unsigned char *in_buf, unsigned char **o return 0; } + + +int JPEGEncoderL4TMHelper::encodeFromFd(int fd, J_COLOR_SPACE color_space, + unsigned char **out_buf, unsigned long &out_buf_size, + int quality) +{ + uint32_t buffer_id; + + if (fd == -1) + { + LOG_INFO<<"Not encoding because fd = -1"; + return -1; + } + + + + jpeg_mem_dest(&cinfo, out_buf, &out_buf_size); + + cinfo.fd = fd; + cinfo.IsVendorbuf = TRUE; + switch (color_space) + { + case JCS_YCbCr: + cinfo.in_color_space = JCS_YCbCr; + break; + case JCS_RGBA_8888: + cinfo.in_color_space = JCS_RGBA_8888; + default: + + LOG_INFO<<"Color format " << color_space << " not supported\n"; + return -1; + } + cinfo.raw_data_in = TRUE; + jpeg_set_defaults(&cinfo); + jpeg_set_quality(&cinfo, quality, TRUE); + jpeg_set_hardware_acceleration_parameters_enc(&cinfo, TRUE, out_buf_size, 0, 0); + + + + jpeg_start_compress (&cinfo, 0); + + if (cinfo.err->msg_code) + { + char err_string[256]; + cinfo.err->format_message((j_common_ptr) &cinfo, err_string); + LOG_INFO<<"Error in jpeg_start_compress: " << err_string; + return -1; + } + + jpeg_write_raw_data (&cinfo, NULL, 0); + jpeg_finish_compress(&cinfo); + + LOG_INFO<<"Succesfully encoded Buffer fd=" << fd; + + + return 0; +} \ No newline at end of file From 20f6b799ca7e5c86e1c0f2e0724e42c7fccb3b33 Mon Sep 17 00:00:00 2001 From: RashmiShinde21 Date: Thu, 6 Nov 2025 11:25:27 +0530 Subject: [PATCH 06/22] -added test cases for jpeg encoding using dmabuf -jpeg encoding of nv12 , yuv420 images, -encoding of frames through argus camera --- base/test/jpegencoderl4tm_tests.cpp | 200 +++++++++++++++++++++++++++- 1 file changed, 199 insertions(+), 1 deletion(-) diff --git a/base/test/jpegencoderl4tm_tests.cpp b/base/test/jpegencoderl4tm_tests.cpp index d62d66e72..9ff0bc891 100755 --- a/base/test/jpegencoderl4tm_tests.cpp +++ b/base/test/jpegencoderl4tm_tests.cpp @@ -1,7 +1,7 @@ #include "stdafx.h" #include #include - +#include "MemTypeConversion.h" #include "ExternalSourceModule.h" #include "ExternalSinkModule.h" #include "FrameMetadata.h" @@ -15,9 +15,207 @@ #include "PipeLine.h" #include "test_utils.h" #include +#include "NvV4L2Camera.h" +#include "DMAFDToHostCopy.h" +#include "FileWriterModule.h" +#include "DMAFDWrapper.h" +#include "DMAAllocator.h" +#include "nvbufsurface.h" + +#include "NvArgusCamera.h" BOOST_AUTO_TEST_SUITE(jpegencoderl4tm_tests) +BOOST_AUTO_TEST_CASE(argus_jpeg, * boost::unit_test::disabled()) +{ + LoggerProps logProps; + logProps.enableConsoleLog = true; + Logger::initLogger(logProps); + Logger::setLogLevel(boost::log::trivial::severity_level::trace); + NvArgusCameraProps sourceProps(1280, 720); + sourceProps.maxConcurrentFrames = 10; + sourceProps.fps = 30; + auto source = boost::shared_ptr(new NvArgusCamera(sourceProps)); + + auto copySource = boost::shared_ptr(new DMAFDToHostCopy); + source->setNext(copySource); + + auto fileWriter = boost::shared_ptr(new FileWriterModule(FileWriterModuleProps("./data/testOutput/nvargus/nv12-argus.raw", true))); + copySource->setNext(fileWriter); + + + auto jencode = boost::shared_ptr(new JPEGEncoderL4TM()); + auto encodedImageMetadata = framemetadata_sp(new FrameMetadata(FrameMetadata::ENCODED_IMAGE)); + auto encodedImagePin = jencode->addOutputPin(encodedImageMetadata); + source->setNext(jencode); + + + auto fileWriter2 = boost::shared_ptr(new FileWriterModule(FileWriterModuleProps("./data/testOutput/nvargus/frame_argus.jpg", true))); + jencode->setNext(fileWriter2); + PipeLine p("test"); + p.appendModule(source); + BOOST_TEST(p.init()); + p.run_all_threaded(); + + boost::this_thread::sleep_for(boost::chrono::seconds(10)); + + p.stop(); + p.term(); + + p.wait_for_all(); +} + + + +BOOST_AUTO_TEST_CASE(jpegencoder_dmabuf_fd_nv12, * boost::unit_test::disabled()) +{ + LoggerProps logProps; logProps.enableConsoleLog = true; + Logger::initLogger(logProps); + Logger::setLogLevel(boost::log::trivial::severity_level::trace); + + const int width = 704, height = 576; + const std::string inputYuvPath = "./data/nv12-704x576.raw"; + + // Source + auto m1 = boost::shared_ptr(new ExternalSourceModule()); + + // Create DMABUF metadata with actual pitches from NvBufSurface + auto meta = framemetadata_sp(new RawImagePlanarMetadata(FrameMetadata::DMABUF)); + DMAAllocator::setMetadata(meta, width, height, ImageMetadata::NV12); + auto rawPin = m1->addOutputPin(meta); + + // NVJPEG encoder module + auto enc = boost::shared_ptr(new JPEGEncoderL4TM()); // ensure this module exists/linked + m1->setNext(enc); + auto encMeta = framemetadata_sp(new FrameMetadata(FrameMetadata::ENCODED_IMAGE)); + auto encPin = enc->addOutputPin(encMeta); + + // Sink + auto sink = boost::shared_ptr(new ExternalSinkModule()); + enc->setNext(sink); + + BOOST_TEST(m1->init()); + BOOST_TEST(enc->init()); + BOOST_TEST(sink->init()); + + // Allocate DMABUF frame and fill with I420 data (row-wise using NvBufSurface params) + auto frame = m1->makeFrame(meta->getDataSize(), rawPin); + { + auto dma = static_cast(frame->data()); + NvBufSurface* surf = dma->getNvBufSurface(); + + std::ifstream in(inputYuvPath, std::ios::binary); + BOOST_TEST(in.good()); + + // planes: 0=Y,1=U,2=V + for (int p = 0; p < 3; ++p) { + NvBufSurfaceMap(surf, 0, p, NVBUF_MAP_READ_WRITE); + NvBufSurfaceSyncForCpu(surf, 0, p); + auto dst = static_cast(surf->surfaceList[0].mappedAddr.addr[p]); + auto rows = surf->surfaceList[0].planeParams.height[p]; + auto pitch = surf->surfaceList[0].planeParams.pitch[p]; + auto rowB = surf->surfaceList[0].planeParams.width[p] * + surf->surfaceList[0].planeParams.bytesPerPix[p]; + + std::vector row(rowB); + for (uint32_t r = 0; r < rows; ++r) { + in.read(reinterpret_cast(row.data()), rowB); + BOOST_TEST(static_cast(in.gcount()) == rowB); + memcpy(dst + r * pitch, row.data(), rowB); + } + NvBufSurfaceSyncForDevice(surf, 0, p); + NvBufSurfaceUnMap(surf, 0, p); + } + } + + frame_container fc; fc.insert({ rawPin, frame }); + m1->send(fc); + enc->step(); + + auto out = sink->pop(); + BOOST_TEST((out.find(encPin) != out.end())); + auto outFrame = out[encPin]; + BOOST_TEST(outFrame->size() > 0); + + Test_Utils::saveOrCompare("./data/testOutput/jenc_dmabuf_nv12.jpg", + (const uint8_t*)outFrame->data(), outFrame->size(), 0); +} + + +BOOST_AUTO_TEST_CASE(jpegencoder_dmabuf_fd_yuv420, * boost::unit_test::disabled()) +{ + LoggerProps logProps; logProps.enableConsoleLog = true; + Logger::initLogger(logProps); + Logger::setLogLevel(boost::log::trivial::severity_level::trace); + + const int width = 3840, height = 2160; + const std::string inputYuvPath = "./data/4k.yuv"; + + // Source + auto m1 = boost::shared_ptr(new ExternalSourceModule()); + + // Create DMABUF metadata with actual pitches from NvBufSurface + auto meta = framemetadata_sp(new RawImagePlanarMetadata(FrameMetadata::DMABUF)); + DMAAllocator::setMetadata(meta, width, height, ImageMetadata::YUV420); + auto rawPin = m1->addOutputPin(meta); + + // NVJPEG encoder module + auto enc = boost::shared_ptr(new JPEGEncoderL4TM()); // ensure this module exists/linked + m1->setNext(enc); + auto encMeta = framemetadata_sp(new FrameMetadata(FrameMetadata::ENCODED_IMAGE)); + auto encPin = enc->addOutputPin(encMeta); + + // Sink + auto sink = boost::shared_ptr(new ExternalSinkModule()); + enc->setNext(sink); + + BOOST_TEST(m1->init()); + BOOST_TEST(enc->init()); + BOOST_TEST(sink->init()); + + // Allocate DMABUF frame and fill with I420 data (row-wise using NvBufSurface params) + auto frame = m1->makeFrame(meta->getDataSize(), rawPin); + { + auto dma = static_cast(frame->data()); + NvBufSurface* surf = dma->getNvBufSurface(); + + std::ifstream in(inputYuvPath, std::ios::binary); + BOOST_TEST(in.good()); + + // planes: 0=Y,1=U,2=V + for (int p = 0; p < 3; ++p) { + NvBufSurfaceMap(surf, 0, p, NVBUF_MAP_READ_WRITE); + NvBufSurfaceSyncForCpu(surf, 0, p); + auto dst = static_cast(surf->surfaceList[0].mappedAddr.addr[p]); + auto rows = surf->surfaceList[0].planeParams.height[p]; + auto pitch = surf->surfaceList[0].planeParams.pitch[p]; + auto rowB = surf->surfaceList[0].planeParams.width[p] * + surf->surfaceList[0].planeParams.bytesPerPix[p]; + + std::vector row(rowB); + for (uint32_t r = 0; r < rows; ++r) { + in.read(reinterpret_cast(row.data()), rowB); + BOOST_TEST(static_cast(in.gcount()) == rowB); + memcpy(dst + r * pitch, row.data(), rowB); + } + NvBufSurfaceSyncForDevice(surf, 0, p); + NvBufSurfaceUnMap(surf, 0, p); + } + } + + frame_container fc; fc.insert({ rawPin, frame }); + m1->send(fc); + enc->step(); + + auto out = sink->pop(); + BOOST_TEST((out.find(encPin) != out.end())); + auto outFrame = out[encPin]; + BOOST_TEST(outFrame->size() > 0); + + Test_Utils::saveOrCompare("./data/testOutput/jenc_dmabuf_yuv420.jpg", + (const uint8_t*)outFrame->data(), outFrame->size(), 0); +} + BOOST_AUTO_TEST_CASE(jpegencoderl4tm_basic, * boost::unit_test::disabled()) { // metadata is known From 8f0dd5ee6b7c7b098bf4e6079315ac56c5aebeb4 Mon Sep 17 00:00:00 2001 From: RashmiShinde21 Date: Mon, 10 Nov 2025 16:05:11 +0530 Subject: [PATCH 07/22] -made changes for jpeg decoding using fd -added testcase for encoding of an jpg image to yuv using fd --- base/src/JPEGDecoderL4TM.cpp | 82 +++++++++++++------ base/src/JPEGDecoderL4TMHelper.cpp | 121 +++++++++++++++++++++++++++- base/test/jpegdecoderl4tm_tests.cpp | 56 ++++++++++++- 3 files changed, 231 insertions(+), 28 deletions(-) diff --git a/base/src/JPEGDecoderL4TM.cpp b/base/src/JPEGDecoderL4TM.cpp index f176ebfca..b41c32700 100755 --- a/base/src/JPEGDecoderL4TM.cpp +++ b/base/src/JPEGDecoderL4TM.cpp @@ -7,15 +7,17 @@ #include #include "Utils.h" #include "AIPExceptions.h" - +#include "DMAFDWrapper.h" +#include "DMAAllocator.h" class JPEGDecoderL4TM::Detail { public: - Detail() : mDataSize(0), + Detail(JPEGDecoderL4TMProps& props) : mDataSize(0), mWidth2(0), mHeight2(0), - mActualFrameSize(0) + mActualFrameSize(0), + mProps(props) { decHelper.reset(new JPEGDecoderL4TMHelper()); } @@ -32,16 +34,23 @@ class JPEGDecoderL4TM::Detail throw AIPException(AIP_FATAL, "init:: decHelper->init Failed"); } - // This is a cheating - // Actual output is NV12 - // width and height are aligned by 32 bits - setting stride - // passing frame->data() to cheat opencv to no allocate any buffer inside - cv::Mat img(mHeight2, mWidth2, CV_8UC1, frame->data(), mWidth2); - mDataSize = (mWidth2 * mHeight2 * 3) >> 1; - mActualFrameSize = mWidth2 * mHeight2; - - FrameMetadataFactory::downcast(metadata)->setData(img); - mMetadata = metadata; + if(mProps.decodeToFd) + { + // For decodeToFd, set DMABUF metadata with dimensions + auto planarMeta = FrameMetadataFactory::downcast(metadata); + DMAAllocator::setMetadata(metadata, mWidth2, mHeight2, ImageMetadata::YUV420); + mDataSize = (mWidth2 * mHeight2 * 3) >> 1; // YUV420 size + mActualFrameSize = mWidth2 * mHeight2; + } + else + { + cv::Mat img(mHeight2, mWidth2, CV_8UC1, frame->data(), mWidth2); + mDataSize = (mWidth2 * mHeight2 * 3) >> 1; + mActualFrameSize = mWidth2 * mHeight2; + FrameMetadataFactory::downcast(metadata)->setData(img); + } + + mMetadata = metadata; } framemetadata_sp getMetadata() @@ -51,8 +60,24 @@ class JPEGDecoderL4TM::Detail size_t compute(frame_sp &inFrame, frame_sp &frame) { - decHelper->decode((unsigned char *)inFrame->data(), inFrame->size(), (unsigned char *)frame->data()); - return mActualFrameSize; + int fd=0; + if(mProps.decodeToFd) + { + auto dmaWrapper = static_cast(frame->data()); + int fd = dmaWrapper->getFd(); + int ret=decHelper->decodeToFd(fd,(unsigned char *)inFrame->data(), inFrame->size()); + if (ret < 0) { + LOG_ERROR << "decodeToFd failed"; + return false; + } + } + else + { + decHelper->decode((unsigned char *)inFrame->data(), inFrame->size(), (unsigned char *)frame->data()); + + } + return mActualFrameSize; + } size_t getDataSize() @@ -69,11 +94,12 @@ class JPEGDecoderL4TM::Detail size_t mActualFrameSize; int mWidth2; int mHeight2; + JPEGDecoderL4TMProps mProps; }; JPEGDecoderL4TM::JPEGDecoderL4TM(JPEGDecoderL4TMProps _props) : Module(TRANSFORM, "JPEGDecoderL4TM", _props) { - mDetail.reset(new Detail()); + mDetail.reset(new Detail(_props)); } JPEGDecoderL4TM::~JPEGDecoderL4TM() {} @@ -107,9 +133,9 @@ bool JPEGDecoderL4TM::validateOutputPins() framemetadata_sp metadata = getFirstOutputMetadata(); FrameMetadata::FrameType frameType = metadata->getFrameType(); - if (frameType != FrameMetadata::RAW_IMAGE) + if ((frameType != FrameMetadata::RAW_IMAGE) &&(frameType != FrameMetadata::RAW_IMAGE_PLANAR)) { - LOG_ERROR << "<" << getId() << ">::validateOutputPins input frameType is expected to be RAW_IMAGE. Actual<" << frameType << ">"; + LOG_ERROR << "<" << getId() << ">::validateOutputPins frameType is expected to be RAW_IMAGE or RAW_IMAGE_PLANAR. Actual<" << frameType << ">"; return false; } @@ -128,7 +154,17 @@ bool JPEGDecoderL4TM::init() { throw AIPException(AIP_NOTSET, string("JPEGDecoderL4TM Output Frame Metadata parameters will be automatically set. Kindly remove.")); } - mDetail->outputPinId = getOutputPinIdByType(FrameMetadata::RAW_IMAGE); + + if(metadata->getFrameType()==FrameMetadata::RAW_IMAGE) + { + mDetail->outputPinId = getOutputPinIdByType(FrameMetadata::RAW_IMAGE); + } + else + { + mDetail->outputPinId = getOutputPinIdByType(FrameMetadata::RAW_IMAGE_PLANAR); + } + + return true; } @@ -147,20 +183,18 @@ bool JPEGDecoderL4TM::process(frame_container &frames) } auto metadata = mDetail->getMetadata(); - auto bufferFrame = makeFrame(mDetail->getDataSize()); + auto bufferFrame = makeFrame(mDetail->getDataSize(), mDetail->outputPinId); auto frameLength = mDetail->compute(frame, bufferFrame); - - auto outFrame = makeFrame(bufferFrame, frameLength,mDetail->outputPinId); - frames.insert(make_pair(mDetail->outputPinId, outFrame)); + frames.insert(make_pair(mDetail->outputPinId, bufferFrame)); send(frames); return true; } bool JPEGDecoderL4TM::processSOS(frame_sp &frame) { - auto outMetadata = getOutputMetadataByType(FrameMetadata::RAW_IMAGE); + auto outMetadata = getFirstOutputMetadata(); mDetail->initMetadata(frame, outMetadata); return true; } \ No newline at end of file diff --git a/base/src/JPEGDecoderL4TMHelper.cpp b/base/src/JPEGDecoderL4TMHelper.cpp index 5f419c2ac..6515a39dd 100755 --- a/base/src/JPEGDecoderL4TMHelper.cpp +++ b/base/src/JPEGDecoderL4TMHelper.cpp @@ -4,6 +4,9 @@ #include #include #include "Logger.h" +#include "nvbufsurface.h" +#include "jpegint.h" +#include JPEGDecoderL4TMHelper::JPEGDecoderL4TMHelper() { @@ -63,7 +66,7 @@ bool JPEGDecoderL4TMHelper::init(const unsigned char *in_buf, unsigned long in_b } } - jpeg_finish_decompress(&cinfo); + jpeg_finish_decompress(&cinfo); width = cinfo.image_width; height = cinfo.image_height; @@ -88,6 +91,122 @@ bool JPEGDecoderL4TMHelper::init(const unsigned char *in_buf, unsigned long in_b return true; } + + +int JPEGDecoderL4TMHelper::decodeToFd(int &fd, unsigned char * in_buf, + unsigned long in_buf_size) +{ + uint32_t pixel_format = 0; + uint32_t buffer_id; + NvBufSurface surface; + + if (in_buf == NULL || in_buf_size == 0) + { + LOG_INFO<<"Not decoding because input buffer = NULL or size = 0"; + return -1; + } + + + cinfo.out_color_space = JCS_YCbCr; + + jpeg_mem_src(&cinfo, in_buf, in_buf_size); + + cinfo.out_color_space = JCS_YCbCr; + + + (void) jpeg_read_header(&cinfo, TRUE); + + cinfo.out_color_space = JCS_YCbCr; + cinfo.IsVendorbuf = TRUE; + cinfo.pVendor_buf = (unsigned char*)&surface; + + if (cinfo.comp_info[0].h_samp_factor == 2) + { + if (cinfo.comp_info[0].v_samp_factor == 2) + { + pixel_format = V4L2_PIX_FMT_YUV420M; + } + else + { + pixel_format = V4L2_PIX_FMT_YUV422M; + } + } + else + { + if (cinfo.comp_info[0].v_samp_factor == 1) + { + pixel_format = V4L2_PIX_FMT_YUV444M; + } + else + { + pixel_format = V4L2_PIX_FMT_YUV422M; + } + } + + jpeg_start_decompress (&cinfo); + + if (cinfo.global_state != DSTATE_READY) { + LOG_INFO<<"JPEG format is not supported by libnvjpeg"; + return -1; + } + + jpeg_read_raw_data (&cinfo, NULL, cinfo.comp_info[0].v_samp_factor * DCTSIZE); + jpeg_finish_decompress(&cinfo); + + // Image width and height should be even + uint32_t width = (cinfo.image_width % 2 == 1) ? cinfo.image_width + 1 : cinfo.image_width; + uint32_t height = (cinfo.image_height % 2 == 1) ? cinfo.image_height + 1 : cinfo.image_height; + uint32_t pixfmt = pixel_format; + int fd1= cinfo.fd; + + LOG_INFO<<"Succesfully decoded Buffer fd=" << fd; + LOG_INFO<<"Succesfully decoded Buffer fd1=" << fd1; + + + NvBufSurfTransformRect src_rect, dst_rect; + src_rect.top = 0; + src_rect.left = 0; + src_rect.width = width; + src_rect.height = height; + dst_rect.top = 0; + dst_rect.left = 0; + dst_rect.width = width; + dst_rect.height = height; + + // Set up transform parameters + 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_Nearest; + transform_params.src_rect = &src_rect; + transform_params.dst_rect = &dst_rect; + + // auto dmaFDWrapper = static_cast(frame->data()); + NvBufSurface *in_surf = nullptr; + NvBufSurface *out_surf = nullptr; + + if (NvBufSurfaceFromFd(cinfo.fd, (void**)&in_surf) != 0) { + LOG_INFO << "Failed to create input surface"; + return false; + } + + if (NvBufSurfaceFromFd(fd, (void**)&out_surf) != 0) { + LOG_INFO << "Failed to create output surface"; + return false; + } + + NvBufSurfTransform_Error err = NvBufSurfTransform(in_surf, out_surf, &transform_params); + + if (err != NvBufSurfTransformError_Success) { + LOG_INFO << "Transform failed============================================>>>>>>>>>>>>>>>>>>>>>>>>>>>error:" < #include - +#include "DMAFDToHostCopy.h" +#include "FileWriterModule.h" #include "ExternalSourceModule.h" #include "ExternalSinkModule.h" #include "FrameMetadata.h" @@ -10,6 +11,7 @@ #include "AIPExceptions.h" #include "JPEGDecoderL4TM.h" #include "test_utils.h" +#include "PipeLine.h" BOOST_AUTO_TEST_SUITE(jpegdecoderl4tm_tests) @@ -66,8 +68,56 @@ BOOST_AUTO_TEST_CASE(jpegdecoderl4tm_basic, * boost::unit_test::disabled()) delete[] pReadData; } -BOOST_AUTO_TEST_CASE(jpegdecoderl4tm_rgb, * boost::unit_test::disabled()) -{ +BOOST_AUTO_TEST_CASE(jpegdecoderl4tm_fd_yuv420) +{ + LoggerProps logProps; + logProps.enableConsoleLog = true; + Logger::initLogger(logProps); + Logger::setLogLevel(boost::log::trivial::severity_level::trace); + const uint8_t* pReadData = nullptr; + unsigned int readDataSize = 0U; + BOOST_TEST(Test_Utils::readFile("./data/faces.jpg", pReadData, readDataSize)); + + auto m1 = boost::shared_ptr(new ExternalSourceModule()); + auto metadata = framemetadata_sp(new FrameMetadata(FrameMetadata::ENCODED_IMAGE)); + auto encodedImagePin = m1->addOutputPin(metadata); + + JPEGDecoderL4TMProps props; + props.decodeToFd = true; + + auto m2 = boost::shared_ptr(new JPEGDecoderL4TM(props)); + m1->setNext(m2); + auto decoderMetadata = framemetadata_sp(new RawImagePlanarMetadata(FrameMetadata::MemType::DMABUF)); + auto rawImagePin = m2->addOutputPin(decoderMetadata); + + + auto m3 = boost::shared_ptr(new DMAFDToHostCopy); + m2->setNext(m3); + + auto m4 = boost::shared_ptr(new FileWriterModule(FileWriterModuleProps("./data/testOutput/faces-dma.yuv", true))); + m3->setNext(m4); + + + BOOST_TEST(m1->init()); + BOOST_TEST(m2->init()); + BOOST_TEST(m3->init()); + BOOST_TEST(m4->init()); + + auto encodedImageFrame = m1->makeFrame(readDataSize, encodedImagePin); + memcpy(encodedImageFrame->data(), pReadData, readDataSize); + + frame_container frames; + frames.insert(make_pair(encodedImagePin, encodedImageFrame)); + + m1->send(frames); + m2->step(); + m3->step(); + m4->step(); + +} + +BOOST_AUTO_TEST_CASE(jpegdecoderl4tm_rgb) +{ const uint8_t* pReadData = nullptr; unsigned int readDataSize = 0U; BOOST_TEST(Test_Utils::readFile("./data/frame.jpg", pReadData, readDataSize)); From 7d726989df0cba64cde2b20f74aea2110aa25f57 Mon Sep 17 00:00:00 2001 From: RashmiShinde21 Date: Mon, 10 Nov 2025 17:32:52 +0530 Subject: [PATCH 08/22] changes in header files for decoding using fd --- base/include/JPEGDecoderL4TM.h | 3 ++- base/include/JPEGDecoderL4TMHelper.h | 1 + 2 files changed, 3 insertions(+), 1 deletion(-) diff --git a/base/include/JPEGDecoderL4TM.h b/base/include/JPEGDecoderL4TM.h index 759f04317..0ff4eeee1 100755 --- a/base/include/JPEGDecoderL4TM.h +++ b/base/include/JPEGDecoderL4TM.h @@ -7,8 +7,9 @@ class JPEGDecoderL4TMProps : public ModuleProps public: JPEGDecoderL4TMProps() : ModuleProps() { - + decodeToFd=false; } + bool decodeToFd; }; class JPEGDecoderL4TM : public Module diff --git a/base/include/JPEGDecoderL4TMHelper.h b/base/include/JPEGDecoderL4TMHelper.h index 73a4c98ae..987c7a185 100755 --- a/base/include/JPEGDecoderL4TMHelper.h +++ b/base/include/JPEGDecoderL4TMHelper.h @@ -13,6 +13,7 @@ class JPEGDecoderL4TMHelper bool init(const unsigned char* in_buf, unsigned long in_buf_size, int& width, int& height); int decode(const unsigned char* in_buf, unsigned long in_buf_size, unsigned char *out_buf); + int decodeToFd(int &fd, unsigned char * in_buf,unsigned long in_buf_size); private: From 0b1079695f0a791449c1e362bbba23730eadbdc5 Mon Sep 17 00:00:00 2001 From: chidanand S M Date: Wed, 12 Nov 2025 19:01:42 +0530 Subject: [PATCH 09/22] Merged JetPack upgrade changes and validated working modules - Verified and tested working modules: - H264Encoder - H264Decoder - NvTransform (with added features) - EGLRenderer (with added features) - MemTypeConversion - V4L2CUYUV420Converter - AV4L2Buffer - AV4L2ElementPlane - Ensured compatibility across upgraded JetPack environment and validated all unit tests --- base/include/ApraNvEglRenderer.h | 128 ++- base/include/Command.h | 24 +- base/include/DMAAllocator.h | 232 +++--- base/include/DMAUtils.h | 1 + base/include/EglRenderer.h | 125 ++- base/include/H264Decoder.h | 61 +- base/include/H264EncoderV4L2.h | 11 +- base/include/H264EncoderV4L2Helper.h | 41 +- base/include/NvTransform.h | 128 +-- base/src/DMAFDWrapper.cpp | 187 ++--- base/src/DMAUtils.cpp | 20 + base/src/EglRenderer.cpp | 285 +++++-- base/src/H264Decoder.cpp | 689 +++------------ base/src/H264DecoderV4L2Helper.cpp | 454 +++++----- base/src/H264DecoderV4L2Helper.h | 47 +- base/src/H264EncoderV4L2.cpp | 53 +- base/src/H264EncoderV4L2Helper.cpp | 225 ++--- base/src/MemTypeConversion.cpp | 41 +- base/src/NvEglRenderer.cpp | 1107 +++++++++++++++++++------ base/src/NvTransform.cpp | 407 +++++---- base/src/NvV4L2Camera.cpp | 2 +- base/src/NvV4L2CameraHelper.cpp | 3 +- base/src/V4L2CUYUV420Converter.cpp | 130 ++- base/test/DMAUtils_test.cpp | 95 +++ base/test/eglrenderer_test.cpp | 226 ++++- base/test/h264decoder_tests.cpp | 10 +- base/test/h264encoderv4l2_tests.cpp | 143 +--- base/test/memtypeconversion_tests.cpp | 36 +- base/test/nvtransform_tests.cpp | 390 ++++++--- base/test/nvv4l2camerahelper_test.cpp | 12 +- data/Debrosee-ALPnL.ttf | Bin 0 -> 46480 bytes data/apra.jpeg | Bin 0 -> 6459 bytes 32 files changed, 3092 insertions(+), 2221 deletions(-) create mode 100644 base/test/DMAUtils_test.cpp create mode 100644 data/Debrosee-ALPnL.ttf create mode 100644 data/apra.jpeg diff --git a/base/include/ApraNvEglRenderer.h b/base/include/ApraNvEglRenderer.h index 5c9a644d6..a43f74e0b 100644 --- a/base/include/ApraNvEglRenderer.h +++ b/base/include/ApraNvEglRenderer.h @@ -39,6 +39,11 @@ #include #include #include +#include +#include FT_FREETYPE_H +#include +#include +#include #include @@ -95,9 +100,29 @@ class NvEglRenderer */ static NvEglRenderer *createEglRenderer(const char *name, uint32_t width, uint32_t height, uint32_t x_offset, - uint32_t y_offset , bool displayOnTop); + uint32_t y_offset, + const char* ttfFilePath = NULL, + const char* message = NULL, + float scale = 0.0f, + float r = 0.0f, + float g = 0.0f, + float b = 0.0f,float fontsize = 0.0f,int textPosX = 0, int textPosY = 0, + std::string imagePath = "",int imagePosX = 0,int imagePosY = 0,uint32_t imageWidth = 0,uint32_t imageHeight = 0,float opacity = 1,bool mask = false, + float imageOpacity = 1.0f,float textOpacity = 1.0f); ~NvEglRenderer(); + std::string ttfFilePath; + std::string message; + float scale; + float r, g, b; + float fontSize; + int textPosX, textPosY; + float opacity; + std::string imagePath; + int imagePosX, imagePosY; + uint32_t imageWidth, imageHeight; + float imageOpacity,textOpacity; + bool mask; /** * Renders a buffer. * @@ -112,6 +137,41 @@ class NvEglRenderer */ int render(int fd); + // Set dmabuf import parameters for EGL_EXT_image_dma_buf_import + void setImportParams(int pitchBytes, int fourcc, int offsetBytes = 0, int width = 0, int height = 0) + { + render_pitch = pitchBytes; + render_fourcc = fourcc; + render_offset = offsetBytes; + render_width = width; + render_height = height; + render_num_planes = 1; + } + + // Set multi-plane import parameters (e.g., NV12 - 2 planes, YUV420 - 3 planes) + void setImportParamsPlanar(int fourcc, + int width, + int height, + int pitchPlane0, + int offsetPlane0, + int pitchPlane1, + int offsetPlane1, + int pitchPlane2 = 0, + int offsetPlane2 = 0, + int numPlanes = 2) + { + render_fourcc = fourcc; + render_width = width; + render_height = height; + render_pitch = pitchPlane0; + render_offset = offsetPlane0; + render_pitch1 = pitchPlane1; + render_offset1 = offsetPlane1; + render_pitch2 = pitchPlane2; + render_offset2 = offsetPlane2; + render_num_planes = numPlanes; + } + /** * Sets the rendering rate in frames per second (fps). * @@ -138,8 +198,7 @@ class NvEglRenderer * @return 0 for success, -1 otherwise. */ static int getDisplayResolution(uint32_t &width, uint32_t &height); - bool renderAndDrawLoop(); - bool windowDrag(); + /** * Sets the overlay string. * @@ -149,23 +208,25 @@ class NvEglRenderer * @param[in] y Vertical offset, in pixels. * @return 0 for success, -1 otherwise. */ + static PFNGLGENVERTEXARRAYSOESPROC glGenVertexArraysOES; + static PFNGLBINDVERTEXARRAYOESPROC glBindVertexArrayOES; + static PFNGLDELETEVERTEXARRAYSOESPROC glDeleteVertexArraysOES; + int setOverlayText(char *str, uint32_t x, uint32_t y); -public: + void setWindowOpacity(float opacity); + void RenderText(std::string text, float x, float y, float scale, float r, float g, float b); + GLuint initTextShader(); + int initFontAtlas(const char* fontPath, int fontSize); + GLuint loadImageTexture(const char* imagePath); + GLuint initImageShader(); + void RenderImage(GLuint texture, float x, float y, float width, float height); + +private: Display * x_display; /**< Connection to the X server created using XOpenDisplay(). */ Window x_window; /**< Holds the window to be used for rendering created using XCreateWindow(). */ - uint32_t mWidth,mHeight; - - int drag_start_x = 0; - int drag_start_y = 0; - bool is_dragging = false; - uint32_t _x_offset = 0; - uint32_t _y_offset = 0; - XEvent event; - bool drawBorder = false; - EGLDisplay egl_display; /**< Holds the EGL Display connection. */ EGLContext egl_context; /**< Holds the EGL rendering context. */ EGLSurface egl_surface; /**< Holds the EGL Window render surface. */ @@ -176,7 +237,9 @@ class NvEglRenderer GC gc; /**< Graphic Context */ XFontStruct *fontinfo; /**< Brush's font info */ char overlay_str[512]; /**< Overlay's text */ - + GLuint gl_program = 0; // OpenGL shader program handle + GLint alpha_location = -1; // Location of alpha uniform in shader + GLuint cached_image_texture = 0; // Cached image texture loaded once during initialization /** * Creates a GL texture used for rendering. * @@ -223,7 +286,15 @@ class NvEglRenderer * Constructor called by the wrapper createEglRenderer. */ NvEglRenderer(const char *name, uint32_t width, uint32_t height, - uint32_t x_offset, uint32_t y_offset , bool displayOnTop); + uint32_t x_offset, uint32_t y_offset, + const char* ttfFilePath = NULL, + const char* message = NULL, + float scale = 0.0f, + float r = 0.0f, + float g = 0.0f, + float b = 0.0f,float fontsize = 0.0f,int textPosX = 0, int textPosY = 0, + std::string imagePath = "",int imagePosX = 0,int imagePosY = 0,uint32_t imageWidth = 0,uint32_t imageHeight = 0,float opacity = 1,bool mask = false, + float imageOpacity = 1.0f,float textOpacity = 1.0f); /** * Gets the pointers to the required EGL methods. */ @@ -242,6 +313,19 @@ class NvEglRenderer */ int renderInternal(); + /** + * Helper functions for rendering + */ + EGLImageKHR createEglImageFromDmaBuf(); + int renderVideoFrame(EGLImageKHR hEglImage); + void renderOverlays(); + void saveGLState(GLint& prevProgram, GLint& prevVAO, GLint& prevTexExternal, + GLint& prevTex2D, GLint& prevArrayBuffer, GLint& prevActiveTexUnit, + GLboolean& wasBlendEnabled); + void restoreGLState(GLint prevProgram, GLint prevVAO, GLint prevTexExternal, + GLint prevTex2D, GLint prevArrayBuffer, GLint prevActiveTexUnit, + GLboolean wasBlendEnabled); + /** * These EGL function pointers are required by the renderer. */ @@ -252,6 +336,18 @@ class NvEglRenderer static PFNEGLCLIENTWAITSYNCKHRPROC eglClientWaitSyncKHR; static PFNEGLGETSYNCATTRIBKHRPROC eglGetSyncAttribKHR; static PFNGLEGLIMAGETARGETTEXTURE2DOESPROC glEGLImageTargetTexture2DOES; + + // dma-buf import params + int render_pitch = 0; + int render_offset = 0; + int render_fourcc = 0; + int render_width = 0; + int render_height = 0; + int render_num_planes = 1; + int render_pitch1 = 0; + int render_offset1 = 0; + int render_pitch2 = 0; + int render_offset2 = 0; }; /** @} */ #endif \ No newline at end of file diff --git a/base/include/Command.h b/base/include/Command.h index f93a97294..68e7c675f 100644 --- a/base/include/Command.h +++ b/base/include/Command.h @@ -24,7 +24,8 @@ class Command { SendMMQTimestamps, SendLastGTKGLRenderTS, DecoderPlaybackSpeed, - Mp4FileClose + Mp4FileClose, + DecoderEOS }; Command() { type = CommandType::None; } @@ -68,6 +69,27 @@ class NoneCommand : public Command { } }; +class DecoderEOS : public Command +{ +public: + DecoderEOS() : Command(CommandType::DecoderEOS) + { + } + + size_t getSerializeSize() + { + return Command::getSerializeSize(); + } + +private: + + friend class boost::serialization::access; + template + void serialize(Archive& ar, const unsigned int) + { + ar& boost::serialization::base_object(*this); + } +}; class FileReaderModuleCommand : public Command { public: FileReaderModuleCommand() : Command(CommandType::FileReaderModule) { diff --git a/base/include/DMAAllocator.h b/base/include/DMAAllocator.h index b26725719..e4167ebe9 100755 --- a/base/include/DMAAllocator.h +++ b/base/include/DMAAllocator.h @@ -8,7 +8,7 @@ #include "FrameMetadataFactory.h" #include "Logger.h" #include - +using namespace std; class DMAAllocator : public HostAllocator { private: @@ -19,75 +19,75 @@ class DMAAllocator : public HostAllocator int mHeight; int mWidth; int mCount; + // Store metadata to allow lazy initialization when metadata is populated later + framemetadata_sp mMetadata; - static NvBufSurfaceColorFormat getColorFormat(ImageMetadata::ImageType imageType) + static NvBufSurfaceColorFormat getColorFormat(ImageMetadata::ImageType imageType) { - NvBufSurfaceColorFormat colorFormat; + NvBufSurfaceColorFormat colorFormat; switch (imageType) { - case ImageMetadata::UYVY: - colorFormat = NVBUF_COLOR_FORMAT_UYVY; - break; - case ImageMetadata::YUYV: - colorFormat = NVBUF_COLOR_FORMAT_YUYV; - break; - case ImageMetadata::RGBA: - colorFormat = NVBUF_COLOR_FORMAT_RGBA; - break; - case ImageMetadata::BGRA: - colorFormat = NVBUF_COLOR_FORMAT_BGRA; - break; - case ImageMetadata::YUV420: - colorFormat = NVBUF_COLOR_FORMAT_YUV420; - break; - case ImageMetadata::NV12: - colorFormat = NVBUF_COLOR_FORMAT_NV12; - break; - default: - throw AIPException(AIP_FATAL, "Expected Actual<" + std::to_string(imageType) + ">"); + case ImageMetadata::UYVY: + colorFormat = NVBUF_COLOR_FORMAT_UYVY; + break; + case ImageMetadata::YUYV: + colorFormat = NVBUF_COLOR_FORMAT_YUYV; + break; + case ImageMetadata::RGBA: + colorFormat = NVBUF_COLOR_FORMAT_RGBA; + break; + case ImageMetadata::BGRA: + colorFormat = NVBUF_COLOR_FORMAT_BGRA; + break; + case ImageMetadata::YUV420: + colorFormat = NVBUF_COLOR_FORMAT_YUV420; + break; + case ImageMetadata::NV12: + colorFormat = NVBUF_COLOR_FORMAT_NV12; + break; + default: + throw AIPException(AIP_FATAL, "Expected Actual<" + std::to_string(imageType) + ">"); } - return colorFormat; } public: DMAAllocator(framemetadata_sp framemetadata) : mFreeDMACount(0), mCount(0) { - if (!framemetadata->isSet()) - { - return; - } - + // Always keep a handle to metadata for lazy initialization later + mMetadata = framemetadata; mEglDisplay = ApraEGLDisplay::getEGLDisplay(); - - auto imageType = ImageMetadata::RGBA; - - auto frameType = framemetadata->getFrameType(); - switch (frameType) + mWidth = 0; + mHeight = 0; + // If metadata is already set, initialize now; otherwise we'll initialize lazily in allocateChunks + if (framemetadata->isSet()) { - case FrameMetadata::FrameType::RAW_IMAGE: - { - auto inputRawMetadata = FrameMetadataFactory::downcast(framemetadata); - mWidth = inputRawMetadata->getWidth(); - mHeight = inputRawMetadata->getHeight(); - imageType = inputRawMetadata->getImageType(); - } - break; - case FrameMetadata::FrameType::RAW_IMAGE_PLANAR: - { - auto inputRawMetadata = FrameMetadataFactory::downcast(framemetadata); - mWidth = inputRawMetadata->getWidth(0); - mHeight = inputRawMetadata->getHeight(0); - imageType = inputRawMetadata->getImageType(); - } - break; - default: - throw AIPException(AIP_FATAL, "Expected Raw Image or RAW_IMAGE_PLANAR. Actual<" + std::to_string(frameType) + ">"); - break; + auto imageType = ImageMetadata::RGBA; + auto frameType = framemetadata->getFrameType(); + switch (frameType) + { + case FrameMetadata::FrameType::RAW_IMAGE: + { + auto inputRawMetadata = FrameMetadataFactory::downcast(framemetadata); + mWidth = inputRawMetadata->getWidth(); + mHeight = inputRawMetadata->getHeight(); + imageType = inputRawMetadata->getImageType(); + } + break; + case FrameMetadata::FrameType::RAW_IMAGE_PLANAR: + { + auto inputRawMetadata = FrameMetadataFactory::downcast(framemetadata); + mWidth = inputRawMetadata->getWidth(0); + mHeight = inputRawMetadata->getHeight(0); + imageType = inputRawMetadata->getImageType(); + } + break; + default: + throw AIPException(AIP_FATAL, "Expected Raw Image or RAW_IMAGE_PLANAR. Actual<" + std::to_string(frameType) + ">"); + } + mColorFormat = getColorFormat(imageType); } - - mColorFormat = getColorFormat(imageType); - }; + } ~DMAAllocator() { @@ -97,7 +97,7 @@ class DMAAllocator : public HostAllocator } } - static void setMetadata(framemetadata_sp &metadata, int width, int height, ImageMetadata::ImageType imageType,size_t pitchValues[4] = nullptr, size_t offsetValues[4] = nullptr) + static void setMetadata(framemetadata_sp &metadata, int width, int height, ImageMetadata::ImageType imageType, size_t pitchValues[4] = nullptr, size_t offsetValues[4] = nullptr) { auto eglDisplay = ApraEGLDisplay::getEGLDisplay(); auto colorFormat = getColorFormat(imageType); @@ -105,7 +105,7 @@ class DMAAllocator : public HostAllocator auto dmaFDWrapper = DMAFDWrapper::create(0, width, height, colorFormat, NVBUF_LAYOUT_PITCH, eglDisplay); if (!dmaFDWrapper) { - LOG_ERROR << "Failed to allocate dmaFDWrapper"; + LOG_INFO << "Failed to allocate dmaFDWrapper"; throw AIPException(AIP_FATAL, "Memory Allocation Failed."); } @@ -118,59 +118,65 @@ class DMAAllocator : public HostAllocator auto &fdParams = surf->surfaceList[0]; LOG_DEBUG << "PixelFormat<" << fdParams.colorFormat << "> Layout<" << fdParams.layout << ">"; LOG_DEBUG << "Width<" << fdParams.width << "> Height<" << fdParams.height << "> Pitch<" << fdParams.planeParams.pitch[0] << "> Offset<" << fdParams.planeParams.offset[0] << "> PSize<" << fdParams.planeParams.psize[0] << ">"; - + LOG_DEBUG <<"pitch 1="<(metadata); - RawImageMetadata rawMetadata(width, height, imageType, type, fdParams.planeParams.pitch[0], CV_8U, FrameMetadata::MemType::DMABUF, false); - inputRawMetadata->setData(rawMetadata); - if(pitchValues != nullptr) + case FrameMetadata::FrameType::RAW_IMAGE: { - pitchValues[0] = fdParams.planeParams.pitch[0]; + int type = CV_8UC4; + switch (imageType) + { + case ImageMetadata::ImageType::RGBA: + case ImageMetadata::ImageType::BGRA: + type = CV_8UC4; + break; + case ImageMetadata::ImageType::YUYV: + case ImageMetadata::ImageType::UYVY: + type = CV_8UC3; + break; + default: + throw AIPException(AIP_FATAL, "Only Image Type accepted are UYVY or ARGB found " + std::to_string(imageType)); + } + auto inputRawMetadata = FrameMetadataFactory::downcast(metadata); + RawImageMetadata rawMetadata( + width, height, imageType, type, + fdParams.planeParams.pitch[0], CV_8U, FrameMetadata::MemType::DMABUF, false); + inputRawMetadata->setData(rawMetadata); + if (pitchValues != nullptr) + { + pitchValues[0] = fdParams.planeParams.pitch[0]; + } } - } - break; - case FrameMetadata::FrameType::RAW_IMAGE_PLANAR: - { - auto inputRawMetadata = FrameMetadataFactory::downcast(metadata); - size_t step[4] = {0, 0, 0, 0}; - // Populate pitch/offset for all available planes - int num_planes = fdParams.planeParams.num_planes; - for (int i = 0; i < num_planes && i < 4; i++) + break; + case FrameMetadata::FrameType::RAW_IMAGE_PLANAR: // need to check for yuv444 { - step[i] = fdParams.planeParams.pitch[i]; + auto inputRawMetadata = FrameMetadataFactory::downcast(metadata); + size_t step[4] = {0, 0, 0, 0}; + step[0] = fdParams.planeParams.pitch[0]; + // Fill pitches for all planes when available + step[1] = fdParams.planeParams.pitch[1]; + step[2] = fdParams.planeParams.pitch[2]; if (pitchValues != nullptr) { - pitchValues[i] = fdParams.planeParams.pitch[i]; + pitchValues[0] = fdParams.planeParams.pitch[0]; + pitchValues[1] = fdParams.planeParams.pitch[1]; + pitchValues[2] = fdParams.planeParams.pitch[2]; } + if (offsetValues != nullptr) { - offsetValues[i] = fdParams.planeParams.offset[i]; + offsetValues[0] = fdParams.planeParams.offset[0]; + offsetValues[1] = fdParams.planeParams.offset[1]; + offsetValues[2] = fdParams.planeParams.offset[2]; } + + RawImagePlanarMetadata rawMetadata(width, height, imageType, step, CV_8U, FrameMetadata::MemType::DMABUF); + inputRawMetadata->setData(rawMetadata); } - RawImagePlanarMetadata rawMetadata(width, height, imageType, step, CV_8U, FrameMetadata::MemType::DMABUF); - inputRawMetadata->setData(rawMetadata); - } - break; - default: - throw AIPException(AIP_FATAL, "Expected Raw Image or RAW_IMAGE_PLANAR. Actual<" + std::to_string(frameType) + ">"); + break; + default: + throw AIPException(AIP_FATAL, "Expected Raw Image or RAW_IMAGE_PLANAR. Actual<" + std::to_string(frameType) + ">"); break; } @@ -179,12 +185,40 @@ class DMAAllocator : public HostAllocator void *allocateChunks(size_t n) { + // Lazy initialize using metadata if dimensions were not known at construction time + if ((mWidth == 0 || mHeight == 0) && mMetadata && mMetadata->isSet()) + { + auto imageType = ImageMetadata::RGBA; + auto frameType = mMetadata->getFrameType(); + switch (frameType) + { + case FrameMetadata::FrameType::RAW_IMAGE: + { + auto inputRawMetadata = FrameMetadataFactory::downcast(mMetadata); + mWidth = inputRawMetadata->getWidth(); + mHeight = inputRawMetadata->getHeight(); + imageType = inputRawMetadata->getImageType(); + } + break; + case FrameMetadata::FrameType::RAW_IMAGE_PLANAR: + { + auto inputRawMetadata = FrameMetadataFactory::downcast(mMetadata); + mWidth = inputRawMetadata->getWidth(0); + mHeight = inputRawMetadata->getHeight(0); + imageType = inputRawMetadata->getImageType(); + } + break; + default: + throw AIPException(AIP_FATAL, "Expected Raw Image or RAW_IMAGE_PLANAR. Actual<" + std::to_string(frameType) + ">"); + } + mColorFormat = getColorFormat(imageType); + } if (mFreeDMACount == 0) { auto dmaFDWrapper = DMAFDWrapper::create(mCount++, mWidth, mHeight, mColorFormat, NVBUF_LAYOUT_PITCH, mEglDisplay); if (!dmaFDWrapper) { - LOG_ERROR << "Failed to allocate dmaFDWrapper"; + LOG_INFO << "Failed to allocate dmaFDWrapper"; throw AIPException(AIP_FATAL, "Memory Allocation Failed."); } mDMAFDWrapperArr.push_back(dmaFDWrapper); diff --git a/base/include/DMAUtils.h b/base/include/DMAUtils.h index 58ec6cb7b..b02288513 100644 --- a/base/include/DMAUtils.h +++ b/base/include/DMAUtils.h @@ -24,4 +24,5 @@ class DMAUtils { * @param eglDisplay The EGL display handle. */ static void freeCudaPtr(EGLImageKHR eglImage, CUgraphicsResource *pResource, NvBufSurface *surf, EGLDisplay eglDisplay); + static uint8_t* getCudaPtrForFD(int fd, EGLImageKHR &eglImage, CUgraphicsResource *pResource, CUeglFrame eglFrame, EGLDisplay eglDisplay); }; diff --git a/base/include/EglRenderer.h b/base/include/EglRenderer.h index 3858091e3..e49264582 100644 --- a/base/include/EglRenderer.h +++ b/base/include/EglRenderer.h @@ -2,48 +2,131 @@ #include "Module.h" +using CallbackFunction = std::function; class EglRendererProps : public ModuleProps { public: - EglRendererProps(uint32_t _x_offset,uint32_t _y_offset, uint32_t _width, uint32_t _height) : ModuleProps() - { - x_offset = _x_offset; - y_offset = _y_offset; - height = _height; - width = _width; - } - EglRendererProps(uint32_t _x_offset,uint32_t _y_offset,bool _displayOnTop = true) : ModuleProps() - { - x_offset = _x_offset; - y_offset = _y_offset; - height = 0; - width = 0; - displayOnTop = _displayOnTop ? 1 : 0; - } - uint32_t x_offset; - uint32_t y_offset; - uint32_t height; - uint32_t width; - bool displayOnTop; + struct TextInfo { + std::string fontPath = ""; //Path for TTF font file + std::string message = ""; + float scale = 0.0f; + float fontSize = 0.0f; + std::vector color = {0.0f, 0.0f, 0.0f}; // RGB + std::pair position = {0, 0}; + float opacity = 1.0f; + }; + + struct ImageInfo { + std::string path = ""; + std::pair position = {0, 0}; + std::pair size = {0, 0}; + float opacity = 1.0f; // width, height + }; + EglRendererProps() : ModuleProps() {}; + // All settings enabled + EglRendererProps(uint32_t _x_offset , uint32_t _y_offset , + uint32_t _width , uint32_t _height , + const TextInfo& _text , + const ImageInfo& _image , + float _opacity,bool _mask) + : ModuleProps(), + x_offset(_x_offset), y_offset(_y_offset), + width(_width), height(_height), + text(_text), image(_image), + opacity(_opacity), mask(_mask) + {} + // --- Geometry (x, y) --- + EglRendererProps(uint32_t _x_offset, uint32_t _y_offset) + : ModuleProps(), x_offset(_x_offset), y_offset(_y_offset) + {} + + // --- Geometry (x, y, width, height) --- + EglRendererProps(uint32_t _x_offset, uint32_t _y_offset, + uint32_t _width, uint32_t _height) + : ModuleProps(), x_offset(_x_offset), y_offset(_y_offset), + width(_width), height(_height) + {} + + // --- Geometry + Text --- + EglRendererProps(uint32_t _x_offset, uint32_t _y_offset, + uint32_t _width, uint32_t _height, + const TextInfo& _text) + : ModuleProps(), x_offset(_x_offset), y_offset(_y_offset), + width(_width), height(_height), text(_text) + {} + + // --- Geometry + Image --- + EglRendererProps(uint32_t _x_offset, uint32_t _y_offset, + uint32_t _width, uint32_t _height, + const ImageInfo& _image) + : ModuleProps(), x_offset(_x_offset), y_offset(_y_offset), + width(_width), height(_height), image(_image) + {} + + // --- Geometry + Text + Image --- + EglRendererProps(uint32_t _x_offset, uint32_t _y_offset, + uint32_t _width, uint32_t _height, + const TextInfo& _text, + const ImageInfo& _image) + : ModuleProps(), x_offset(_x_offset), y_offset(_y_offset), + width(_width), height(_height), + text(_text), image(_image) + {} + + // --- Geometry + Opacity + Mask --- + EglRendererProps(uint32_t _x_offset, uint32_t _y_offset, + uint32_t _width, uint32_t _height, + float _opacity, bool _mask) + : ModuleProps(), x_offset(_x_offset), y_offset(_y_offset), + width(_width), height(_height), + opacity(_opacity), mask(_mask) + {} + + + + + ~EglRendererProps() = default; + + // --- Geometry --- + uint32_t x_offset = 0; + uint32_t y_offset = 0; + uint32_t width = 0; + uint32_t height = 0; + + // --- Rendering data --- + TextInfo text; + ImageInfo image; + + // --- Display --- + float opacity = 1.0f; + bool mask = false; }; + class EglRenderer : public Module { public: EglRenderer(EglRendererProps props); ~EglRenderer(); - + void registerCallback(const CallbackFunction &_callback) + { + m_callbackFunction = _callback; + } bool init(); bool term(); bool closeWindow(); bool createWindow(int width, int height); + void waitForNextFrame(); + bool statusOfEglWindow(); protected: bool process(frame_container& frames); bool processSOS(frame_sp& frame); bool validateInputPins(); bool shouldTriggerSOS(); bool handleCommand(Command::CommandType type, frame_sp& frame); + bool processEOS(string& pinId); private: class Detail; boost::shared_ptr mDetail; + CallbackFunction m_callbackFunction = NULL; }; \ No newline at end of file diff --git a/base/include/H264Decoder.h b/base/include/H264Decoder.h index c94892f24..489df32e7 100644 --- a/base/include/H264Decoder.h +++ b/base/include/H264Decoder.h @@ -1,18 +1,12 @@ #pragma once #include "Module.h" -#include class H264DecoderProps : public ModuleProps { public: - H264DecoderProps(uint _lowerWaterMark = 300, uint _upperWaterMark = 350) - { - lowerWaterMark = _lowerWaterMark; - upperWaterMark = _upperWaterMark; - } - uint lowerWaterMark; - uint upperWaterMark; + H264DecoderProps() : ModuleProps() + {} }; class H264Decoder : public Module @@ -23,6 +17,9 @@ class H264Decoder : public Module bool init(); bool term(); bool processEOS(string& pinId); + bool decoderEos(); + void flushQueue(); + void changeDecoderSpeed(int _playbackFps, float _playbackSpeed, int _gop); protected: bool process(frame_container& frames); @@ -31,58 +28,12 @@ class H264Decoder : public Module bool validateInputPins(); bool validateOutputPins(); bool shouldTriggerSOS(); - void flushQue(); bool handleCommand(Command::CommandType type, frame_sp& frame); - private: - void bufferDecodedFrames(frame_sp& frame); - void bufferBackwardEncodedFrames(frame_sp& frame, short naluType); - void bufferAndDecodeForwardEncodedFrames(frame_sp& frame, short naluType); - class Detail; boost::shared_ptr mDetail; bool mShouldTriggerSOS; framemetadata_sp mOutputMetadata; std::string mOutputPinId; H264DecoderProps mProps; - - - /* Used to buffer multiple complete GOPs - note that we decode frames from this queue in reverse play*/ - std::deque> backwardGopBuffer; - /* buffers the incomplete GOP */ - std::deque latestBackwardGop; - /* It buffers only one latest GOP - used in cases where partial GOP maybe in cache and rest of the GOP needs to be decoded - note that since there is no buffering in forward play, we directly decode frames from module queue*/ - std::deque latestForwardGop; - std::map decodedFramesCache; - void sendDecodedFrame(); - bool mDirection; - bool dirChangedToFwd = false; - bool dirChangedToBwd = false; - bool foundIFrameOfReverseGop = false; - bool decodePreviousFramesOfTheForwardGop = false; - bool prevFrameInCache = false; - void decodeFrameFromBwdGOP(); - std::deque incomingFramesTSQ; - void clearIncompleteBwdGopTsFromIncomingTSQ(std::deque& latestGop); - void saveSpsPps(frame_sp frame); - void* prependSpsPps(frame_sp& iFrame, size_t& spsPpsFrameSize); - void dropFarthestFromCurrentTs(uint64_t ts); - frame_sp mHeaderFrame; - boost::asio::const_buffer spsBuffer; - boost::asio::const_buffer ppsBuffer; - std::mutex m; - int framesToSkip = 0; - int iFramesToSkip = 0; - int currentFps = 24; - int previousFps = 24; - float playbackSpeed = 1; - int gop; - uint64_t lastFrameSent; - bool resumeFwdPlayback = true; - bool resumeBwdPlayback = true; - bool resumePlayback = true; - int incomingFramesTSQSize = 0; -}; +}; \ No newline at end of file diff --git a/base/include/H264EncoderV4L2.h b/base/include/H264EncoderV4L2.h index 694dcad1c..8b5db5f8f 100644 --- a/base/include/H264EncoderV4L2.h +++ b/base/include/H264EncoderV4L2.h @@ -7,15 +7,12 @@ class H264EncoderV4L2Helper; class H264EncoderV4L2Props : public ModuleProps { public: - H264EncoderV4L2Props(bool _enableMotionVectors = false, int _motionVectorThreshold = 5): targetKbps(1024) + H264EncoderV4L2Props(): targetKbps(1024) { - enableMotionVectors = _enableMotionVectors; - motionVectorThreshold = _motionVectorThreshold; + } uint32_t targetKbps; - bool enableMotionVectors = false; - int motionVectorThreshold = 5; }; class H264EncoderV4L2 : public Module @@ -39,6 +36,6 @@ class H264EncoderV4L2 : public Module std::shared_ptr mHelper; H264EncoderV4L2Props mProps; - std::string motionVectorFramePinId; - std::string h264FrameOutputPinId; + framemetadata_sp mOutputMetadata; + std::string mOutputPinId; }; diff --git a/base/include/H264EncoderV4L2Helper.h b/base/include/H264EncoderV4L2Helper.h index 0e38c2a4b..21f42ab9e 100644 --- a/base/include/H264EncoderV4L2Helper.h +++ b/base/include/H264EncoderV4L2Helper.h @@ -1,18 +1,22 @@ #pragma once -#include -#include "ExtFrame.h" #include "AV4L2ElementPlane.h" #include "V4L2CUYUV420Converter.h" -#include + +#include "ExtFrame.h" +#include +#include +#include + class H264EncoderV4L2Helper { public: - typedef std::function SendFrameContainer; - static std::shared_ptr create(enum v4l2_memory memType, uint32_t pixelFormat, uint32_t width, uint32_t height, uint32_t step, uint32_t bitrate, bool enableMotionVectors, int motionVectorThreshold, uint32_t fps, std::string h264FrameOutputPinId, std::string motionVectorFramePinId, framemetadata_sp h264Metadata, std::function makeFrame, SendFrameContainer sendFrameContainer); + typedef std::function SendFrame; + + static std::shared_ptr create(enum v4l2_memory memType, uint32_t pixelFormat, uint32_t width, uint32_t height, uint32_t step, uint32_t bitrate, uint32_t fps, SendFrame sendFrame); - H264EncoderV4L2Helper(enum v4l2_memory memType, uint32_t pixelFormat, uint32_t width, uint32_t height, uint32_t step, uint32_t bitrate, bool enableMotionVectors, int motionVectorThreshold, uint32_t fps,std::string h264FrameOutputPinId, std::string motionVectorFramePinId, framemetadata_sp h264Metadata, std::function makeFrame, SendFrameContainer sendFrameContainer); + H264EncoderV4L2Helper(enum v4l2_memory memType, uint32_t pixelFormat, uint32_t width, uint32_t height, uint32_t step, uint32_t bitrate, uint32_t fps, SendFrame sendFrame); ~H264EncoderV4L2Helper(); void stop(); @@ -31,8 +35,6 @@ class H264EncoderV4L2Helper void setLevel(); void setFrameRate(uint32_t framerate_num, uint32_t framerate_den); - int setExtControlsMV(v4l2_ext_controls &ctl); - int enableMotionVectorReporting(); void initEncoderParams(uint32_t bitrate, uint32_t fps); int setExtControls(v4l2_ext_control &control); @@ -40,26 +42,17 @@ class H264EncoderV4L2Helper void reuseCatureBuffer(ExtFrame *pointer, uint32_t index, std::shared_ptr self); bool processEOS(); - int getExtControls(v4l2_ext_controls &ctl); - int getMotionVectors(uint32_t buffer_index, - v4l2_ctrl_videoenc_outputbuf_metadata_MV &enc_mv_metadata); - void serializeMotionVectors(v4l2_ctrl_videoenc_outputbuf_metadata_MV enc_mv_metadata, frame_container &frames); + private: std::shared_ptr mSelf; int mFD; std::unique_ptr mOutputPlane; std::unique_ptr mCapturePlane; - boost::object_pool frame_opool; - SendFrameContainer mSendFrameContainer; - int mWidth = 0; - int mHeight = 0; - bool enableMotionVectors; - int motionVectorThreshold; - std::string h264FrameOutputPinId; - std::string motionVectorFramePinId; - framemetadata_sp h264Metadata; - std::function makeFrame; + + std::shared_ptr> frame_opool; + SendFrame mSendFrame; + std::unique_ptr mConverter; -protected: - std::queue incomingTimeStamp; + std::recursive_mutex mPoolMutex; + std::atomic mShuttingDown{false}; }; \ No newline at end of file diff --git a/base/include/NvTransform.h b/base/include/NvTransform.h index 05c90723e..5ccea63a4 100644 --- a/base/include/NvTransform.h +++ b/base/include/NvTransform.h @@ -5,58 +5,86 @@ class NvTransformProps : public ModuleProps { public: - enum NvTransformFilter - { - NEAREST=0, // transform filter nearest. - BILINEAR, // transform filter bilinear. - TAP_5, // transform filter 5 tap. - TAP_10, // transform filter 10 tap. - SMART, // transform filter smart. - NICEST // transform filter nicest. - }; - - NvTransformProps(ImageMetadata::ImageType _imageType) : top(0) , left(0) , width(0) , height(0) - { - imageType = _imageType; - scaleHeight = 1; - scaleWidth = 1; - filterType = NvTransformFilter::SMART; - } - NvTransformProps(ImageMetadata::ImageType _imageType, int _width, int _height) : top(0) , left(0) , width(_width) , height(_height) - { - imageType = _imageType; - scaleHeight = 1; - scaleWidth = 1; - filterType = NvTransformFilter::SMART; - } - NvTransformProps(ImageMetadata::ImageType _imageType, int _width, int _height, float _scaleWidth, float _scaleHeight, NvTransformFilter _filterType) : top(0) , left(0) , width(_width) , height(_height) - { - imageType = _imageType; - filterType = _filterType; - scaleHeight = _scaleHeight; - scaleWidth = _scaleWidth; - } - NvTransformProps(ImageMetadata::ImageType _imageType, int _width, int _height, int _top , int _left) : top(_top) , left(_left) , width(_width) , height(_height) - { - imageType = _imageType; - scaleHeight = 1; - scaleWidth = 1; - filterType = NvTransformFilter::SMART; - } - NvTransformProps(ImageMetadata::ImageType _imageType, int _width, int _height, int _top , int _left, float _scaleWidth, float _scaleHeight, NvTransformFilter _filterType) : top(_top) , left(_left) , width(_width) , height(_height) - { - imageType = _imageType; - filterType = _filterType; - scaleHeight = _scaleHeight; - scaleWidth = _scaleWidth; - } - ImageMetadata::ImageType imageType; - int top,left,width,height; - NvTransformFilter filterType; - float scaleWidth, scaleHeight; // scaleWidth and scaleHeight are factor of width and height , - //1 means no change 0.5 means half of actual dimension ,2 means twice of actual dimension + enum class NvRotation + { + None_ = 0, + Rotate90 = 90, + Rotate180 = 180, + Rotate270 = 270 + }; + + enum class NvFlip + { + None_ = 0, + FlipX = 1, + FlipY = 2 + }; + + // Default crop constructor + NvTransformProps(ImageMetadata::ImageType _imageType) + : top(0), left(0), width(0), height(0), + rotation(NvRotation::None_), flip(NvFlip::None_) + { + imageType = _imageType; + } + + // Crop with width and height + NvTransformProps(ImageMetadata::ImageType _imageType, int _width, int _height) + : top(0), left(0), width(_width), height(_height), + rotation(NvRotation::None_), flip(NvFlip::None_) + { + imageType = _imageType; + } + + // Crop with width, height, top, left + NvTransformProps(ImageMetadata::ImageType _imageType, int _width, int _height, int _top, int _left) + : top(_top), left(_left), width(_width), height(_height), + rotation(NvRotation::None_), flip(NvFlip::None_) + { + imageType = _imageType; + } + + // Rotation constructor + NvTransformProps(ImageMetadata::ImageType _imageType, NvRotation _rotation) + : top(0), left(0), width(0), height(0), + rotation(_rotation),flip(NvFlip::None_) + { + imageType = _imageType; + } + + // Flip constructor + NvTransformProps(ImageMetadata::ImageType _imageType, NvFlip _flip) + : top(0), left(0), width(0), height(0), + rotation(NvRotation::None_), flip(_flip) + { + imageType = _imageType; + } + + //crop with rotation + NvTransformProps(ImageMetadata::ImageType _imageType, int _width, int _height, int _top, int _left, NvRotation _rotation) + : top(_top), left(_left), width(_width), height(_height), + rotation(_rotation), flip(NvFlip::None_) + { + imageType = _imageType; + } + + //crop with flip + NvTransformProps(ImageMetadata::ImageType _imageType, int _width, int _height, int _top, int _left, NvFlip _flip) + : top(_top), left(_left), width(_width), height(_height), + rotation(NvRotation::None_), flip(_flip) + { + imageType = _imageType; + } + + + + ImageMetadata::ImageType imageType; + int top, left, width, height; + NvRotation rotation; + NvFlip flip; }; + class NvTransform : public Module { diff --git a/base/src/DMAFDWrapper.cpp b/base/src/DMAFDWrapper.cpp index 72262620a..1a7f3c4c9 100644 --- a/base/src/DMAFDWrapper.cpp +++ b/base/src/DMAFDWrapper.cpp @@ -3,16 +3,17 @@ #include "nvbufsurface.h" #include "Logger.h" #include "AIPExceptions.h" +#include #include "cuda_runtime.h" DMAFDWrapper *DMAFDWrapper::create(int index, int width, int height, -NvBufSurfaceColorFormat colorFormat, -NvBufSurfaceLayout layout, EGLDisplay eglDisplay) + NvBufSurfaceColorFormat colorFormat, + NvBufSurfaceLayout layout, EGLDisplay eglDisplay) { DMAFDWrapper *buffer = new DMAFDWrapper(index, eglDisplay); if (!buffer) - { + { return nullptr; } @@ -23,7 +24,7 @@ NvBufSurfaceLayout layout, EGLDisplay eglDisplay) inputParams.params.layout = layout; inputParams.params.colorFormat = colorFormat; inputParams.params.memType = NVBUF_MEM_SURFACE_ARRAY; - inputParams.memtag = NvBufSurfaceTag_VIDEO_DEC; + inputParams.memtag = NvBufSurfaceTag_CAMERA; if (NvBufSurfaceAllocate(&buffer->m_surf, 1, &inputParams)) { @@ -31,6 +32,7 @@ NvBufSurfaceLayout layout, EGLDisplay eglDisplay) delete buffer; return nullptr; } + buffer->m_surf->numFilled = 1; buffer->m_fd = buffer->m_surf->surfaceList[0].bufferDesc; @@ -46,7 +48,6 @@ NvBufSurfaceLayout layout, EGLDisplay eglDisplay) // JP5: Set hostPtr to mapped address for plane 0 buffer->hostPtr = buffer->m_surf->surfaceList[0].mappedAddr.addr[0]; - if (colorFormat == NVBUF_COLOR_FORMAT_NV12 || colorFormat == NVBUF_COLOR_FORMAT_YUV420) { @@ -59,25 +60,7 @@ NvBufSurfaceLayout layout, EGLDisplay eglDisplay) } // JP5: Set hostPtrU to mapped address for plane 1 - // For NV12, UV plane comes after Y plane in memory - // For NV12, use the actual mapped address for UV plane - // NvBufSurfaceCopy copies to addr[1], not to Y + offset - if (colorFormat == NVBUF_COLOR_FORMAT_NV12) { - // Use the actual mapped UV address, not calculated offset - buffer->hostPtrU = buffer->m_surf->surfaceList[0].mappedAddr.addr[1]; - LOG_ERROR << "[DMAFDWrapper] NV12 UV pointer using mapped addr[1]:"; - LOG_ERROR << " Y ptr = " << buffer->hostPtr << " UV ptr = " << buffer->hostPtrU; - - // Verify if addr[1] is valid - if (buffer->hostPtrU == nullptr) { - LOG_ERROR << "[DMAFDWrapper] WARNING: UV addr[1] is NULL, calculating offset"; - uint32_t yPitch = buffer->m_surf->surfaceList[0].planeParams.pitch[0]; - uint32_t yHeight = buffer->m_surf->surfaceList[0].planeParams.height[0]; - buffer->hostPtrU = (uint8_t*)buffer->hostPtr + (yPitch * yHeight); - } - } else { - buffer->hostPtrU = buffer->m_surf->surfaceList[0].mappedAddr.addr[1]; - } + buffer->hostPtrU = buffer->m_surf->surfaceList[0].mappedAddr.addr[1]; } if (colorFormat == NVBUF_COLOR_FORMAT_YUV420) @@ -94,142 +77,138 @@ NvBufSurfaceLayout layout, EGLDisplay eglDisplay) buffer->hostPtrV = buffer->m_surf->surfaceList[0].mappedAddr.addr[2]; } - - - // if (colorFormat != NvBufferColorFormat_UYVY) - //{ - // buffer->eglImage = NvEGLImageFromFd(eglDisplay, buffer->m_fd); - // if (buffer->eglImage == EGL_NO_IMAGE_KHR) - // { - // LOG_ERROR << "Failed to create eglImage"; - // delete buffer; - // return nullptr; - // } - if (NvBufSurfaceMapEglImage(buffer->m_surf, 0) != 0) + // Map NvBufSurface to EGLImage for JP6.2 CUDA interop + NvBufSurface *surf = buffer->m_surf; + if (NvBufSurfaceMapEglImage(surf, 0) != 0) { - LOG_ERROR << "NvBufSurfaceMapEglImage Error"; - // Clean up resources before exiting. - NvBufSurfaceDestroy(buffer->m_surf); + LOG_ERROR << "NvBufSurfaceMapEglImage failed"; delete buffer; return nullptr; } - buffer->eglImage = buffer->m_surf->surfaceList[0].mappedAddr.eglImage; - if (buffer->eglImage == EGL_NO_IMAGE_KHR) + buffer->eglImage = surf->surfaceList[0].mappedAddr.eglImage; + LOG_INFO << "Mapped EGL image from NvBufSurface. FD: " << buffer->m_fd + << " EGLImage: " << buffer->eglImage; + + cudaFree(0); + buffer->cudaPtr = DMAUtils::getCudaPtr(buffer->eglImage, &buffer->pResource, &buffer->eglFrame); + + if (buffer->cudaPtr == nullptr) { - LOG_ERROR << "Failed to create eglImage from NvBufSurface"; - NvBufSurfaceUnMapEglImage(buffer->m_surf, 0); // Unmap the EGL image. - NvBufSurfaceDestroy(buffer->m_surf); + LOG_ERROR << "Failed to get CUDA pointer from EGL image"; delete buffer; return nullptr; } - // cudaFree(0); - // buffer->cudaPtr = DMAUtils::getCudaPtr(buffer->eglImage, &buffer->pResource, buffer->eglFrame, eglDisplay); - cudaFree(0); - buffer->cudaPtr = DMAUtils::getCudaPtr(buffer->eglImage, &buffer->pResource, &buffer->eglFrame); - - - return buffer; + + LOG_INFO << "Successfully created CUDA pointer: " << (void*)buffer->cudaPtr; + + return buffer; } DMAFDWrapper::DMAFDWrapper(int _index, EGLDisplay _eglDisplay) : eglImage(EGL_NO_IMAGE_KHR), -m_fd(-1), -m_surf(nullptr), -index(_index), -eglDisplay(_eglDisplay), -hostPtr(nullptr), -hostPtrU(nullptr), -hostPtrV(nullptr), -cudaPtr(nullptr) + m_fd(-1), + m_surf(nullptr), + index(_index), + eglDisplay(_eglDisplay), + hostPtr(nullptr), + hostPtrU(nullptr), + hostPtrV(nullptr), + cudaPtr(nullptr) { } DMAFDWrapper::~DMAFDWrapper() { -if (eglImage != EGL_NO_IMAGE_KHR) -{ - //cudaFree(0); - //DMAUtils::freeCudaPtr(eglImage, &pResource, m_surf, eglDisplay); -} + if (eglImage != EGL_NO_IMAGE_KHR) + { + if (m_surf) + { + auto res_unmap_egl = NvBufSurfaceUnMapEglImage(m_surf, 0); + if (res_unmap_egl) + { + LOG_ERROR << "NvBufSurfaceUnMapEglImage Error: " << res_unmap_egl; + } + } + } -if (hostPtr) -{ -auto res = NvBufSurfaceUnMap(getNvBufSurface(), 0, 0); -if (res) -{ -LOG_ERROR << "NvBufSurfaceUnMap Error<>" << res; -} -} + if (hostPtr) + { + auto res = NvBufSurfaceUnMap(getNvBufSurface(), 0, 0); + if (res) + { + LOG_ERROR << "NvBufSurfaceUnMap Error<>" << res; + } + } -if (hostPtrU) -{ -auto res = NvBufSurfaceUnMap(getNvBufSurface(), 0, 1); -if (res) -{ -LOG_ERROR << "NvBufSurfaceUnMap Error<>" << res; -} -} + if (hostPtrU) + { + auto res = NvBufSurfaceUnMap(getNvBufSurface(), 0, 1); + if (res) + { + LOG_ERROR << "NvBufSurfaceUnMap Error<>" << res; + } + } -if (hostPtrV) -{ -auto res = NvBufSurfaceUnMap(getNvBufSurface(), 0, 2); -if (res) -{ -LOG_ERROR << "NvBufSurfaceUnMap Error<>" << res; -} -} + if (hostPtrV) + { + auto res = NvBufSurfaceUnMap(getNvBufSurface(), 0, 2); + if (res) + { + LOG_ERROR << "NvBufSurfaceUnMap Error<>" << res; + } + } -if (m_surf) -{ -NvBufSurfaceDestroy(m_surf); -m_surf = nullptr; -m_fd = -1; -} + if (m_surf) + { + NvBufSurfaceDestroy(m_surf); + m_surf = nullptr; + m_fd = -1; + } } void *DMAFDWrapper::getHostPtr() { -return hostPtr; + return hostPtr; } void *DMAFDWrapper::getHostPtrY() { -return getHostPtr(); + return getHostPtr(); } void *DMAFDWrapper::getHostPtrU() { -return hostPtrU; + return hostPtrU; } void *DMAFDWrapper::getHostPtrV() { -return hostPtrV; + return hostPtrV; } void *DMAFDWrapper::getHostPtrUV() { -return getHostPtrU(); + return getHostPtrU(); } void *DMAFDWrapper::getCudaPtr() const { -return cudaPtr; + return cudaPtr; } int DMAFDWrapper::getIndex() const { -return index; + return index; } const void *DMAFDWrapper::getClientData() const { -return clientData; + return clientData; } void DMAFDWrapper::setClientData(const void *_clientData) { -clientData = _clientData; -} + clientData = _clientData; +} \ No newline at end of file diff --git a/base/src/DMAUtils.cpp b/base/src/DMAUtils.cpp index b520efb81..e58d9761f 100644 --- a/base/src/DMAUtils.cpp +++ b/base/src/DMAUtils.cpp @@ -68,3 +68,23 @@ void DMAUtils::freeCudaPtr(EGLImageKHR eglImage, CUgraphicsResource *pResource, LOG_ERROR << "NvBufSurfaceDestroy Error: " << res_destroy; } } +uint8_t* DMAUtils::getCudaPtrForFD(int fd, EGLImageKHR &eglImage, CUgraphicsResource *pResource, CUeglFrame eglFrame, EGLDisplay eglDisplay){ + NvBufSurface *surf = nullptr; + if (NvBufSurfaceFromFd(fd, (void**)&surf) != 0) { + LOG_ERROR << "Failed to create NvBufSurface from file descriptor"; + return nullptr; + } + if (NvBufSurfaceMapEglImage(surf, 0) != 0) { + LOG_ERROR << "NvBufSurfaceMapEglImage Error"; + NvBufSurfaceDestroy(surf); + return nullptr; + } + eglImage = surf->surfaceList[0].mappedAddr.eglImage; + if (eglImage == EGL_NO_IMAGE_KHR) { + LOG_ERROR << "Failed to get EGL image from NvBufSurface"; + NvBufSurfaceUnMapEglImage(surf, 0); + NvBufSurfaceDestroy(surf); + return nullptr; + } + return getCudaPtr(eglImage, pResource, &eglFrame); +} \ No newline at end of file diff --git a/base/src/EglRenderer.cpp b/base/src/EglRenderer.cpp index 50a563191..5dfd4e495 100644 --- a/base/src/EglRenderer.cpp +++ b/base/src/EglRenderer.cpp @@ -2,118 +2,192 @@ #include "EglRenderer.h" #include "ApraNvEglRenderer.h" #include "DMAFDWrapper.h" -#include "Command.h" +#include +#include +#include +#include +#include +#include +#include class EglRenderer::Detail { - public: - Detail(uint32_t _x_offset, uint32_t _y_offset, uint32_t _width, uint32_t _height , bool _displayOnTop): x_offset(_x_offset), y_offset(_y_offset), width(_width), height(_height), displayOnTop(_displayOnTop) {} - ~Detail() + Detail(uint32_t _x_offset , uint32_t _y_offset , + uint32_t _width , uint32_t _height , + const EglRendererProps::TextInfo& _text, + const EglRendererProps::ImageInfo& _image, + float _opacity ,bool _mask) + : x_offset(_x_offset), y_offset(_y_offset), + width(_width), height(_height), + text(_text), image(_image), opacity(_opacity),mask(_mask) + {} + + ~Detail() { - if(renderer) + if (renderer) { delete renderer; + renderer = nullptr; } } - bool init(uint32_t _height, uint32_t _width , bool _displayOnTop){ + bool init(uint32_t _height, uint32_t _width) + { + LOG_DEBUG << "WILL INITIALIZE NEW WINDOW"; uint32_t displayHeight, displayWidth; - NvEglRenderer::getDisplayResolution(displayWidth,displayHeight); - if(height!=0 && width!=0){ - x_offset += (displayWidth-width)/2; - y_offset += (displayHeight-height)/2; - renderer = NvEglRenderer::createEglRenderer(__TIMESTAMP__, width, height, x_offset, y_offset,displayOnTop); - }else{ - x_offset += (displayWidth-_width)/2; - y_offset += (displayHeight-_height)/2; - renderer = NvEglRenderer::createEglRenderer(__TIMESTAMP__, _width, _height, x_offset, y_offset, displayOnTop); + NvEglRenderer::getDisplayResolution(displayWidth, displayHeight); + + uint32_t renderW = (width == 0) ? _width : width; + uint32_t renderH = (height == 0) ? _height : height; + + if (width == 0 || height == 0) + { + x_offset += (displayWidth - renderW) / 2; + y_offset += (displayHeight - renderH) / 2; } + + LOG_DEBUG << "X_OFFSET " << x_offset << " y_offset " << y_offset; + + renderer = NvEglRenderer::createEglRenderer( + __TIMESTAMP__, + renderW, renderH, x_offset, y_offset, + text.fontPath.c_str(), text.message.c_str(), + text.scale, + text.color[0], text.color[1], text.color[2], + text.fontSize, + text.position.first, text.position.second, + image.path, + image.position.first, image.position.second, + image.size.first, image.size.second, + opacity,mask, + image.opacity,text.opacity + ); + if (!renderer) { - LOG_ERROR << "Failed to create EGL renderer"; + LOG_INFO << "Failed to create EGL renderer"; return false; } + m_isEglWindowCreated = true; return true; } bool destroyWindow() { - if(renderer) + LOG_DEBUG << "GOING TO DESTROY WINDOW"; + if (renderer) { + LOG_DEBUG << "Window Exist"; + m_isEglWindowCreated = false; delete renderer; + renderer = nullptr; } + return true; + } + + bool shouldTriggerSOS() const + { + return (!m_isEglWindowCreated) || (!renderer); } - bool shouldTriggerSOS() - { - return !renderer; - } + // --- Renderer and Window Info --- + NvEglRenderer *renderer = nullptr; + bool m_isEglWindowCreated = false; + + // --- Geometry --- + uint32_t x_offset = 0; + uint32_t y_offset = 0; + uint32_t width = 0; + uint32_t height = 0; + + // --- Rendering Data --- + EglRendererProps::TextInfo text; + EglRendererProps::ImageInfo image; + + //Display + float opacity = 1.0f; + bool mask = false; + - NvEglRenderer *renderer = nullptr; - uint32_t x_offset,y_offset,width,height; - bool displayOnTop; + std::chrono::milliseconds m_frameDelay{27}; }; + EglRenderer::EglRenderer(EglRendererProps props) : Module(SINK, "EglRenderer", props) { - mDetail.reset(new Detail(props.x_offset,props.y_offset, props.width, props.height,props.displayOnTop)); + mDetail.reset(new Detail(props.x_offset, props.y_offset, props.width, props.height,props.text,props.image,props.opacity,props.mask)); } EglRenderer::~EglRenderer() {} -bool EglRenderer::init(){ +bool EglRenderer::init() +{ if (!Module::init()) - { - return false; - } + { + return false; + } return true; } -bool EglRenderer::process(frame_container& frames) +bool EglRenderer::process(frame_container &frames) { auto frame = frames.cbegin()->second; - if (isFrameEmpty(frame)) - { - return true; - } - - mDetail->renderer->render((static_cast(frame->data()))->getFd()); + // LOG_ERROR << "Egl Frame TimeStamp is " << frame->timestamp; + if (isFrameEmpty(frame)) + { + return true; + } + if (mDetail->renderer) + { + mDetail->renderer->render((static_cast(frame->data()))->getFd()); + // waitForNextFrame(); + } + else + { + LOG_INFO << "renderer not found for rendering frames =============================>>>>>>>>>"; + } return true; } -bool EglRenderer::validateInputPins(){ +bool EglRenderer::validateInputPins() +{ if (getNumberOfInputPins() != 1) - { - LOG_ERROR << "<" << getId() << ">::validateInputPins size is expected to be 1. Actual<" << getNumberOfInputPins() << ">"; - return false; - } + { + LOG_INFO << "<" << getId() << ">::validateInputPins size is expected to be 1. Actual<" << getNumberOfInputPins() << ">"; + return false; + } framemetadata_sp metadata = getFirstInputMetadata(); - FrameMetadata::MemType memType = metadata->getMemType(); - if (memType != FrameMetadata::MemType::DMABUF) - { - LOG_ERROR << "<" << getId() << ">::validateInputPins input memType is expected to be DMABUF. Actual<" << memType << ">"; - return false; - } + FrameMetadata::MemType memType = metadata->getMemType(); + if (memType != FrameMetadata::MemType::DMABUF) + { + LOG_INFO << "<" << getId() << ">::validateInputPins input memType is expected to be DMABUF. Actual<" << memType << ">"; + return false; + } return true; } -bool EglRenderer::term(){ +bool EglRenderer::term() +{ bool res = Module::term(); return res; } -bool EglRenderer::processSOS(frame_sp& frame) +bool EglRenderer::processSOS(frame_sp &frame) { auto inputMetadata = frame->getMetadata(); auto frameType = inputMetadata->getFrameType(); int width = 0; - int height =0; - + int height = 0; + int pitch = 0; + int fourcc = 0; + int offset0 = 0, offset1 = 0, offset2 = 0; + int pitch1_dmabuf = 0, pitch2_dmabuf = 0; + switch (frameType) { case FrameMetadata::FrameType::RAW_IMAGE: @@ -121,6 +195,25 @@ bool EglRenderer::processSOS(frame_sp& frame) auto metadata = FrameMetadataFactory::downcast(inputMetadata); width = metadata->getWidth(); height = metadata->getHeight(); + pitch = static_cast(metadata->getStep()); + switch (metadata->getImageType()) + { + case ImageMetadata::RGBA: + fourcc = DRM_FORMAT_ABGR8888; // Tegra commonly expects ABGR for RGBA memory + break; + case ImageMetadata::BGRA: + fourcc = DRM_FORMAT_BGRA8888; // Correct mapping for BGRA layouts + break; + case ImageMetadata::UYVY: + fourcc = DRM_FORMAT_UYVY; + break; + case ImageMetadata::YUYV: + fourcc = DRM_FORMAT_YUYV; + break; + default: + fourcc = DRM_FORMAT_RGBA8888; + break; + } } break; case FrameMetadata::FrameType::RAW_IMAGE_PLANAR: @@ -128,35 +221,90 @@ bool EglRenderer::processSOS(frame_sp& frame) auto metadata = FrameMetadataFactory::downcast(inputMetadata); width = metadata->getWidth(0); height = metadata->getHeight(0); + + // Use actual dmabuf plane pitches/offsets from producer + auto dma = static_cast(frame->data()); + auto surf = dma->getNvBufSurface(); + auto &fdParams = surf->surfaceList[0]; + + pitch = static_cast(fdParams.planeParams.pitch[0]); + pitch1_dmabuf = static_cast(fdParams.planeParams.pitch[1]); + pitch2_dmabuf = static_cast(fdParams.planeParams.pitch[2]); + + offset0 = static_cast(fdParams.planeParams.offset[0]); + offset1 = static_cast(fdParams.planeParams.offset[1]); + offset2 = static_cast(fdParams.planeParams.offset[2]); + + if (metadata->getImageType() == ImageMetadata::NV12) + { + fourcc = DRM_FORMAT_NV12; + } + else if (metadata->getImageType() == ImageMetadata::YUV420) + { + fourcc = DRM_FORMAT_YUV420; + } } break; default: throw AIPException(AIP_FATAL, "Unsupported FrameType<" + std::to_string(frameType) + ">"); } - mDetail->init(height,width,mDetail->displayOnTop); - return true; + mDetail->init(height, width); + if (mDetail->renderer && fourcc != 0 && pitch != 0) + { + if (frameType == FrameMetadata::FrameType::RAW_IMAGE_PLANAR && + (fourcc == DRM_FORMAT_NV12 || fourcc == DRM_FORMAT_YUV420)) + { + int pitch1 = pitch1_dmabuf; + int pitch2 = (fourcc == DRM_FORMAT_YUV420) ? pitch2_dmabuf : 0; + int numPlanes = (fourcc == DRM_FORMAT_NV12) ? 2 : 3; + mDetail->renderer->setImportParamsPlanar( + fourcc, + width, + height, + pitch, + offset0, + pitch1, + offset1, + pitch2, + offset2, + numPlanes); + } + else + { + mDetail->renderer->setImportParams(pitch, fourcc, 0, width, height); + } + } + return true; } bool EglRenderer::shouldTriggerSOS() { - return mDetail->shouldTriggerSOS(); + return mDetail->shouldTriggerSOS(); } bool EglRenderer::handleCommand(Command::CommandType type, frame_sp &frame) { if (type == Command::CommandType::DeleteWindow) { + LOG_DEBUG << "Got Command TO Destroy Window"; EglRendererCloseWindow cmd; getCommand(cmd, frame); - mDetail->destroyWindow(); + if (mDetail->m_isEglWindowCreated) + { + mDetail->destroyWindow(); + } return true; } else if (type == Command::CommandType::CreateWindow) { + LOG_DEBUG << "GOT CREATE WINDOW COMMAND"; EglRendererCreateWindow cmd; getCommand(cmd, frame); - mDetail->init(cmd.width, cmd.height,mDetail->displayOnTop); + if(!mDetail->m_isEglWindowCreated) + { + mDetail->init(cmd.height, cmd.width); + } return true; } return Module::handleCommand(type, frame); @@ -165,14 +313,35 @@ bool EglRenderer::handleCommand(Command::CommandType type, frame_sp &frame) bool EglRenderer::closeWindow() { EglRendererCloseWindow cmd; - return queueCommand(cmd); + return queueCommand(cmd, false); } bool EglRenderer::createWindow(int width, int height) { + LOG_DEBUG << "GOT REQUEST TO CREATE WINDOW"; EglRendererCreateWindow cmd; cmd.width = width; cmd.height = height; - return queueCommand(cmd); + return queueCommand(cmd, false); +} + +bool EglRenderer::processEOS(string &pinId) +{ + if (m_callbackFunction) + { + LOG_DEBUG << "WILL CALL CALLBACK FUNCTIONS WILL CALL CALLBACK FUNCTIONS WILL CALL CALLBACK FUNCTIONS WILL CALL CALLBACK FUNCTIONS WILL CALL CALLBACK FUNCTIONS WILL CALL CALLBACK FUNCTIONSWILL CALL CALLBACK FUNCTIONS WILL CALL CALLBACK FUNCTIONS WILL CALL CALLBACK FUNCTIONS"; + m_callbackFunction(); + } + return true; } +void EglRenderer::waitForNextFrame() +{ + std::this_thread::sleep_for(mDetail->m_frameDelay); +} + +bool EglRenderer::statusOfEglWindow() +{ + // LOG_ERROR << "Egl Renderer " << mDetail->m_isEglWindowCreated; + return mDetail->m_isEglWindowCreated; +} \ No newline at end of file diff --git a/base/src/H264Decoder.cpp b/base/src/H264Decoder.cpp index 685ec5116..d86755f96 100644 --- a/base/src/H264Decoder.cpp +++ b/base/src/H264Decoder.cpp @@ -12,7 +12,6 @@ #include "Frame.h" #include "Logger.h" #include "Utils.h" -#include "H264Utils.h" class H264Decoder::Detail { @@ -26,55 +25,59 @@ class H264Decoder::Detail helper.reset(); } - bool setMetadata(framemetadata_sp& metadata, frame_sp frame, std::function send, std::function makeFrame) + bool setMetadata(framemetadata_sp& metadata, frame_sp frame, std::function send, std::function makeFrame, std::function flushModuleQueue) { - auto type = H264Utils::getNALUType((char*)frame->data()); - if (type == H264Utils::H264_NAL_TYPE_IDR_SLICE || type == H264Utils::H264_NAL_TYPE_SEQ_PARAM) + if (metadata->getFrameType() == FrameMetadata::FrameType::H264_DATA) { - if (metadata->getFrameType() == FrameMetadata::FrameType::H264_DATA) - { - sps_pps_properties p; - H264ParserUtils::parse_sps(((const char*)frame->data()) + 5, frame->size() > 5 ? frame->size() - 5 : frame->size(), &p); - mWidth = p.width; - mHeight = p.height; - - auto h264Metadata = framemetadata_sp(new H264Metadata(mWidth, mHeight)); - auto rawOutMetadata = FrameMetadataFactory::downcast(h264Metadata); - rawOutMetadata->setData(*rawOutMetadata); -#ifdef ARM64 - helper.reset(new h264DecoderV4L2Helper()); - return helper->init(send, makeFrame); -#else - helper.reset(new H264DecoderNvCodecHelper(mWidth, mHeight)); - return helper->init(send, makeFrame); -#endif - } - - else - { - throw AIPException(AIP_NOTIMPLEMENTED, "Unknown frame type"); - } + sps_pps_properties p; + H264ParserUtils::parse_sps(((const char*)frame->data()) + 5, frame->size() > 5 ? frame->size() - 5 : frame->size(), &p); + mWidth = p.width; + mHeight = p.height; + + auto h264Metadata = framemetadata_sp(new H264Metadata(mWidth, mHeight)); + auto rawOutMetadata = FrameMetadataFactory::downcast(h264Metadata); + rawOutMetadata->setData(*rawOutMetadata); } + else { - return false; + throw AIPException(AIP_NOTIMPLEMENTED, "Unknown frame type"); } + +#ifdef ARM64 + helper.reset(new h264DecoderV4L2Helper()); + return helper->init(send, makeFrame, flushModuleQueue); +#else + helper.reset(new H264DecoderNvCodecHelper(mWidth, mHeight)); + return helper->init(send, makeFrame);// +#endif } - void compute(void* inputFrameBuffer, size_t inputFrameSize, uint64_t inputFrameTS) + void compute(frame_sp& frame) { - if(helper != nullptr) + if(frame->size()) { - helper->process(inputFrameBuffer, inputFrameSize, inputFrameTS); + helper->process(frame); } } + + void intitliazeSpeedElement(int _playbackFps, float _playbackSpeed, int _gop) + { + LOG_DEBUG << "Decoder is initializing speed factor."; + helper->intitliazeSpeed(_playbackFps, _playbackSpeed, _gop); + } -#ifdef ARM64 - void closeAllThreads(frame_sp eosFrame) + bool flush_frames() { - helper->closeAllThreads(eosFrame); + LOG_DEBUG << "Decoder is flushing frames."; + return helper->flush_frames(); + } + + void terminateHelper() + { + LOG_DEBUG << "Should Free all the resources "; + helper->term_helper(); } -#endif public: int mWidth; int mHeight; @@ -91,7 +94,7 @@ H264Decoder::H264Decoder(H264DecoderProps _props) : Module(TRANSFORM, "H264Decod { mDetail.reset(new Detail(mProps)); #ifdef ARM64 - mOutputMetadata = boost::shared_ptr(new RawImageMetadata(FrameMetadata::MemType::DMABUF)); + mOutputMetadata = boost::shared_ptr(new RawImagePlanarMetadata(FrameMetadata::MemType::DMABUF)); #else mOutputMetadata = boost::shared_ptr(new RawImagePlanarMetadata(RawImageMetadata::MemType::HOST)); #endif @@ -105,7 +108,7 @@ bool H264Decoder::validateInputPins() auto numberOfInputPins = getNumberOfInputPins(); if (numberOfInputPins != 1 && numberOfInputPins != 2) { - LOG_ERROR << "<" << getId() << ">::validateInputPins size is expected to be 1 or 2. Actual<" << getNumberOfInputPins() << ">"; + LOG_INFO << "<" << getId() << ">::validateInputPins size is expected to be 1 or 2. Actual<" << getNumberOfInputPins() << ">"; return false; } @@ -113,7 +116,7 @@ bool H264Decoder::validateInputPins() FrameMetadata::FrameType frameType = metadata->getFrameType(); if (frameType != FrameMetadata::FrameType::H264_DATA) { - LOG_ERROR << "<" << getId() << ">::validateInputPins input frameType is expected to be H264_DATA. Actual<" << frameType << ">"; + LOG_INFO << "<" << getId() << ">::validateInputPins input frameType is expected to be H264_DATA. Actual<" << frameType << ">"; return false; } @@ -124,15 +127,15 @@ bool H264Decoder::validateOutputPins() { if (getNumberOfOutputPins() != 1) { - LOG_ERROR << "<" << getId() << ">::validateOutputPins size is expected to be 1. Actual<" << getNumberOfOutputPins() << ">"; + LOG_INFO << "<" << getId() << ">::validateOutputPins size is expected to be 1. Actual<" << getNumberOfOutputPins() << ">"; return false; } framemetadata_sp metadata = getFirstOutputMetadata(); FrameMetadata::FrameType frameType = metadata->getFrameType(); - if (frameType != FrameMetadata::RAW_IMAGE && frameType != FrameMetadata::RAW_IMAGE_PLANAR) + if (frameType != FrameMetadata::RAW_IMAGE_PLANAR) { - LOG_ERROR << "<" << getId() << ">::validateOutputPins input frameType is expected to be RAW_IMAGE or RAW_IMAGE_PLANAR. Actual<" << frameType << ">"; + LOG_INFO << "<" << getId() << ">::validateOutputPins input frameType is expected to be RAW_IMAGE_PLANAR. Actual<" << frameType << ">"; return false; } @@ -150,528 +153,69 @@ bool H264Decoder::init() { return false; } + return true; } bool H264Decoder::term() { + LOG_DEBUG << "calling decoder term"; #ifdef ARM64 - auto eosFrame = frame_sp(new EoSFrame()); - mDetail->closeAllThreads(eosFrame); + mDetail->terminateHelper(); #endif mDetail.reset(); - return Module::term(); -} - -void* H264Decoder::prependSpsPps(frame_sp& iFrame, size_t& spsPpsFrameSize) -{ - spsPpsFrameSize = iFrame->size() + spsBuffer.size() + ppsBuffer.size() + 8; - uint8_t* spsPpsFrameBuffer = new uint8_t[spsPpsFrameSize]; - char NaluSeprator[4] = { 00 ,00, 00 ,01 }; - auto nalu = reinterpret_cast(NaluSeprator); - memcpy(spsPpsFrameBuffer, nalu, 4); - spsPpsFrameBuffer += 4; - memcpy(spsPpsFrameBuffer, spsBuffer.data(), spsBuffer.size()); - spsPpsFrameBuffer += spsBuffer.size(); - memcpy(spsPpsFrameBuffer, nalu, 4); - spsPpsFrameBuffer += 4; - memcpy(spsPpsFrameBuffer, ppsBuffer.data(), ppsBuffer.size()); - spsPpsFrameBuffer += ppsBuffer.size(); - memcpy(spsPpsFrameBuffer, iFrame->data(), iFrame->size()); - spsPpsFrameBuffer = spsPpsFrameBuffer - spsBuffer.size() - ppsBuffer.size() - 8; - return spsPpsFrameBuffer; -} - -void H264Decoder::clearIncompleteBwdGopTsFromIncomingTSQ(std::deque& latestGop) -{ - while (!latestGop.empty() && !incomingFramesTSQ.empty()) - { - auto deleteItr = std::find(incomingFramesTSQ.begin(), incomingFramesTSQ.end(), latestGop.front()->timestamp); - if (deleteItr != incomingFramesTSQ.end()) - { - incomingFramesTSQ.erase(deleteItr); - latestGop.pop_front(); - } - } -} -void H264Decoder::bufferBackwardEncodedFrames(frame_sp& frame, short naluType) -{ - if (dirChangedToBwd) - { - latestBackwardGop.clear(); - dirChangedToBwd = false; - } - // insert frames into the latest gop until I frame comes. - latestBackwardGop.emplace_back(frame); - H264Utils::H264_NAL_TYPE nalTypeAfterSpsPps = (H264Utils::H264_NAL_TYPE)1; - if(naluType == H264Utils::H264_NAL_TYPE_SEQ_PARAM) - { - nalTypeAfterSpsPps = H264Utils::getNalTypeAfterSpsPps(frame->data(), frame->size()); - } - // The latest GOP is complete when I Frame comes up, move the GOP to backwardGopBuffer where all the backward GOP's are buffered - if (naluType == H264Utils::H264_NAL_TYPE_IDR_SLICE || nalTypeAfterSpsPps == H264Utils::H264_NAL_TYPE_IDR_SLICE) - { - foundIFrameOfReverseGop = true; - backwardGopBuffer.push_back(std::move(latestBackwardGop)); - } + return Module::term(); } -void H264Decoder::bufferAndDecodeForwardEncodedFrames(frame_sp& frame, short naluType) +bool H264Decoder::process(frame_container& frames) { - if (dirChangedToFwd) - { - // Whenever the direction changes to forward we just send all the backward buffered GOP's to decoded in a single step . The motive is to send the current forward frame to decoder in the same step. - while (!backwardGopBuffer.empty()) - { - decodeFrameFromBwdGOP(); - } + auto frame = frames.cbegin()->second; - // Whenever direction changes to forward , And the latestBackwardGop is incomplete , then delete the latest backward GOP and remove the frames from incomingFramesTSQ entry as well - if (!latestBackwardGop.empty()) - { - clearIncompleteBwdGopTsFromIncomingTSQ(latestBackwardGop); - } - dirChangedToFwd = false; - } - if(prevFrameInCache) - { - // previous Frame was In Cache & current is not - if (!latestForwardGop.empty()) - { - short naluTypeOfForwardGopFirstFrame = H264Utils::getNALUType((char*)latestForwardGop.front()->data()); - H264Utils::H264_NAL_TYPE nalTypeAfterSpsPpsOfForwardGopFirstFrame = (H264Utils::H264_NAL_TYPE)1; - if(naluTypeOfForwardGopFirstFrame == H264Utils::H264_NAL_TYPE_SEQ_PARAM) - { - nalTypeAfterSpsPpsOfForwardGopFirstFrame = H264Utils::getNalTypeAfterSpsPps(latestForwardGop.front()->data(), latestForwardGop.front()->size()); - } - if (naluTypeOfForwardGopFirstFrame == H264Utils::H264_NAL_TYPE_IDR_SLICE || nalTypeAfterSpsPpsOfForwardGopFirstFrame == H264Utils::H264_NAL_TYPE_IDR_SLICE) - { - // Corner case: Forward :- current frame is not part of latestForwardGOP - if (latestForwardGop.front()->timestamp > frame->timestamp) - { - latestForwardGop.clear(); - } - } - - // Corner case: Forward:- When end of cache hits while in the middle of gop, before decoding the next P frame we need decode the previous frames of that GOP. - // There might be a case where we might have cleared the decoder, in order to start the decoder again we must prepend sps and pps to I frame if not present - if (!latestForwardGop.empty() && naluTypeOfForwardGopFirstFrame == H264Utils::H264_NAL_TYPE_IDR_SLICE) - { - auto iFrame = latestForwardGop.front(); - size_t spsPpsFrameSize; - auto spsPpsFrameBuffer = prependSpsPps(iFrame, spsPpsFrameSize); - mDetail->compute(spsPpsFrameBuffer, spsPpsFrameSize, iFrame->timestamp); - latestForwardGop.pop_front(); - for (auto itr = latestForwardGop.begin(); itr != latestForwardGop.end(); itr++) - { - if (!latestForwardGop.empty() && itr != latestForwardGop.end() && itr->get()->timestamp < frame->timestamp) - { - mDetail->compute(itr->get()->data(), itr->get()->size(), itr->get()->timestamp); - } - } - } - else if (!latestForwardGop.empty() && nalTypeAfterSpsPpsOfForwardGopFirstFrame == H264Utils::H264_NAL_TYPE_IDR_SLICE) - { - for (auto itr = latestForwardGop.begin(); itr != latestForwardGop.end(); itr++) - { - if (!latestForwardGop.empty() && itr != latestForwardGop.end() && itr->get()->timestamp < frame->timestamp) - { - mDetail->compute(itr->get()->data(), itr->get()->size(), itr->get()->timestamp); - } - } - } - } - } - prevFrameInCache = false; + mDetail->compute(frame); - /* buffer fwd GOP and send the current frame */ - // new GOP starts - H264Utils::H264_NAL_TYPE nalTypeAfterSpsPpsOfCurrentFrame = (H264Utils::H264_NAL_TYPE)1; - if(naluType == H264Utils::H264_NAL_TYPE_SEQ_PARAM) - { - nalTypeAfterSpsPpsOfCurrentFrame = H264Utils::getNalTypeAfterSpsPps(frame->data(), frame->size()); - } - if (naluType == H264Utils::H264_NAL_TYPE_IDR_SLICE || nalTypeAfterSpsPpsOfCurrentFrame == H264Utils::H264_NAL_TYPE_IDR_SLICE) - { - latestForwardGop.clear(); - } - - latestForwardGop.emplace_back(frame); + // LOG_DEBUG << "Got H264 Frame"; - - // If direction changed to forward in the middle of GOP (Even the latest gop of backward was half and not decoded) , Then we drop the P frames until next I frame. - // We also remove the entries of P frames from the incomingFramesTSQ. - short latestForwardGopFirstFrameNaluType = H264Utils::getNALUType((char*)latestForwardGop.begin()->get()->data()); - H264Utils::H264_NAL_TYPE naluTypeAfterSpsPpsOfLatestForwardGopFirstFrame = (H264Utils::H264_NAL_TYPE)1; - if(latestForwardGopFirstFrameNaluType == H264Utils::H264_NAL_TYPE_SEQ_PARAM) - { - naluTypeAfterSpsPpsOfLatestForwardGopFirstFrame = H264Utils::getNalTypeAfterSpsPps(latestForwardGop.front()->data(), latestForwardGop.front()->size()); - } - if (latestForwardGopFirstFrameNaluType != H264Utils::H264_NAL_TYPE_IDR_SLICE && naluTypeAfterSpsPpsOfLatestForwardGopFirstFrame != H264Utils::H264_NAL_TYPE_IDR_SLICE) - { - clearIncompleteBwdGopTsFromIncomingTSQ(latestForwardGop); - return; - } - - mDetail->compute(frame->data(), frame->size(), frame->timestamp); - return; -} - -void H264Decoder::decodeFrameFromBwdGOP() -{ - if (!backwardGopBuffer.empty() && !backwardGopBuffer.front().empty() && H264Utils::getNALUType((char*)backwardGopBuffer.front().back()->data()) == H264Utils::H264_NAL_TYPE_IDR_SLICE && prevFrameInCache) - { - auto iFrame = backwardGopBuffer.front().back(); - size_t spsPpsFrameSize; - auto spsPpsFrameBuffer = prependSpsPps(iFrame, spsPpsFrameSize); - mDetail->compute(spsPpsFrameBuffer, spsPpsFrameSize, iFrame->timestamp); - - backwardGopBuffer.front().pop_back(); - - prevFrameInCache = false; - } - - if (!backwardGopBuffer.empty() && !backwardGopBuffer.front().empty()) - { - // For reverse play we sent the frames to the decoder in reverse, As the last frame added in the deque should be sent first (Example : P,P,P,P,P,P,I) - auto itr = backwardGopBuffer.front().rbegin(); - mDetail->compute(itr->get()->data(), itr->get()->size(), itr->get()->timestamp); - backwardGopBuffer.front().pop_back(); - } - if (backwardGopBuffer.size() >= 1 && backwardGopBuffer.front().empty()) - { - backwardGopBuffer.pop_front(); - } - - if (backwardGopBuffer.empty()) - { - foundIFrameOfReverseGop = false; - } -} - -void H264Decoder::saveSpsPps(frame_sp frame) -{ - auto mFrameBuffer = const_buffer(frame->data(), frame->size()); - auto ret = H264Utils::parseNalu(mFrameBuffer); - const_buffer tempSpsBuffer; - const_buffer tempPpsBuffer; - short typeFound; - tie(typeFound, tempSpsBuffer, tempPpsBuffer) = ret; - - if ((tempSpsBuffer.size() != 0) || (tempPpsBuffer.size() != 0)) - { - mHeaderFrame = frame; - spsBuffer = tempSpsBuffer; - ppsBuffer = tempPpsBuffer; - } -} - -bool H264Decoder::process(frame_container& frames) -{ - if(incomingFramesTSQ.size() >= 1000) - { - flushQue(); - } - auto frame = frames.begin()->second; - auto myId = Module::getId(); - auto frameMetadata = frame->getMetadata(); - auto h264Metadata = FrameMetadataFactory::downcast(frameMetadata); - - if (mDirection && !h264Metadata->direction) - { - dirChangedToBwd = true; - resumeBwdPlayback = false; - LOG_INFO<<"Pausing decoder"; - - } - else if (!mDirection && h264Metadata->direction) - { - dirChangedToFwd = true; - resumeFwdPlayback = false; - LOG_INFO<<"Pausing decoder"; - } - else - { - dirChangedToBwd = false; - dirChangedToFwd = false; - } - /* Clear the latest forward gop whenever seek happens bcz there is no buffering for fwd play. - We dont clear backwardGOP because there might be a left over GOP to be decoded. */ - if (h264Metadata->mp4Seek) - { - - latestForwardGop.clear(); - - } - - mDirection = h264Metadata->direction; - short naluType = H264Utils::getNALUType((char*)frame->data()); - - if ((playbackSpeed == 8 || playbackSpeed == 16 || playbackSpeed == 32) && (naluType != H264Utils::H264_NAL_TYPE_IDR_SLICE && naluType != H264Utils::H264_NAL_TYPE_SEQ_PARAM)) - { - if ((currentFps * playbackSpeed) / gop > currentFps) - { - if (iFramesToSkip) - { - iFramesToSkip--; - return true; - } - if (!iFramesToSkip) - { - iFramesToSkip = ((currentFps * playbackSpeed) / gop) / currentFps; - } - } - } - - if (naluType == H264Utils::H264_NAL_TYPE_SEQ_PARAM) - { - saveSpsPps(frame); - } - - //Insert the frames time stamp in TS queue. We send the frames to next modules in the same order. - incomingFramesTSQ.push_back(frame->timestamp); - //If the frame is already present in the decoded output cache then skip the frame decoding. - if (decodedFramesCache.find(frame->timestamp) != decodedFramesCache.end()) - { - //prepend sps and pps if 1st frame is I frame - if (!backwardGopBuffer.empty() && H264Utils::getNALUType((char*)backwardGopBuffer.front().back()->data()) == H264Utils::H264_NAL_TYPE_IDR_SLICE) - { - - auto iFrame = backwardGopBuffer.front().back(); - - size_t spsPpsFrameSize; - auto spsPpsFrameBuffer = prependSpsPps(iFrame, spsPpsFrameSize); - mDetail->compute(spsPpsFrameBuffer, spsPpsFrameSize, iFrame->timestamp); - - backwardGopBuffer.front().pop_back(); - - } - // the buffered GOPs in bwdGOPBuffer needs to need to be processed first - while (!backwardGopBuffer.empty()) - { - decodeFrameFromBwdGOP(); - } - - // if we seeked - if (h264Metadata->mp4Seek) - { - clearIncompleteBwdGopTsFromIncomingTSQ(latestBackwardGop); - } - - if (!latestBackwardGop.empty()) - { - // Corner case: backward :- (I,P,P,P) Here if first two frames are in the cache and last two frames are not in the cache , to decode the last two frames we buffer the full gop and later decode it. - bufferBackwardEncodedFrames(frame, naluType); - sendDecodedFrame(); - return true; - } - - H264Utils::H264_NAL_TYPE nalTypeAfterSpsPpsCurrentFrame = (H264Utils::H264_NAL_TYPE)1; - if(naluType == H264Utils::H264_NAL_TYPE_SEQ_PARAM) - { - nalTypeAfterSpsPpsCurrentFrame = H264Utils::getNalTypeAfterSpsPps(frame->data(), frame->size()); - } - if (mDirection && ((nalTypeAfterSpsPpsCurrentFrame == H264Utils::H264_NAL_TYPE_IDR_SLICE) || (naluType == H264Utils::H264_NAL_TYPE_IDR_SLICE))) - { - latestForwardGop.clear(); - latestForwardGop.push_back(frame); - - } - // dont buffer fwd GOP if I frame has not been recieved (possible in intra GOP direction change cases) - else if (mDirection && !latestForwardGop.empty() && (nalTypeAfterSpsPpsCurrentFrame == H264Utils::H264_NAL_TYPE_IDR_SLICE || H264Utils::getNALUType((char*)latestForwardGop.front()->data()) == H264Utils::H264_NAL_TYPE_IDR_SLICE)) - { - latestForwardGop.push_back(frame); - } - - prevFrameInCache = true; - sendDecodedFrame(); - return true; - } - /* If frame is not in output cache, it needs to be buffered & decoded */ - if (mDirection) - { - //Buffers the latest GOP and send the current frame to decoder. - bufferAndDecodeForwardEncodedFrames(frame, naluType); - } - else - { - //Only buffering of backward GOP happens - bufferBackwardEncodedFrames(frame, naluType); - } - if (foundIFrameOfReverseGop) - { - // The I frame of backward GOP was found , now we send the frames to the decoder one by one in every step - decodeFrameFromBwdGOP(); - } - sendDecodedFrame(); - dropFarthestFromCurrentTs(frame->timestamp); return true; } -void H264Decoder::sendDecodedFrame() -{ - // timestamp in output cache - if (!incomingFramesTSQ.empty() && !decodedFramesCache.empty() && decodedFramesCache.find(incomingFramesTSQ.front()) != decodedFramesCache.end()) - { - auto outFrame = decodedFramesCache[incomingFramesTSQ.front()]; - incomingFramesTSQ.pop_front(); - if (resumeBwdPlayback == false && outFrame->timestamp <= lastFrameSent) - { - LOG_INFO << "resuming decoder"; - resumeBwdPlayback = true; - } - - if (resumeFwdPlayback == false && outFrame->timestamp >= lastFrameSent) - { - LOG_INFO << "resuming decoder"; - resumeFwdPlayback = true; - } - - // while (!decodedFramesCache.empty() && incomingFramesTSQSize >0 && resumePlayback == false){ - // //take decoder frames and keep popping till incomingFramesTSQSize becomes zero - - // incomingFramesTSQ.pop_front(); - // incomingFramesTSQSize -= 1; - // } - // if (incomingFramesTSQSize == 0){ - // resumePlayback = true; - // incomingFramesTSQSize = -1; - // LOG_ERROR<<"Decoder seek playback continues"; - // } - - if (incomingFramesTSQSize > 0){ - incomingFramesTSQSize -= 1; - } - else if (incomingFramesTSQSize == 0){ - resumePlayback = true; - LOG_INFO<<"resuming decoder playback "; - incomingFramesTSQSize = -1; - } - - if(!framesToSkip) - { - frame_container frames; - frames.insert(make_pair(mOutputPinId, outFrame)); - if(resumePlayback && resumeFwdPlayback && resumeBwdPlayback){ - if (!mDirection && lastFrameSent timestamp){ - LOG_ERROR <<"Sending newer frame:" << "lastFrameSent: "<timestamp; - } - else if (mDirection && lastFrameSent >outFrame->timestamp){ - LOG_ERROR <<"Sending older frame:" << "lastFrameSent: "<timestamp; - } - send(frames); - auto myId = Module::getId(); - lastFrameSent = outFrame->timestamp; - if (lastFrameSent == 0){ - LOG_ERROR<<"something is wrong"; - } - } - } - if(playbackSpeed == 2 || playbackSpeed == 4) - { - if(!framesToSkip) - { - framesToSkip = (currentFps * playbackSpeed) / currentFps ; - } - framesToSkip--; - } - } -} - -void H264Decoder::bufferDecodedFrames(frame_sp& frame) -{ - decodedFramesCache.insert({ frame->timestamp, frame }); -} - -void H264Decoder::dropFarthestFromCurrentTs(uint64_t ts) -{ - if (decodedFramesCache.empty()) - { - return; - } - /* dropping algo */ - int64_t begDistTS = ts - decodedFramesCache.begin()->first; - auto absBeginDistance = abs(begDistTS); - int64_t endDistTS = ts - decodedFramesCache.rbegin()->first; - auto absEndDistance = abs(endDistTS); - if (decodedFramesCache.size() >= mProps.upperWaterMark) - { - if (absEndDistance <= absBeginDistance) - { - auto itr = decodedFramesCache.begin(); - while (itr != decodedFramesCache.end()) - { - if (decodedFramesCache.size() >= mProps.lowerWaterMark) - { - boost::mutex::scoped_lock(m_mutex); - // Note - erase returns the iterator of next element after deletion. - // Dont drop the frames from cache which are present in the incomingFramesTSQ - if (std::find(incomingFramesTSQ.begin(), incomingFramesTSQ.end(), itr->first) != incomingFramesTSQ.end()) - { - itr++; - continue; - } - itr = decodedFramesCache.erase(itr); - } - else - { - return; - } - } - } - else - { - // delete from end using the fwd iterator. - auto itr = decodedFramesCache.end(); - --itr; - while (itr != decodedFramesCache.begin()) - { - if (decodedFramesCache.size() >= mProps.lowerWaterMark) - { - boost::mutex::scoped_lock(m_mutex); - // Note - erase returns the iterator of next element after deletion. - if (std::find(incomingFramesTSQ.begin(), incomingFramesTSQ.end(), itr->first) != incomingFramesTSQ.end()) - { - --itr; - continue; - } - itr = decodedFramesCache.erase(itr); - --itr; - } - else - { - return; - } - } - } - } -} - bool H264Decoder::processSOS(frame_sp& frame) { auto metadata = frame->getMetadata(); - auto h264Metadata = FrameMetadataFactory::downcast(metadata); - mDirection = h264Metadata->direction; - auto ret = mDetail->setMetadata(metadata, frame, - [&](frame_sp& outputFrame) { - bufferDecodedFrames(outputFrame); - }, [&]() -> frame_sp {return makeFrame(); } - ); - if (ret) - { - mShouldTriggerSOS = false; - auto rawOutMetadata = FrameMetadataFactory::downcast(mOutputMetadata); + // change bool to true + LOG_DEBUG << "================Got SOS FRAME =============="; + mDetail->setMetadata(metadata, frame, [&](frame_sp &outputFrame) + { + frame_container frames; + frames.insert(make_pair(mOutputPinId, outputFrame)); + send(frames); }, [&]() -> frame_sp + { return makeFrame(); }, [&]() + { flushQue(); }); + mShouldTriggerSOS = false; + auto rawOutMetadata = FrameMetadataFactory::downcast(mOutputMetadata); #ifdef ARM64 - RawImageMetadata OutputMetadata(mDetail->mWidth, mDetail->mHeight, ImageMetadata::ImageType::RGBA, CV_8UC4, size_t(0), CV_8U, FrameMetadata::MemType::DMABUF, true); + RawImagePlanarMetadata OutputMetadata(mDetail->mWidth, mDetail->mHeight, ImageMetadata::ImageType::NV12, 128, CV_8U, FrameMetadata::MemType::DMABUF); #else - RawImagePlanarMetadata OutputMetadata(mDetail->mWidth, mDetail->mHeight, ImageMetadata::YUV420, size_t(0), CV_8U, FrameMetadata::HOST); + RawImagePlanarMetadata OutputMetadata(mDetail->mWidth, mDetail->mHeight, ImageMetadata::YUV420, size_t(0), CV_8U, FrameMetadata::HOST); #endif - rawOutMetadata->setData(OutputMetadata); - } + rawOutMetadata->setData(OutputMetadata); + return true; +} + +bool H264Decoder::shouldTriggerSOS() +{ + return mShouldTriggerSOS; +} +bool H264Decoder::processEOS(string& pinId) +{ + LOG_DEBUG << "Got EOS Frame"; + auto frame = frame_sp(new EmptyFrame()); + mDetail->compute(frame); + mDetail->terminateHelper(); + mShouldTriggerSOS = true; return true; } @@ -681,68 +225,43 @@ bool H264Decoder::handleCommand(Command::CommandType type, frame_sp& frame) { DecoderPlaybackSpeed cmd; getCommand(cmd, frame); - currentFps = cmd.playbackFps; - playbackSpeed = cmd.playbackSpeed; - gop = cmd.gop; + // currentFps = cmd.playbackFps; + // playbackSpeed = cmd.playbackSpeed; + // gop = cmd.gop; - if(playbackSpeed == 2 || playbackSpeed == 4) - { - if(previousFps >= currentFps * 8) - { - flushQue(); - } - framesToSkip = (currentFps *playbackSpeed) / currentFps - 1; - } - else if(playbackSpeed == 8 || playbackSpeed == 16 || playbackSpeed == 32) - { - flushQue(); - framesToSkip = 0; - if((currentFps * playbackSpeed) / gop > currentFps) - { - iFramesToSkip = ((currentFps * playbackSpeed) / gop) / currentFps; - } - } - else - { - if(previousFps >= currentFps * 8) - { - flushQue(); - } - framesToSkip = 0; - } - LOG_INFO << "frames to skip in decoder in decoder = " << framesToSkip << " fps = " << currentFps * playbackSpeed; - previousFps = currentFps; + mDetail->intitliazeSpeedElement(cmd.playbackFps, cmd.playbackSpeed, cmd.gop); } - if (type == Command::CommandType::Seek) - { - incomingFramesTSQSize = incomingFramesTSQ.size(); - resumePlayback = false; - LOG_INFO<<"Pausing decoder"; + else if (type == Command::CommandType::DecoderEOS) + { + DecoderEOS decEos; + getCommand(decEos, frame); + processEOS(mOutputPinId); } - else if (type == Command::CommandType::Relay) + else { - Module::handleCommand(type, frame); + return Module::handleCommand(type, frame); } - return true; } -bool H264Decoder::shouldTriggerSOS() +bool H264Decoder::decoderEos() { - return mShouldTriggerSOS; + DecoderEOS cmd; + return queueCommand(cmd); } -bool H264Decoder::processEOS(string& pinId) +void H264Decoder::changeDecoderSpeed(int _playbackFps, float _playbackSpeed, int _gop) { - //THIS HAS BEEN COMMENTED IN NVR - BECAUSE EOS IS SENT FROM MP4READER WHICH COMES TO DECODER AND THE FOLLOWING PROCESS IS NOT REQUIRED IN NVR. - - // auto frame = frame_sp(new EmptyFrame()); - // mDetail->compute(frame->data(), frame->size(), frame->timestamp); - // LOG_ERROR << "processes sos " ; - //mShouldTriggerSOS = true; - return true; + DecoderPlaybackSpeed cmd; + cmd.playbackFps = _playbackFps; + cmd.playbackSpeed = _playbackSpeed; + cmd.gop = _gop; + + Module::queueCommand(cmd, true); } -void H264Decoder::flushQue() +void H264Decoder::flushQueue() { + mDetail->flush_frames(); Module::flushQue(); } + \ No newline at end of file diff --git a/base/src/H264DecoderV4L2Helper.cpp b/base/src/H264DecoderV4L2Helper.cpp index 9dec5950d..94ee82d66 100644 --- a/base/src/H264DecoderV4L2Helper.cpp +++ b/base/src/H264DecoderV4L2Helper.cpp @@ -273,14 +273,6 @@ switch (raw_pixfmt) planefmts[0].bytesperpixel = 1; planefmts[1].bytesperpixel = 2; break; - case V4L2_PIX_FMT_RGB32: - case V4L2_PIX_FMT_ABGR32: - *num_planes = 1; - - planefmts[0].width = width; - planefmts[0].height = height; - planefmts[0].bytesperpixel = 4; - break; default: cout << "Unsupported pixel format " << raw_pixfmt << endl; return -1; @@ -288,10 +280,10 @@ switch (raw_pixfmt) return 0; } -void h264DecoderV4L2Helper::read_input_chunk_frame_sp(void* inputFrameBuffer, size_t inputFrameSize, Buffer * buffer) +void h264DecoderV4L2Helper::read_input_chunk_frame_sp(frame_sp inpFrame, Buffer * buffer) { - memcpy(buffer->planes[0].data,inputFrameBuffer,inputFrameSize); - buffer->planes[0].bytesused = static_cast(inputFrameSize); + memcpy(buffer->planes[0].data,inpFrame->data(),inpFrame->size()); + buffer->planes[0].bytesused = static_cast(inpFrame->size()); } /** @@ -323,11 +315,69 @@ void h264DecoderV4L2Helper::read_input_chunk_frame_sp(void* inputFrameBuffer, si } outputFrame->timestamp = framesTimestampEntry.front(); framesTimestampEntry.pop(); - - send(outputFrame); + // LOG_ERROR << "DEcoder TimeStamp is " << outputFrame->timestamp; + // LOG_ERROR << "framesToSkip -> " << framesToSkip; + if(!framesToSkip) + { + send(outputFrame); + } + + if(playbackSpeed == 2 || playbackSpeed == 4) + { + if(!framesToSkip) + { + framesToSkip = (currentFps * playbackSpeed) / currentFps ; + // LOG_ERROR << " Frames to SKp " << framesToSkip; + } + framesToSkip--; + } return 0; } + +void h264DecoderV4L2Helper::intitliazeSpeed(int _playbackFps, float _playbackSpeed, int _gop) +{ + currentFps = _playbackFps; + playbackSpeed = _playbackSpeed; + gop = _gop; + if(playbackSpeed == 2 || playbackSpeed == 4) + { + if(previousFps >= currentFps * 8) + { + if(flushPipelineQueue) + { + flushPipelineQueue(); + } + } + framesToSkip = (currentFps *playbackSpeed) / currentFps - 1; + // LOG_ERROR << " Frames to Skip " << framesToSkip << " previousFps " << previousFps; + } + else if(playbackSpeed == 8 || playbackSpeed == 16 || playbackSpeed == 32) + { + if(flushPipelineQueue) + { + flushPipelineQueue(); + } + framesToSkip = 0; + if((currentFps * playbackSpeed) / gop > currentFps) + { + iFramesToSkip = ((currentFps * playbackSpeed) / gop) / currentFps; + } + } + else + { + if(previousFps >= currentFps * 8) + { + if(flushPipelineQueue) + { + flushPipelineQueue(); + } + } + framesToSkip = 0; + } + LOG_DEBUG << "frames to skip in decoder in decoder = " << framesToSkip << " fps = " << currentFps * playbackSpeed; + previousFps = currentFps; +} int h264DecoderV4L2Helper::set_capture_plane_format(context_t * ctx, uint32_t pixfmt, uint32_t width, uint32_t height) @@ -337,9 +387,9 @@ void h264DecoderV4L2Helper::read_input_chunk_frame_sp(void* inputFrameBuffer, si uint32_t num_bufferplanes; Buffer::BufferPlaneFormat planefmts[MAX_PLANES]; - if (pixfmt != V4L2_PIX_FMT_NV12M && pixfmt != V4L2_PIX_FMT_RGB32 && pixfmt != V4L2_PIX_FMT_ABGR32) + if (pixfmt != V4L2_PIX_FMT_NV12M) { - LOG_ERROR << "Only V4L2_PIX_FMT_NV12M, V4L2_PIX_FMT_RGB32, V4L2_PIX_FMT_ABGR32 are supported. Got: " << pixfmt << endl; + LOG_INFO << "Only V4L2_PIX_FMT_NV12M is supported" << endl; ctx->in_error = 1; return -1; } @@ -362,7 +412,7 @@ void h264DecoderV4L2Helper::read_input_chunk_frame_sp(void* inputFrameBuffer, si ret_val = v4l2_ioctl(ctx->fd, VIDIOC_S_FMT, &format); if (ret_val) { - LOG_ERROR << "Error in VIDIOC_S_FMT" << endl; + LOG_INFO << "Error in VIDIOC_S_FMT" << endl; ctx->in_error = 1; } else @@ -378,7 +428,7 @@ void h264DecoderV4L2Helper::read_input_chunk_frame_sp(void* inputFrameBuffer, si return ret_val; } - void h264DecoderV4L2Helper::query_set_capture(context_t * ctx) + void h264DecoderV4L2Helper::query_set_capture(context_t * ctx ) { struct v4l2_format format; struct v4l2_crop crop; @@ -398,7 +448,7 @@ void h264DecoderV4L2Helper::read_input_chunk_frame_sp(void* inputFrameBuffer, si ret_val = v4l2_ioctl(ctx->fd, VIDIOC_G_FMT, &format); if (ret_val) { - LOG_ERROR << "Could not get format from decoder capture plane" << endl; + LOG_INFO << "Could not get format from decoder capture plane" << endl; ctx->in_error = 1; return ; } @@ -409,7 +459,7 @@ void h264DecoderV4L2Helper::read_input_chunk_frame_sp(void* inputFrameBuffer, si ret_val = v4l2_ioctl(ctx->fd, VIDIOC_G_CROP, &crop); if (ret_val) { - LOG_ERROR << "Could not get crop from decoder capture plane" << endl; + LOG_INFO << "Could not get crop from decoder capture plane" << endl; ctx->in_error = 1; return; } @@ -418,34 +468,6 @@ void h264DecoderV4L2Helper::read_input_chunk_frame_sp(void* inputFrameBuffer, si ctx->display_height = crop.c.height; ctx->display_width = crop.c.width; - // Create intermediate PITCH buffer for transform (following decoder_unit_sample approach) - if (ctx->dst_dma_fd == -1) - { - NvBufSurface *intermediate_nvbuf_surf = NULL; - NvBufSurfaceAllocateParams intermediateParams = {0}; - - intermediateParams.params.memType = NVBUF_MEM_SURFACE_ARRAY; - intermediateParams.params.width = ctx->display_width; - intermediateParams.params.height = ctx->display_height; - intermediateParams.params.layout = NVBUF_LAYOUT_PITCH; - intermediateParams.params.colorFormat = NVBUF_COLOR_FORMAT_NV12; - intermediateParams.memtag = NvBufSurfaceTag_VIDEO_DEC; - - ret_val = NvBufSurfaceAllocate(&intermediate_nvbuf_surf, 1, &intermediateParams); - if (ret_val != 0) { - LOG_ERROR << "Failed to allocate intermediate buffer:" << ret_val; - ctx->in_error = 1; - return; - } - - ret_val = 0; ctx->dst_dma_fd = intermediate_nvbuf_surf->surfaceList[0].bufferDesc; - if (ret_val != 0) { - LOG_ERROR << "Failed to export intermediate FD:" << ret_val; - NvBufSurfaceDestroy(intermediate_nvbuf_surf); - ctx->in_error = 1; - return; - } - } if (ctx->dst_dma_fd != -1) { ret_val = NvBufSurfaceFromFd((int)ctx->dst_dma_fd, @@ -498,7 +520,7 @@ void h264DecoderV4L2Helper::read_input_chunk_frame_sp(void* inputFrameBuffer, si ctx->cp_mem_type, 0); if (ret_val) { - LOG_ERROR << "Error in requesting 0 capture plane buffers" << endl; + LOG_INFO << "Error in requesting 0 capture plane buffers" << endl; ctx->in_error = 1; return ; } @@ -530,28 +552,12 @@ void h264DecoderV4L2Helper::read_input_chunk_frame_sp(void* inputFrameBuffer, si } // Set capture plane format to update vars. - // Try RGBA first, fallback to NV12 if not supported - uint32_t requested_format = format.fmt.pix_mp.pixelformat; - if (requested_format == V4L2_PIX_FMT_ABGR32) { - // Try to set RGBA format - ret_val = set_capture_plane_format(ctx, V4L2_PIX_FMT_ABGR32, - format.fmt.pix_mp.width, format.fmt.pix_mp.height); - if (ret_val) { - LOG_INFO << "RGBA format not supported, falling back to NV12" << endl; - ctx->out_pixfmt = V4L2_PIX_FMT_NV12M; - ret_val = set_capture_plane_format(ctx, V4L2_PIX_FMT_NV12M, - format.fmt.pix_mp.width, format.fmt.pix_mp.height); - } else { - LOG_INFO << "Using RGBA output format" << endl; - } - } else { - ret_val = set_capture_plane_format(ctx, requested_format, - format.fmt.pix_mp.width, format.fmt.pix_mp.height); - } - + + ret_val = set_capture_plane_format(ctx, format.fmt.pix_mp.pixelformat, + format.fmt.pix_mp.width, format.fmt.pix_mp.height); if (ret_val) { - LOG_ERROR << "Error in setting capture plane format" << endl; + LOG_INFO << "Error in setting capture plane format" << endl; ctx->in_error = 1; return ; } @@ -562,11 +568,11 @@ void h264DecoderV4L2Helper::read_input_chunk_frame_sp(void* inputFrameBuffer, si struct v4l2_control ctl; ctl.id = V4L2_CID_MIN_BUFFERS_FOR_CAPTURE; - + ret_val = v4l2_ioctl(ctx->fd, VIDIOC_G_CTRL, &ctl); if (ret_val) { - LOG_ERROR << "Error getting value of control " << ctl.id << endl; + LOG_INFO << "Error getting value of control " << ctl.id << endl; ctx->in_error = 1; return ; } @@ -625,7 +631,7 @@ void h264DecoderV4L2Helper::read_input_chunk_frame_sp(void* inputFrameBuffer, si ctx->cp_mem_type, ctx->cp_num_buffers); if (ret_val) { - LOG_ERROR << "Error in requesting capture plane buffers" << endl; + LOG_INFO << "Error in requesting capture plane buffers" << endl; ctx->in_error = 1; return ; } @@ -659,7 +665,7 @@ void h264DecoderV4L2Helper::read_input_chunk_frame_sp(void* inputFrameBuffer, si if (ret_val) { - LOG_ERROR << "Qing failed on capture plane" << endl; + LOG_INFO << "Qing failed on capture plane" << endl; ctx->in_error = 1; return ; } @@ -670,7 +676,7 @@ void h264DecoderV4L2Helper::read_input_chunk_frame_sp(void* inputFrameBuffer, si ret_val = v4l2_ioctl(ctx->fd,VIDIOC_STREAMON, &ctx->cp_buf_type); if (ret_val != 0) { - LOG_ERROR << "Streaming error on capture plane" << endl; + LOG_INFO << "Streaming error on capture plane" << endl; ctx->in_error = 1; } ctx->cp_streamon = 1; @@ -692,19 +698,19 @@ void * h264DecoderV4L2Helper::capture_thread(void *arg) ** appropriate buffers when REQBUFS is called. */ - do + do { // Dequeue the subscribed event. - ret_val = m_nThread->dq_event(ctx, event, 5000); + ret_val = m_nThread->dq_event(ctx, event, 50000); if (ret_val) { if (errno == EAGAIN) { - LOG_ERROR << "Timeout waiting for first V4L2_EVENT_RESOLUTION_CHANGE" << endl; + LOG_INFO << "Timeout waiting for first V4L2_EVENT_RESOLUTION_CHANGE"; } else { - LOG_ERROR << "Error in dequeueing decoder event" << endl; + LOG_INFO << "Error in dequeueing decoder event"; } ctx->in_error = 1; break; @@ -716,15 +722,18 @@ void * h264DecoderV4L2Helper::capture_thread(void *arg) ** Format and buffers are now set on capture. */ + //zaki + if (!ctx->in_error) { - m_nThread->query_set_capture(ctx); + m_nThread->query_set_capture(ctx); //zaki } /* Check for resolution event to again ** set format and buffers on capture plane. */ - while (!(ctx->in_error || ctx->got_eos) || ctx->in_error) + LOG_INFO << " m_nThread->runCaptureThread " << m_nThread->runCaptureThread <<"ctx->got_eos " <got_eos ; + while (m_nThread->runCaptureThread && !(ctx->in_error || ctx->got_eos)) { Buffer *decoded_buffer = new Buffer(ctx->cp_buf_type, ctx->cp_mem_type, 0); ret_val = m_nThread->dq_event(ctx, event, 0); @@ -733,13 +742,13 @@ void * h264DecoderV4L2Helper::capture_thread(void *arg) switch (event.type) { case V4L2_EVENT_RESOLUTION_CHANGE: - m_nThread->query_set_capture(ctx); + m_nThread->query_set_capture(ctx); //zaki continue; } } // Main Capture loop for DQ and Q. - while (!ctx->in_error) + while (m_nThread->runCaptureThread) { struct v4l2_buffer v4l2_buf; struct v4l2_plane planes[MAX_PLANES]; @@ -760,11 +769,12 @@ void * h264DecoderV4L2Helper::capture_thread(void *arg) else { ctx->in_error = 1; - LOG_ERROR << "Error while DQing at capture plane" << endl; + LOG_INFO << "Error while DQing at capture plane" << endl; } break; } + LOG_INFO << "Transform check: display_width=" << ctx->display_width; if (ctx->display_width != 0) { /* Transformation parameters are defined @@ -794,104 +804,57 @@ void * h264DecoderV4L2Helper::capture_thread(void *arg) transform_params.src_rect = &src_rect; transform_params.dst_rect = &dest_rect; - // Handle both direct RGBA output and NV12->RGBA transform + // Written for NV12. if (ctx->cp_mem_type == V4L2_MEMORY_DMABUF) { decoded_buffer->planes[0].fd = ctx->dmabuff_fd[v4l2_buf.index]; } + + /* Blocklinear to Pitch transformation is required + ** to dump the raw decoded buffer data. + */ auto outputFrame = m_nThread->makeFrame(); + auto dmaOutFrame = static_cast(outputFrame->data()); int f_d = dmaOutFrame->getFd(); - - // Declare variables outside the if/else block +// JP5: Proper transform implementation following official sample NvBufSurface* src_nvbuf_surf = nullptr; NvBufSurface* dst_nvbuf_surf = nullptr; - - // Check if decoder outputs RGBA directly - if (ctx->out_pixfmt == V4L2_PIX_FMT_ABGR32) { - // Direct RGBA output - no transform needed - ret_val = 0; // Success - } else { - // NV12 output - need transform to RGBA - - // Get source buffer from decoder (NV12 BlockLinear) - ret_val = NvBufSurfaceFromFd(ctx->dmabuff_fd[v4l2_buf.index], (void**)(&src_nvbuf_surf)); - if (ret_val != 0) { - LOG_ERROR << "Failed to get source NvBufSurface from FD " << ctx->dmabuff_fd[v4l2_buf.index] << ": " << ret_val; - ctx->in_error = 1; - break; - } - - // Get destination buffer from output frame (RGBA Pitch) - dst_nvbuf_surf = dmaOutFrame->getNvBufSurface(); - if (!dst_nvbuf_surf) { - LOG_ERROR << "Failed to get destination NvBufSurface"; - ctx->in_error = 1; - break; - } - // Skip device sync - decoder output is already device-ready - // NvBufSurfaceSyncForDevice calls are causing driver warnings - - // Perform NV12 to RGBA transform - ret_val = NvBufSurfTransform(src_nvbuf_surf, dst_nvbuf_surf, &transform_params); - if (ret_val == 0) { - // Ensure CPU can read transformed RGBA data - NvBufSurfaceSyncForCpu(dst_nvbuf_surf, 0, 0); - } + // Get source buffer from decoder + ret_val = NvBufSurfaceFromFd(ctx->dmabuff_fd[v4l2_buf.index], (void**)(&src_nvbuf_surf)); + if (ret_val != 0) { + LOG_ERROR << "Failed to get source NvBufSurface from FD " << ctx->dmabuff_fd[v4l2_buf.index] << ": " << ret_val; + ctx->in_error = 1; + break; } - - // Debug file dumping disabled for production - /* - if (ret_val == 0) { - static int dump_count = 0; - if (dump_count < 3) { - LOG_INFO << "Dumping RGBA buffer frame " << dump_count; - - // Get destination surface for dumping (either from transform or direct output) - if (ctx->out_pixfmt == V4L2_PIX_FMT_ABGR32) { - // Direct RGBA output - get surface from output frame - dst_nvbuf_surf = dmaOutFrame->getNvBufSurface(); - } - - if (dst_nvbuf_surf) { - // Map and dump RGBA plane - if (NvBufSurfaceMap(dst_nvbuf_surf, 0, 0, NVBUF_MAP_READ) == 0) { - - NvBufSurfaceSyncForCpu(dst_nvbuf_surf, 0, 0); - - // Dump RGBA plane - char filename[256]; - snprintf(filename, sizeof(filename), "/tmp/rgba_frame%04d.raw", dump_count); - FILE* fp = fopen(filename, "wb"); - if (fp) { - void* data = dst_nvbuf_surf->surfaceList[0].mappedAddr.addr[0]; - uint32_t height = dst_nvbuf_surf->surfaceList[0].planeParams.height[0]; - uint32_t pitch = dst_nvbuf_surf->surfaceList[0].planeParams.pitch[0]; - uint32_t width = dst_nvbuf_surf->surfaceList[0].planeParams.width[0]; - for (uint32_t i = 0; i < height; i++) { - fwrite((uint8_t*)data + i * pitch, width * 4, 1, fp); // 4 bytes per RGBA pixel - } - fclose(fp); - LOG_INFO << "Dumped RGBA frame " << dump_count << " to " << filename; - } - - NvBufSurfaceUnMap(dst_nvbuf_surf, 0, 0); - dump_count++; - } - } - } + + // Get destination buffer from output frame + dst_nvbuf_surf = dmaOutFrame->getNvBufSurface(); + if (!dst_nvbuf_surf) { + LOG_ERROR << "Failed to get destination NvBufSurface"; + ctx->in_error = 1; + break; } - */ + + // Ensure destination is properly configured for pitch layout + dst_nvbuf_surf->surfaceList[0].layout = NVBUF_LAYOUT_PITCH; + + // Perform the transform + ret_val = NvBufSurfTransform(src_nvbuf_surf, dst_nvbuf_surf, &transform_params); + LOG_INFO << "NvBufSurfTransform result: " << ret_val << " (0=success)"; if (ret_val != 0) { - LOG_ERROR << "Transform/processing failed with error: " << ret_val; + LOG_ERROR << "NvBufSurfTransform failed with error: " << ret_val; + // Try to get more details about the error + LOG_ERROR << "Source format: " << src_nvbuf_surf->surfaceList[0].colorFormat << " layout: " << src_nvbuf_surf->surfaceList[0].layout; + LOG_ERROR << "Dest format: " << dst_nvbuf_surf->surfaceList[0].colorFormat << " layout: " << dst_nvbuf_surf->surfaceList[0].layout; } if (ret_val == -1) { ctx->in_error = 1; - LOG_ERROR << "Transform failed" << endl; + LOG_INFO << "Transform failed!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!" << endl; break; } @@ -909,7 +872,7 @@ void * h264DecoderV4L2Helper::capture_thread(void *arg) ctx->cp_num_planes); if (ret_val) { - LOG_ERROR << "Qing failed on capture plane" << endl; + LOG_INFO << "Qing failed on capture plane" << endl; ctx->in_error = 1; break; } @@ -927,7 +890,7 @@ void * h264DecoderV4L2Helper::capture_thread(void *arg) ctx->cp_num_planes); if (ret_val) { - LOG_ERROR << "Qing failed on capture plane" << endl; + LOG_INFO << "Qing failed on capture plane" << endl; ctx->in_error = 1; break; } @@ -935,12 +898,14 @@ void * h264DecoderV4L2Helper::capture_thread(void *arg) } } - LOG_TRACE << "Exiting decoder capture loop thread" << endl; + LOG_DEBUG << "ctx->in_error" << ctx->in_error; + LOG_DEBUG << "eos value ==" << ctx->got_eos << " m_nThread->runCaptureThread = " << m_nThread->runCaptureThread; + LOG_DEBUG << "Exiting decoder capture loop thread" << endl; return NULL; } - bool h264DecoderV4L2Helper::decode_process(context_t& ctx, void* inputFrameBuffer, size_t inputFrameSize) + bool h264DecoderV4L2Helper::decode_process(context_t& ctx, frame_sp frame) { bool allow_DQ = true; int ret_val; @@ -966,7 +931,7 @@ void * h264DecoderV4L2Helper::capture_thread(void *arg) ctx.op_mem_type, -1); if (ret_val) { - LOG_ERROR << "Error DQing buffer at output plane" << endl; + LOG_INFO << "Error DQing buffer at output plane" << endl; ctx.in_error = 1; } } @@ -980,7 +945,7 @@ void * h264DecoderV4L2Helper::capture_thread(void *arg) if (ctx.decode_pixfmt == V4L2_PIX_FMT_H264) { - read_input_chunk_frame_sp(inputFrameBuffer, inputFrameSize, buffer); + read_input_chunk_frame_sp(frame, buffer); } else { @@ -992,7 +957,7 @@ void * h264DecoderV4L2Helper::capture_thread(void *arg) ctx.op_buf_type, ctx.op_mem_type, ctx.op_num_planes); if (ret_val) { - LOG_ERROR << "Error Qing buffer at output plane" << endl; + LOG_INFO << "Error Qing buffer at output plane" << endl; ctx.in_error = 1; } @@ -1008,7 +973,7 @@ void * h264DecoderV4L2Helper::capture_thread(void *arg) return ctx.eos; } - int h264DecoderV4L2Helper::dq_event(context_t * ctx, struct v4l2_event &event, uint32_t max_wait_ms) +int h264DecoderV4L2Helper::dq_event(context_t * ctx, struct v4l2_event &event, uint32_t max_wait_ms) { int ret_val; do @@ -1283,16 +1248,19 @@ int h264DecoderV4L2Helper::subscribe_event(int fd, uint32_t type, uint32_t id, u return ret_val; } + +void h264DecoderV4L2Helper::registerCallback(const std::string &name, std::function callback) { + callbacks[name] = callback; +} -bool h264DecoderV4L2Helper::init(std::function _send, std::function _makeFrame) +bool h264DecoderV4L2Helper::init(std::function _send, std::function _makeFrame, std::function _flushPipelineQueue) { makeFrame = _makeFrame; mBuffer.reset(new Buffer()); send = _send; - return initializeDecoder(); -} -bool h264DecoderV4L2Helper::initializeDecoder() -{ + flushPipelineQueue = _flushPipelineQueue; + + // init Will Take One Mpre FUnction to send int flags = 0; struct v4l2_capability caps; struct v4l2_buffer op_v4l2_buf; @@ -1300,7 +1268,7 @@ bool h264DecoderV4L2Helper::initializeDecoder() struct v4l2_exportbuffer op_expbuf; memset(&ctx, 0, sizeof (context_t)); - ctx.out_pixfmt = V4L2_PIX_FMT_ABGR32; // Try RGBA first, fallback to NV12 if not supported + ctx.out_pixfmt = V4L2_PIX_FMT_NV12; ctx.decode_pixfmt = V4L2_PIX_FMT_H264; ctx.op_mem_type = V4L2_MEMORY_MMAP; ctx.cp_mem_type = V4L2_MEMORY_DMABUF; @@ -1320,11 +1288,11 @@ bool h264DecoderV4L2Helper::initializeDecoder() ** should be opened. ** This opens the device in Blocking mode. */ - ctx.fd = v4l2_open(DECODER_DEV_JP6, flags | O_RDWR); + ctx.fd = v4l2_open(DECODER_DEV, flags | O_RDWR); if (ctx.fd == -1) { - LOG_ERROR << "Could not open device " << DECODER_DEV_JP6 << endl; + LOG_INFO << "Could not open device" << DECODER_DEV << endl; ctx.in_error = 1; } @@ -1336,12 +1304,12 @@ bool h264DecoderV4L2Helper::initializeDecoder() ret = v4l2_ioctl(ctx.fd, VIDIOC_QUERYCAP, &caps); if (ret) { - LOG_ERROR << "Failed to query video capabilities" << endl; + LOG_INFO << "Failed to query video capabilities" << endl; ctx.in_error = 1; } if (!(caps.capabilities & V4L2_CAP_VIDEO_M2M_MPLANE)) { - LOG_ERROR << "Device does not support V4L2_CAP_VIDEO_M2M_MPLANE" << endl; + LOG_INFO << "Device does not support V4L2_CAP_VIDEO_M2M_MPLANE" << endl; ctx.in_error = 1; } @@ -1353,7 +1321,7 @@ bool h264DecoderV4L2Helper::initializeDecoder() ret = subscribe_event(ctx.fd, V4L2_EVENT_RESOLUTION_CHANGE, 0, 0); if (ret) { - LOG_ERROR << "Failed to subscribe for resolution change" << endl; + LOG_INFO << "Failed to subscribe for resolution change" << endl; ctx.in_error = 1; } @@ -1366,7 +1334,7 @@ bool h264DecoderV4L2Helper::initializeDecoder() ret = set_ext_controls(ctx.fd, V4L2_CID_MPEG_VIDEO_DISABLE_COMPLETE_FRAME_INPUT, 1); if (ret) { - LOG_ERROR << "Failed to set control disable complete frame" << endl; + LOG_INFO << "Failed to set control disable complete frame" << endl; ctx.in_error = 1; } @@ -1377,7 +1345,7 @@ bool h264DecoderV4L2Helper::initializeDecoder() ret = set_output_plane_format(ctx, ctx.decode_pixfmt, CHUNK_SIZE); if (ret) { - LOG_ERROR << "Error in setting output plane format" << endl; + LOG_INFO << "Error in setting output plane format" << endl; ctx.in_error = 1; } @@ -1391,7 +1359,7 @@ bool h264DecoderV4L2Helper::initializeDecoder() ctx.op_mem_type, 1); //maxBufferr should come from props if (ret) { - LOG_ERROR << "Error in requesting buffers on output plane" << endl; + LOG_INFO << "Error in requesting buffers on output plane" << endl; ctx.in_error = 1; } @@ -1413,7 +1381,7 @@ bool h264DecoderV4L2Helper::initializeDecoder() ret = v4l2_ioctl(ctx.fd, VIDIOC_QUERYBUF, &op_v4l2_buf); if (ret) { - LOG_ERROR << "Error in querying buffers" << endl; + LOG_INFO << "Error in querying buffers" << endl; ctx.in_error = 1; } @@ -1435,7 +1403,7 @@ bool h264DecoderV4L2Helper::initializeDecoder() ret = v4l2_ioctl(ctx.fd, VIDIOC_EXPBUF, &op_expbuf); if (ret) { - LOG_ERROR << "Error in exporting buffer at index" << i << endl; + LOG_INFO << "Error in exporting buffer at index" << i << endl; ctx.in_error = 1; } ctx.op_buffers[i]->planes[j].fd = op_expbuf.fd; @@ -1443,7 +1411,7 @@ bool h264DecoderV4L2Helper::initializeDecoder() if (ctx.op_buffers[i]->map()) { - LOG_ERROR << "Buffer mapping error on output plane" << endl; + LOG_INFO << "Buffer mapping error on output plane" << endl; ctx.in_error = 1; } } @@ -1455,7 +1423,7 @@ bool h264DecoderV4L2Helper::initializeDecoder() ret = v4l2_ioctl(ctx.fd,VIDIOC_STREAMON, &ctx.op_buf_type); if (ret != 0) { - LOG_ERROR << "Streaming error on output plane" << endl; + LOG_INFO << "Streaming error on output plane" << endl; ctx.in_error = 1; } @@ -1464,24 +1432,13 @@ bool h264DecoderV4L2Helper::initializeDecoder() typedef void * (*THREADFUNCPTR)(void *); pthread_create(&ctx.dec_capture_thread, NULL,h264DecoderV4L2Helper::capture_thread, (void *) (this)); - - return true; } -int h264DecoderV4L2Helper::process(void* inputFrameBuffer, size_t inputFrameSize, uint64_t inputFrameTS) +int h264DecoderV4L2Helper::process(frame_sp inputFrame) { uint32_t idx = 0; - if(inputFrameSize) - framesTimestampEntry.push(inputFrameTS); - - if((inputFrameSize && ctx.eos && ctx.got_eos) || ctx.in_error) - { - ctx.in_error = false; - deQueAllBuffers(); - ctx.eos = false; - ctx.got_eos = false; - initializeDecoder(); - } - + if(inputFrame->size()) + framesTimestampEntry.push(inputFrame->timestamp); + // LOG_ERROR << "TimeStamp is " << inputFrame->timestamp; while (!ctx.eos && !ctx.in_error && idx < ctx.op_num_buffers) { struct v4l2_buffer queue_v4l2_buf_op; @@ -1494,11 +1451,11 @@ int h264DecoderV4L2Helper::process(void* inputFrameBuffer, size_t inputFrameSize buffer = ctx.op_buffers[idx]; if (ctx.decode_pixfmt == V4L2_PIX_FMT_H264) { - read_input_chunk_frame_sp(inputFrameBuffer, inputFrameSize, buffer); + read_input_chunk_frame_sp(inputFrame, buffer); } else { - LOG_ERROR << "Currently only H264 supported" << endl; + LOG_INFO << "Currently only H264 supported" << endl; ctx.in_error = 1; } @@ -1509,31 +1466,25 @@ int h264DecoderV4L2Helper::process(void* inputFrameBuffer, size_t inputFrameSize ** It is necessary to queue an empty buffer ** to signal EOS to the decoder. */ - int qBuffer = 0; - int counter = 0; - do - { - counter++; - qBuffer = q_buffer(&ctx, queue_v4l2_buf_op, buffer, + ret = q_buffer(&ctx, queue_v4l2_buf_op, buffer, ctx.op_buf_type, ctx.op_mem_type, ctx.op_num_planes); - if(counter > 1) - { - LOG_INFO << "Unable to queue buffers " << qBuffer; - } + if (ret) + { + LOG_INFO << "Error Qing buffer at output plane" << endl; + ctx.in_error = 1; } - while(qBuffer); if (queue_v4l2_buf_op.m.planes[0].bytesused == 0) { ctx.eos = true; - LOG_DEBUG << "Input file read complete" << endl; + LOG_INFO << "Input file read complete" << endl; break; } idx++; } // Dequeue and queue loop on output plane. - ctx.eos = decode_process(ctx,inputFrameBuffer, inputFrameSize); + ctx.eos = decode_process(ctx,inputFrame); /* For blocking mode, after getting EOS on output plane, ** dequeue all the queued buffers on output plane. @@ -1552,7 +1503,7 @@ int h264DecoderV4L2Helper::process(void* inputFrameBuffer, size_t inputFrameSize ret = dq_buffer(&ctx, v4l2_buf, NULL, ctx.op_buf_type, ctx.op_mem_type, -1); if (ret) { - LOG_ERROR << "Error DQing buffer at output plane" << endl; + LOG_INFO << "Error DQing buffer at output plane" << endl; ctx.in_error = 1; break; return true; @@ -1567,18 +1518,41 @@ int h264DecoderV4L2Helper::process(void* inputFrameBuffer, size_t inputFrameSize } return true; } -void h264DecoderV4L2Helper::closeAllThreads(frame_sp eosFrame) +h264DecoderV4L2Helper::~h264DecoderV4L2Helper() { - process(eosFrame->data(), eosFrame->size(), 0); - deQueAllBuffers(); } -void h264DecoderV4L2Helper::deQueAllBuffers() +bool h264DecoderV4L2Helper::flush_frames() { + // Reset any local scheduling state + framesToSkip = 0; + iFramesToSkip = 0; + + // Clear any queued timestamps awaiting delivery + while (!framesTimestampEntry.empty()) + { + framesTimestampEntry.pop(); + } + + // Flush downstream pipeline queue if provided + if (flushPipelineQueue) + { + flushPipelineQueue(); + } + + return true; +} + +bool h264DecoderV4L2Helper::term_helper() +{ + LOG_DEBUG << "Terminating Helper WITH FD " << ctx.fd; if (ctx.fd != -1) { + LOG_DEBUG << "ctx.dec_capture_thread " << ctx.dec_capture_thread << "ctx.fd " << ctx.fd; if (ctx.dec_capture_thread) { + LOG_DEBUG << "SHould Join The tHread"; + runCaptureThread = false; pthread_join(ctx.dec_capture_thread, NULL); } @@ -1587,17 +1561,10 @@ void h264DecoderV4L2Helper::deQueAllBuffers() { for (uint32_t idx = 0; idx < ctx.cp_num_buffers; ++idx) { - if (ctx.dmabuff_fd[idx] != 0) { - NvBufSurface *nvbuf_surf = nullptr; - ret = NvBufSurfaceFromFd((int)ctx.dmabuff_fd[idx], (void**)(&nvbuf_surf)); - if (ret == 0 && nvbuf_surf) { - ret = NvBufSurfaceDestroy(nvbuf_surf); - } - ctx.dmabuff_fd[idx] = 0; - } + // TODO: Fix cleanup - ret = NvBufSurfaceDestroy(ctx.dmabuff_fd[...]); if (ret) { - LOG_ERROR << "Failed to Destroy Buffers" << endl; + LOG_DEBUG << "Failed to Destroy Buffers" << endl; } } } @@ -1629,27 +1596,18 @@ void h264DecoderV4L2Helper::deQueAllBuffers() { if (ctx.dmabuff_fd[i] != 0) { - NvBufSurface *nvbuf_surf = nullptr; - ret = NvBufSurfaceFromFd((int)ctx.dst_dma_fd, (void**)(&nvbuf_surf)); - if (ret == 0 && nvbuf_surf) - { - ret = NvBufSurfaceDestroy(nvbuf_surf); - } + // TODO: Fix cleanup - ret = NvBufSurfaceDestroy(ctx.dmabuff_fd[...]); ctx.dmabuff_fd[i] = 0; if (ret < 0) { - LOG_ERROR << "Failed to destroy buffer" << endl; + LOG_DEBUG << "Failed to destroy buffer" << endl; } } } } if (ctx.dst_dma_fd != -1) { - NvBufSurface *nvbuf_surf = nullptr; - ret = NvBufSurfaceFromFd((int)ctx.dst_dma_fd, (void**)(&nvbuf_surf)); - if (ret == 0 && nvbuf_surf) { - ret = NvBufSurfaceDestroy(nvbuf_surf); - } + // TODO: Fix cleanup - NvBufSurfaceDestroy(ctx.dst_dma_fd); ctx.dst_dma_fd = -1; } @@ -1658,20 +1616,24 @@ void h264DecoderV4L2Helper::deQueAllBuffers() ret = v4l2_close(ctx.fd); if (ret) { - LOG_ERROR << "Unable to close the device" << endl; + LOG_DEBUG << "Unable to close the device"; ctx.in_error = 1; } + else + { + LOG_DEBUG << "Successfully Closed the device"; + } } // Report application run status on exit. if (ctx.in_error) { - LOG_ERROR << "Decoder Run failed" << endl; + LOG_DEBUG << "Decoder Run failed" << endl; } else { LOG_DEBUG << "Decoder Run is successful" << endl; } - return; + return true; } \ No newline at end of file diff --git a/base/src/H264DecoderV4L2Helper.h b/base/src/H264DecoderV4L2Helper.h index ee7b7f931..3c93747ed 100644 --- a/base/src/H264DecoderV4L2Helper.h +++ b/base/src/H264DecoderV4L2Helper.h @@ -29,20 +29,13 @@ /** * Specifies the decoder device node. */ -/** - * Specifies the decoder device node. - * Jetpack 5: /dev/nvhost-nvdec - * Jetpack 6: /dev/v4l2-nvdec - */ -#define DECODER_DEV_JP6 "/dev/v4l2-nvdec" - +#define DECODER_DEV "/dev/v4l2-nvdec" #define MAX_BUFFERS 32 #define CHUNK_SIZE 4000000 /** * Specifies the maximum number of planes a buffer can contain. */ #define MAX_PLANES 3 -#include #define MIN(a, b) (((a) < (b)) ? (a) : (b)) #include "Frame.h" #include @@ -155,7 +148,7 @@ class h264DecoderV4L2Helper * Refer to [V4L2 Video Decoder](group__V4L2Dec.html) for more information on the decoder. */ h264DecoderV4L2Helper() {} - ~h264DecoderV4L2Helper() {}; + ~h264DecoderV4L2Helper(); // typedef struct { uint32_t decode_pixfmt; @@ -182,7 +175,7 @@ class h264DecoderV4L2Helper pthread_cond_t queue_cond; pthread_t dec_capture_thread; - bool in_error = false; + bool in_error; bool eos; bool got_eos; bool op_streamon; @@ -200,7 +193,7 @@ class h264DecoderV4L2Helper * @param[in] stream Input stream * @param[in] buffer Buffer class pointer */ - void read_input_chunk_frame_sp(void* inputFrameBuffer, size_t inputFrameSize, Buffer *buffer); + void read_input_chunk_frame_sp(frame_sp inpFrame, Buffer *buffer); /** * @brief Writes a plane data of the buffer to a file. @@ -236,7 +229,7 @@ class h264DecoderV4L2Helper * * @param[in] ctx Pointer to the decoder context struct created. */ - void query_set_capture(context_t *ctx); + void query_set_capture(context_t *ctx); // zaki /** * @brief Callback function on capture thread. @@ -265,7 +258,7 @@ class h264DecoderV4L2Helper * EOS is detected by the decoder and all the buffers are dequeued; * else the decode process continues running. */ - bool decode_process(context_t &ctx, void* inputFrameBuffer, size_t inputFrameSize); + bool decode_process(context_t &ctx, frame_sp frame); /** * @brief Dequeues an event. @@ -389,21 +382,33 @@ class h264DecoderV4L2Helper */ int subscribe_event(int fd, uint32_t type, uint32_t id, uint32_t flags); - int process(void* inputFrameBuffer, size_t inputFrameSize, uint64_t inputFrameTS); - - bool init(std::function send, std::function makeFrame); + int process(frame_sp inputFrame); - bool initializeDecoder(); + bool init(std::function send, std::function makeFrame, std::function flushPipelineQueue); - void closeAllThreads(frame_sp eosFrame); + bool term_helper(); - void deQueAllBuffers(); protected: boost::shared_ptr mBuffer; context_t ctx; std::function makeFrame; std::function send; + std::function flushPipelineQueue; int ret = 0; + bool runCaptureThread = true; std::queue framesTimestampEntry; - std::mutex m; -}; + +public: + void intitliazeSpeed(int _playbackFps, float _playbackSpeed, int _gop); + void registerCallback(const std::string &name, std::function callback); + bool flush_frames(); +private: + int framesToSkip = 0; + int iFramesToSkip = 0; + int currentFps = 24; + int previousFps = 24; + float playbackSpeed = 1; + int gop; + + std::unordered_map> callbacks; +}; \ No newline at end of file diff --git a/base/src/H264EncoderV4L2.cpp b/base/src/H264EncoderV4L2.cpp index 75f3d542c..64950970f 100644 --- a/base/src/H264EncoderV4L2.cpp +++ b/base/src/H264EncoderV4L2.cpp @@ -5,15 +5,13 @@ #include "Frame.h" #include "Logger.h" #include "Utils.h" -#include "H264Metadata.h" #include "AIPExceptions.h" +#include "H264Metadata.h" H264EncoderV4L2::H264EncoderV4L2(H264EncoderV4L2Props props) : Module(TRANSFORM, "H264EncoderV4L2", props), mProps(props) { - auto mOutputMetadata = framemetadata_sp(new H264Metadata(0, 0)); - auto motionVectorOutputMetadata = framemetadata_sp(new FrameMetadata(FrameMetadata::OVERLAY_INFO_IMAGE)); - h264FrameOutputPinId = addOutputPin(mOutputMetadata); - motionVectorFramePinId = addOutputPin(motionVectorOutputMetadata); + mOutputMetadata = framemetadata_sp(new H264Metadata()); + mOutputPinId = addOutputPin(mOutputMetadata); } H264EncoderV4L2::~H264EncoderV4L2() @@ -29,7 +27,7 @@ bool H264EncoderV4L2::validateInputPins() { if (getNumberOfInputPins() != 1) { - LOG_ERROR << "<" << getId() << ">::validateInputPins size is expected to be 1. Actual<" << getNumberOfInputPins() << ">"; + LOG_INFO << "<" << getId() << ">::validateInputPins size is expected to be 1. Actual<" << getNumberOfInputPins() << ">"; return false; } @@ -37,19 +35,19 @@ bool H264EncoderV4L2::validateInputPins() FrameMetadata::FrameType frameType = metadata->getFrameType(); if (frameType != FrameMetadata::RAW_IMAGE_PLANAR && frameType != FrameMetadata::RAW_IMAGE) { - LOG_ERROR << "<" << getId() << ">::validateInputPins input frameType is expected to be RAW_IMAGE or RAW_IMAGE_PLANAR. Actual<" << frameType << ">"; + LOG_INFO << "<" << getId() << ">::validateInputPins input frameType is expected to be RAW_IMAGE or RAW_IMAGE_PLANAR. Actual<" << frameType << ">"; return false; } FrameMetadata::MemType memType = metadata->getMemType(); if(frameType == FrameMetadata::RAW_IMAGE_PLANAR && (memType != FrameMetadata::HOST && memType != FrameMetadata::DMABUF) ) { - LOG_ERROR << "<" << getId() << ">::validateInputPins input memType is expected to be HOST OR DMABUF. Actual<" << memType << ">"; + LOG_INFO << "<" << getId() << ">::validateInputPins input memType is expected to be HOST OR DMABUF. Actual<" << memType << ">"; return false; } if (frameType == FrameMetadata::RAW_IMAGE && memType != FrameMetadata::CUDA_DEVICE) { - LOG_ERROR << "<" << getId() << ">::validateInputPins input memType is expected to be CUDA_DEVICE. Actual<" << memType << ">"; + LOG_INFO << "<" << getId() << ">::validateInputPins input memType is expected to be CUDA_DEVICE. Actual<" << memType << ">"; return false; } @@ -58,12 +56,17 @@ bool H264EncoderV4L2::validateInputPins() bool H264EncoderV4L2::validateOutputPins() { + if (getNumberOfOutputPins() != 1) + { + LOG_INFO << "<" << getId() << ">::validateOutputPins size is expected to be 1. Actual<" << getNumberOfOutputPins() << ">"; + return false; + } framemetadata_sp metadata = getFirstOutputMetadata(); FrameMetadata::FrameType frameType = metadata->getFrameType(); - if (frameType != FrameMetadata::H264_DATA && frameType != FrameMetadata::OVERLAY_INFO_IMAGE) + if (frameType != FrameMetadata::H264_DATA) { - LOG_ERROR << "<" << getId() << ">::validateOutputPins input frameType is expected to be H264_DATA. Actual<" << frameType << ">"; + LOG_INFO << "<" << getId() << ">::validateOutputPins input frameType is expected to be H264_DATA. Actual<" << frameType << ">"; return false; } @@ -88,6 +91,11 @@ bool H264EncoderV4L2::term() bool H264EncoderV4L2::process(frame_container &frames) { auto frame = frames.cbegin()->second; + if (!frame->data() || frame->size() == 0) + { + LOG_ERROR << "H264EncoderV4L2 received empty/null input frame"; + return true; + } mHelper->process(frame); return true; @@ -131,10 +139,14 @@ bool H264EncoderV4L2::processSOS(frame_sp &frame) { if(width != step) { - throw AIPException(AIP_FATAL, "Width is expected to be equal to step"); + // throw AIPException(AIP_FATAL, "Width is expected to be equal to step"); } } } + auto h264Metadata = H264Metadata(width, height); + auto rawOutMetadata = FrameMetadataFactory::downcast(mOutputMetadata); + rawOutMetadata->setData(h264Metadata); + auto v4l2MemType = V4L2_MEMORY_MMAP; if(metadata->getMemType() == FrameMetadata::DMABUF) @@ -142,14 +154,15 @@ bool H264EncoderV4L2::processSOS(frame_sp &frame) v4l2MemType = V4L2_MEMORY_DMABUF; } - auto h264OutMetadata = framemetadata_sp(new H264Metadata(width, height)); - Module::setMetadata(h264FrameOutputPinId, h264OutMetadata); - - mHelper = H264EncoderV4L2Helper::create(v4l2MemType, pixelFormat, width, height, step, 1024 * mProps.targetKbps, mProps.enableMotionVectors, mProps.motionVectorThreshold, 30,h264FrameOutputPinId, motionVectorFramePinId, h264OutMetadata, - [&](size_t size, string& pinId) - { return makeFrame(size, pinId); }, - [&](frame_container &frameContainer) -> void { - send(frameContainer); + mHelper = H264EncoderV4L2Helper::create(v4l2MemType, pixelFormat, width, height, step, 1024 * mProps.targetKbps, 30, [&](frame_sp &frame) -> void { + frame->setMetadata(mOutputMetadata); + + frame_container frames; + std::chrono::time_point t = std::chrono::system_clock::now(); + auto dur = std::chrono::duration_cast(t.time_since_epoch()); + frame->timestamp = dur.count(); + frames.insert(make_pair(mOutputPinId, frame)); + send(frames); }); return true; diff --git a/base/src/H264EncoderV4L2Helper.cpp b/base/src/H264EncoderV4L2Helper.cpp index fd1f84f03..b01f422f1 100644 --- a/base/src/H264EncoderV4L2Helper.cpp +++ b/base/src/H264EncoderV4L2Helper.cpp @@ -1,10 +1,9 @@ -#include -#include "Overlay.h" +#include "H264EncoderV4L2Helper.h" +#include "v4l2_nv_extensions.h" + #include "Logger.h" #include "AIPExceptions.h" -#include "H264EncoderV4L2Helper.h" - inline bool checkv4l2(int ret, int iLine, const char *szFile, std::string message, bool raiseException) { if (ret < 0) @@ -15,7 +14,7 @@ inline bool checkv4l2(int ret, int iLine, const char *szFile, std::string messag throw AIPException(AIP_FATAL, errorMsg.c_str()); } - LOG_ERROR << errorMsg; + LOG_INFO << errorMsg; return false; } @@ -24,9 +23,9 @@ inline bool checkv4l2(int ret, int iLine, const char *szFile, std::string messag #define CHECKV4L2(call, message, raiseException) checkv4l2(call, __LINE__, __FILE__, message, raiseException) -std::shared_ptr H264EncoderV4L2Helper::create(enum v4l2_memory memType, uint32_t pixelFormat, uint32_t width, uint32_t height, uint32_t step, uint32_t bitrate, bool enableMotionVectors, int motionVectorThreshold, uint32_t fps, std::string h264FrameOutputPinId, std::string motionVectorFramePinId, framemetadata_sp h264Metadata, std::function makeFrame, SendFrameContainer sendFrameContainer) +std::shared_ptr H264EncoderV4L2Helper::create(enum v4l2_memory memType, uint32_t pixelFormat, uint32_t width, uint32_t height, uint32_t step, uint32_t bitrate, uint32_t fps, SendFrame sendFrame) { - auto instance = std::make_shared(memType, pixelFormat, width, height, step, bitrate, enableMotionVectors, motionVectorThreshold, fps,h264FrameOutputPinId, motionVectorFramePinId, h264Metadata, makeFrame, sendFrameContainer); + auto instance = std::make_shared(memType, pixelFormat, width, height, step, bitrate, fps, sendFrame); instance->setSelf(instance); return instance; @@ -37,8 +36,9 @@ void H264EncoderV4L2Helper::setSelf(std::shared_ptr &self mSelf = self; } -H264EncoderV4L2Helper::H264EncoderV4L2Helper(enum v4l2_memory memType, uint32_t pixelFormat, uint32_t width, uint32_t height, uint32_t step, uint32_t bitrate, bool _enableMotionVectors, int _motionVectorThreshold, uint32_t fps, std::string _h264FrameOutputPinId, std::string _motionVectorFramePinId, framemetadata_sp _h264Metadata, std::function _makeFrame, SendFrameContainer sendFrameContainer) : mSendFrameContainer(sendFrameContainer), mFD(-1), mWidth(width), mHeight(height), enableMotionVectors(_enableMotionVectors), motionVectorThreshold(_motionVectorThreshold), h264FrameOutputPinId(_h264FrameOutputPinId), motionVectorFramePinId(_motionVectorFramePinId), h264Metadata(_h264Metadata), makeFrame(_makeFrame) +H264EncoderV4L2Helper::H264EncoderV4L2Helper(enum v4l2_memory memType, uint32_t pixelFormat, uint32_t width, uint32_t height, uint32_t step, uint32_t bitrate, uint32_t fps, SendFrame sendFrame) : mSendFrame(sendFrame), mFD(-1) { + frame_opool = std::make_shared>(); initV4L2(); mCapturePlane = std::make_unique(mFD, V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE, V4L2_PIX_FMT_H264, V4L2_MEMORY_MMAP); @@ -80,6 +80,11 @@ H264EncoderV4L2Helper::H264EncoderV4L2Helper(enum v4l2_memory memType, uint32_t H264EncoderV4L2Helper::~H264EncoderV4L2Helper() { + mShuttingDown = true; + { + std::lock_guard lock(mPoolMutex); + frame_opool.reset(); // Ensure pool is destroyed after all frames are released + } processEOS(); mOutputPlane->deinitPlane(); mCapturePlane->deinitPlane(); @@ -100,16 +105,16 @@ void H264EncoderV4L2Helper::termV4L2() if (mFD != -1) { v4l2_close(mFD); - LOG_FATAL << "Device closed, fd = " << mFD; + LOG_INFO << "Device closed, fd = " << mFD; } } void H264EncoderV4L2Helper::initV4L2() { - mFD = v4l2_open("/dev/nvhost-msenc", O_RDWR); + mFD = v4l2_open("/dev/v4l2-nvenc", O_RDWR); if (mFD == -1) { - throw AIPException(AIP_FATAL, "Could not open device nvhost-msenc"); + throw AIPException(AIP_FATAL, "Could not open device v4l2-nvenc"); } struct v4l2_capability caps; @@ -125,48 +130,12 @@ void H264EncoderV4L2Helper::initV4L2() } } - -int -H264EncoderV4L2Helper::setExtControlsMV(v4l2_ext_controls &ctl) -{ - int ret; - - ret = v4l2_ioctl(mFD, VIDIOC_S_EXT_CTRLS, &ctl); - - return ret; -} - - -int -H264EncoderV4L2Helper::enableMotionVectorReporting() -{ - struct v4l2_ext_control control; - struct v4l2_ext_controls ctrls; - - memset(&control, 0, sizeof(control)); - memset(&ctrls, 0, sizeof(ctrls)); - - ctrls.count = 1; - ctrls.controls = &control; - ctrls.ctrl_class = V4L2_CTRL_CLASS_MPEG; - - control.id = V4L2_CID_MPEG_VIDEOENC_ENABLE_METADATA_MV; - control.value = 1; - - setExtControlsMV(ctrls); - return 1; -} - void H264EncoderV4L2Helper::initEncoderParams(uint32_t bitrate, uint32_t fps) { setBitrate(bitrate); setProfile(); setLevel(); setFrameRate(fps, 1); - if(enableMotionVectors) - { - enableMotionVectorReporting(); - } } void H264EncoderV4L2Helper::setBitrate(uint32_t bitrate) @@ -237,120 +206,99 @@ int H264EncoderV4L2Helper::setExtControls(v4l2_ext_control &control) return v4l2_ioctl(mFD, VIDIOC_S_EXT_CTRLS, &ctrls); } -int -H264EncoderV4L2Helper::getExtControls(v4l2_ext_controls &ctl) -{ - int ret; - - ret = v4l2_ioctl(mFD, VIDIOC_G_EXT_CTRLS, &ctl); - - return ret; -} - -int -H264EncoderV4L2Helper::getMotionVectors(uint32_t buffer_index, - v4l2_ctrl_videoenc_outputbuf_metadata_MV &enc_mv_metadata) -{ - v4l2_ctrl_video_metadata metadata; - struct v4l2_ext_control control; - struct v4l2_ext_controls ctrls; - - ctrls.count = 1; - ctrls.controls = &control; - ctrls.ctrl_class = V4L2_CTRL_CLASS_MPEG; - - metadata.buffer_index = buffer_index; - metadata.VideoEncMetadataMV = &enc_mv_metadata; - - control.id = V4L2_CID_MPEG_VIDEOENC_METADATA_MV; - control.string = (char *)&metadata; - - getExtControls(ctrls); - - return 1; -} - -void H264EncoderV4L2Helper::serializeMotionVectors(v4l2_ctrl_videoenc_outputbuf_metadata_MV enc_mv_metadata, frame_container &frames) +void H264EncoderV4L2Helper::capturePlaneDQCallback(AV4L2Buffer *buffer) { - uint32_t numMVs = enc_mv_metadata.bufSize / sizeof(MVInfo); - MVInfo *pInfo = enc_mv_metadata.pMVInfo; - - std::vector circleOverlays; - CompositeOverlay compositeOverlay; - - int totalMacroblockInRow = floor(mWidth / 16); // Tells about the total number of macro blocks in each row. - for (uint32_t i = 0; i < numMVs; i++, pInfo++) // numMVs is the total macroblock in the frame. + if (!buffer || mShuttingDown) { - - if (abs(pInfo->mv_x) > motionVectorThreshold || abs(pInfo->mv_y) > motionVectorThreshold) - { - auto tempY = floor(i / totalMacroblockInRow); // i represents current macroblock , To get the y offset of macroblock the current macroblock is divided by macroblock across width. - auto y = tempY * 16 + 8; // Here every macroblock is of 16x16 , So multiply it by 16. To get to the centre of the macroblock add it by 8. - auto tempX = floor(i % totalMacroblockInRow); - auto x = tempX * 16 + 8; - CircleOverlay circleOverlay; - circleOverlay.x1 = x; - circleOverlay.y1 = y; - circleOverlay.radius = 1; - circleOverlays.push_back(circleOverlay); - } + LOG_INFO << "capturePlaneDQCallback called with null buffer or during shutdown"; + return; } - for (auto &circleOverlay : circleOverlays) + if (!buffer->planesInfo[0].data || buffer->v4l2_buf.m.planes[0].bytesused == 0) { - compositeOverlay.add(&circleOverlay); + LOG_INFO << "Invalid buffer data or size in capturePlaneDQCallback"; + return; } - if (circleOverlays.size()) - { - DrawingOverlay drawingOverlay; - drawingOverlay.add(&compositeOverlay); - auto serializeSize = drawingOverlay.mGetSerializeSize(); - serializeSize += 100; - auto motionVectorFrame = makeFrame(serializeSize, motionVectorFramePinId); - drawingOverlay.serialize(motionVectorFrame); - frames.insert(make_pair(motionVectorFramePinId, motionVectorFrame)); + try { + LOG_DEBUG << "capturePlaneDQCallback Wait for LOCK;"; + std::lock_guard lock(mPoolMutex); + LOG_DEBUG << "capturePlaneDQCallback Got LOCK;"; + + // Only create new frame if we have a valid pool + if (!frame_opool) { + LOG_INFO << "Object pool no longer valid"; + return; + } + + // Create frame with deleter that checks for shutdown + auto frame = frame_sp( + frame_opool->construct(buffer->planesInfo[0].data, buffer->v4l2_buf.m.planes[0].bytesused), + [this, index=buffer->getIndex(), self=mSelf](ExtFrame* p) { + if (!mShuttingDown) { + this->reuseCatureBuffer(p, index, self); + } + } + ); + LOG_DEBUG << "Created Frameeeesss"; + if (!frame) { + LOG_INFO << "Failed to construct frame in capturePlaneDQCallback"; + return; + } + + mSendFrame(frame); + LOG_DEBUG << "releaseFrame will be called "; + mConverter->releaseFrame(); + LOG_DEBUG << "releaseFrame Released Frameeeesss"; + } catch (const std::exception& e) { + LOG_DEBUG << "Exception in capturePlaneDQCallback: " << e.what(); } } -void H264EncoderV4L2Helper::capturePlaneDQCallback(AV4L2Buffer *buffer) + +void H264EncoderV4L2Helper::reuseCatureBuffer(ExtFrame *pointer, uint32_t index, std::shared_ptr self) { - auto frame = frame_sp(frame_opool.construct(buffer->planesInfo[0].data, buffer->v4l2_buf.m.planes[0].bytesused), std::bind(&H264EncoderV4L2Helper::reuseCatureBuffer, this, std::placeholders::_1, buffer->getIndex(), mSelf)); - frame->setMetadata(h264Metadata); - frame_container frames; - frame->timestamp = incomingTimeStamp.front(); - incomingTimeStamp.pop(); - frames.insert(make_pair(h264FrameOutputPinId, frame)); - - if (enableMotionVectors) - { - v4l2_ctrl_videoenc_outputbuf_metadata_MV enc_mv_metadata; - getMotionVectors(buffer->v4l2_buf.index, enc_mv_metadata); - serializeMotionVectors(enc_mv_metadata, frames); + // Validate input parameters and ensure self pointer is still valid + if (!pointer || !self) { + LOG_INFO << "reuseCatureBuffer called with null pointer or invalid self reference"; + return; } - mSendFrameContainer(frames); - mConverter->releaseFrame(); -} + try { + // Lock to prevent concurrent access to frame_opool + LOG_DEBUG << " Waiting for LOCK;"; + std::lock_guard lock(mPoolMutex); + LOG_DEBUG << "Got LOCK;"; + if (pointer) { + frame_opool->free(pointer); + pointer = nullptr; + } + + if (!mCapturePlane) { + LOG_INFO << "Invalid capture plane in reuseCatureBuffer"; + return; + } -void H264EncoderV4L2Helper::reuseCatureBuffer(ExtFrame *pointer, uint32_t index, std::shared_ptr self) -{ - // take care of destruction case - frame_opool.free(pointer); - mCapturePlane->qBuffer(index); + // Queue the buffer only if the index is valid + mCapturePlane->qBuffer(index); + + } catch (const std::exception& e) { + LOG_INFO << "Exception in reuseCatureBuffer: " << e.what(); + } catch (...) { + LOG_INFO << "Unknown exception in reuseCatureBuffer"; + } } bool H264EncoderV4L2Helper::process(frame_sp& frame) { - incomingTimeStamp.push(frame->timestamp); auto buffer = mOutputPlane->getFreeBuffer(); if (!buffer) { + LOG_INFO << "No free buffer available in process"; return true; } - + LOG_DEBUG << "Got Free Buffer in process"; mConverter->process(frame, buffer); mOutputPlane->qBuffer(buffer->getIndex()); - return true; } @@ -365,7 +313,6 @@ bool H264EncoderV4L2Helper::processEOS() mOutputPlane->setEOSFlag(buffer); mOutputPlane->qBuffer(buffer->getIndex()); - mCapturePlane->waitForDQThread(2000); // blocking call - waits for 2 secs for thread to exit - + mCapturePlane->waitForDQThread(2000); return true; } \ No newline at end of file diff --git a/base/src/MemTypeConversion.cpp b/base/src/MemTypeConversion.cpp index 8207fe3ca..51530f89f 100644 --- a/base/src/MemTypeConversion.cpp +++ b/base/src/MemTypeConversion.cpp @@ -4,7 +4,7 @@ #include "RawImagePlanarMetadata.h" #include "CudaCommon.h" -#if 1 +#if defined(__arm__) || defined(__aarch64__) #include "DMAFrameUtils.h" #include "DMAFDWrapper.h" #include "ImagePlaneData.h" @@ -30,14 +30,14 @@ class DetailMemory FrameMetadata::MemType inputMemType = inputMetadata->getMemType(); if (inputMemType == FrameMetadata::MemType::DMABUF && props.outputMemType == FrameMetadata::MemType::HOST) { -#if 1 +#if defined(__arm__) || defined(__aarch64__) mGetImagePlanes = DMAFrameUtils::getImagePlanesFunction(inputMetadata, mImagePlanes); mNumPlanes = static_cast(mImagePlanes.size()); #endif } else if (inputMemType == FrameMetadata::MemType::HOST && props.outputMemType == FrameMetadata::MemType::DMABUF) { -#if 1 +#if defined(__arm__) || defined(__aarch64__) mGetImagePlanes = DMAFrameUtils::getImagePlanesFunction(inputMetadata, mImagePlanes); mNumPlanes = static_cast(mImagePlanes.size()); #endif @@ -61,7 +61,7 @@ class DetailMemory if (inputMemType == FrameMetadata::MemType::DMABUF || props.outputMemType == FrameMetadata::MemType::DMABUF) { -#if 1 +#if defined(__arm__) || defined(__aarch64__) int type = CV_8UC4; switch (imageType) { @@ -112,7 +112,7 @@ class DetailMemory if (inputMemType == FrameMetadata::MemType::DMABUF || props.outputMemType == FrameMetadata::MemType::DMABUF) { -#if 1 +#if defined(__arm__) || defined(__aarch64__) auto metadata = framemetadata_sp(new RawImagePlanarMetadata(rowSize[0], height[0], imageType, size_t(0), CV_8U, FrameMetadata::MemType::DMABUF)); DMAAllocator::setMetadata(metadata, rowSize[0], height[0], imageType, pitch, offset); if (inputMemType == FrameMetadata::MemType::DMABUF) @@ -164,7 +164,7 @@ class DetailMemory size_t height[4]; size_t width[4]; -#if 1 +#if defined(__arm__) || defined(__aarch64__) ImagePlanes mImagePlanes; DMAFrameUtils::GetImagePlanes mGetImagePlanes; #endif @@ -177,27 +177,9 @@ class DetailDMAtoHOST : public DetailMemory bool compute() { -#if 1 +#if defined(__arm__) || defined(__aarch64__) mGetImagePlanes(inputFrame, mImagePlanes); dstPtr = static_cast(outputFrame->data()); - - // Debug UV plane pointers - // auto dmaPtr = static_cast(inputFrame->data()); - // LOG_ERROR << "[UV DEBUG] DMAFDWrapper pointers:"; - // LOG_ERROR << " Y ptr = " << dmaPtr->getHostPtrY() << " UV ptr = " << dmaPtr->getHostPtrUV(); - // LOG_ERROR << " UV offset from Y = " << ((uint8_t*)dmaPtr->getHostPtrUV() - (uint8_t*)dmaPtr->getHostPtrY()) << " bytes"; - - // // Debug: Log plane pointers and first few bytes - // LOG_INFO << "DetailDMAtoHOST copying " << mNumPlanes << " planes"; - // for (auto i = 0; i < mNumPlanes; i++) { - // LOG_INFO << " Plane " << i << " data ptr = " << mImagePlanes[i]->data; - // uint8_t* planeData = (uint8_t*)mImagePlanes[i]->data; - // LOG_INFO << " First 8 bytes: " << std::hex - // << (int)planeData[0] << " " << (int)planeData[1] << " " - // << (int)planeData[2] << " " << (int)planeData[3] << " " - // << (int)planeData[4] << " " << (int)planeData[5] << " " - // << (int)planeData[6] << " " << (int)planeData[7] << std::dec; - // } for (auto i = 0; i < mNumPlanes; i++) { @@ -216,7 +198,7 @@ class DetailHOSTtoDMA : public DetailMemory bool compute() { -#if 1 +#if defined(__arm__) || defined(__aarch64__) mGetImagePlanes(inputFrame, mImagePlanes); dstPtr = (static_cast(outputFrame->data()))->getHostPtr(); @@ -237,7 +219,7 @@ class DetailDEVICEtoDMA : public DetailMemory bool compute() { -#if 1 +#if defined(__arm__) || defined(__aarch64__) auto cudaStatus = cudaSuccess; for (auto i = 0; i < imageChannels; i++) @@ -265,7 +247,7 @@ class DetailDMAtoDEVICE : public DetailMemory bool compute() { -#if 1 +#if defined(__arm__) || defined(__aarch64__) auto cudaStatus = cudaSuccess; for (auto i = 0; i < imageChannels; i++) @@ -516,8 +498,7 @@ bool MemTypeConversion::processSOS(frame_sp &frame) auto outputRawMetadata = FrameMetadataFactory::downcast(mDetail->mOutputMetadata); mDetail->imageType = inputRawMetadata->getImageType(); - size_t outputStride = inputRawMetadata->getStep(0); - RawImagePlanarMetadata rawMetadata(inputRawMetadata->getWidth(0), inputRawMetadata->getHeight(0), mDetail->imageType, size_t(0), inputRawMetadata->getDepth(), mProps.outputMemType); + RawImagePlanarMetadata rawMetadata(inputRawMetadata->getWidth(0), inputRawMetadata->getHeight(0), mDetail->imageType, mDetail->mAlignLength, inputRawMetadata->getDepth(), mInputMemType); outputRawMetadata->setData(rawMetadata); } break; diff --git a/base/src/NvEglRenderer.cpp b/base/src/NvEglRenderer.cpp index 2c2e7a372..9139718dc 100644 --- a/base/src/NvEglRenderer.cpp +++ b/base/src/NvEglRenderer.cpp @@ -28,11 +28,43 @@ #include "ApraNvEglRenderer.h" #include "NvLogging.h" -#include "nvbuf_utils.h" +//#include "nvbuf_utils.h" #include "NvElement.h" -#include "Logger.h" #include #include +#include "Logger.h" +#include +#include +#include FT_FREETYPE_H +#include +#include +#include +#define STB_IMAGE_IMPLEMENTATION +#include "stb_image.h" +#include +#include +#include + + +struct Character { + GLuint TextureID; // Glyph texture + int SizeX; // Width + int SizeY; // Height + int BearingX; // Offset from baseline to left/top + int BearingY; + GLuint Advance; // Offset to advance to next glyph +}; + +static std::map Characters; +static GLuint textVAO = 0, textVBO = 0; +static GLuint textShader = 0; +GLuint imageShader; +static int g_fontAscent = 0; +static int g_fontDescent = 0; +static int g_fontLineAdvance = 0; +static bool g_fontInitialized = false; +static std::string g_loadedFontPath; +static int g_loadedFontSize = 0; #define CAT_NAME "EglRenderer" @@ -51,27 +83,24 @@ PFNEGLCLIENTWAITSYNCKHRPROC NvEglRenderer::eglClientWaitSyncKHR; PFNEGLGETSYNCATTRIBKHRPROC NvEglRenderer::eglGetSyncAttribKHR; PFNGLEGLIMAGETARGETTEXTURE2DOESPROC NvEglRenderer::glEGLImageTargetTexture2DOES; +PFNGLGENVERTEXARRAYSOESPROC NvEglRenderer::glGenVertexArraysOES = nullptr; +PFNGLBINDVERTEXARRAYOESPROC NvEglRenderer::glBindVertexArrayOES = nullptr; +PFNGLDELETEVERTEXARRAYSOESPROC NvEglRenderer::glDeleteVertexArraysOES = nullptr; + using namespace std; -NvEglRenderer::NvEglRenderer(const char *name, uint32_t width, uint32_t height, uint32_t x_offset, uint32_t y_offset , bool displayOnTop) +NvEglRenderer::NvEglRenderer(const char *name, uint32_t width, uint32_t height, uint32_t x_offset, uint32_t y_offset, const char *ttfFilePath,const char *message,float scale,float r,float g,float b,float fontsize,int textPosX, int textPosY, + string imagePath,int imagePosX,int imagePosY,uint32_t imageWidth,uint32_t imageHeight,float opacity,bool mask + ,float imageOpacity,float textOpacity) // alwaysOnTOp { int depth; int screen_num; XSetWindowAttributes window_attributes; x_window = 0; x_display = NULL; - XColor color, dummy; - XGCValues gr_values; - - this->mWidth = width; - this->mHeight = height; - this->drawBorder = false; - - this->_x_offset = x_offset; - this->_y_offset = y_offset; - texture_id = 0; + cached_image_texture = 0; gc = NULL; fontinfo = NULL; @@ -92,7 +121,7 @@ NvEglRenderer::NvEglRenderer(const char *name, uint32_t width, uint32_t height, pthread_mutex_init(&render_lock, NULL); pthread_cond_init(&render_cond, NULL); - setFPS(30); + setFPS(60); if (initEgl() < 0) { @@ -117,24 +146,23 @@ NvEglRenderer::NvEglRenderer(const char *name, uint32_t width, uint32_t height, depth = DefaultDepth(x_display, DefaultScreen(x_display)); - //window_attributes.override_redirect = 1; window_attributes.background_pixel = BlackPixel(x_display, DefaultScreen(x_display)); - window_attributes.override_redirect = (displayOnTop ? 1 : 0); - Atom WM_HINTS; - if(window_attributes.override_redirect == 0) - { - struct - { - unsigned long flags; - unsigned long functions; - unsigned long decorations; - long inputMode; - unsigned long status; - } WM_HINTS = { (1L << 1), 0, 0, 0, 0 }; // this we added to remove title bar - } - + window_attributes.override_redirect = 1; + // window_attributes.override_redirect = 0; // this we added to make renderer controlled by window manager + + // Atom WM_HINTS; + // struct + // { + // unsigned long flags; + // unsigned long functions; + // unsigned long decorations; + // long inputMode; + // unsigned long status; + // } wmHints = { (1L << 1), 0, 0, 0, 0 }; // this we added to remove title bar + + // LOG_DEBUG << "X_OFFSET " << x_offset << "Y_OFFSET "<< y_offset << "========================>>>>"; x_window = XCreateWindow(x_display, DefaultRootWindow(x_display), x_offset, y_offset, width, height, @@ -143,180 +171,63 @@ NvEglRenderer::NvEglRenderer(const char *name, uint32_t width, uint32_t height, CopyFromParent, (CWBackPixel | CWOverrideRedirect), &window_attributes); - - if(window_attributes.override_redirect == 0) - { - XStoreName(x_display, x_window, "ApraEglRenderer"); - XFlush(x_display); - XSizeHints hints; - hints.x = x_offset; - hints.y = y_offset; - hints.width = width; - hints.height = height; - hints.flags = PPosition | PSize; - XSetWMNormalHints(x_display, x_window, &hints); - - WM_HINTS = XInternAtom(x_display, "_MOTIF_WM_HINTS", True); - XChangeProperty(x_display, x_window, WM_HINTS, WM_HINTS, 32, - PropModeReplace, (unsigned char *)&WM_HINTS, 5); - } - - XSelectInput(x_display, (int32_t) x_window, ButtonPressMask | - NoEventMask | - KeyPressMask | - KeyReleaseMask | - ButtonReleaseMask | - EnterWindowMask | - LeaveWindowMask | - PointerMotionMask | - PointerMotionHintMask | - Button1MotionMask | - Button2MotionMask | - Button3MotionMask | - Button4MotionMask | - Button5MotionMask | - ButtonMotionMask | - KeymapStateMask | - ExposureMask | - VisibilityChangeMask | - StructureNotifyMask | - ResizeRedirectMask | - SubstructureNotifyMask | - SubstructureRedirectMask | - FocusChangeMask | - PropertyChangeMask | - ColormapChangeMask | - OwnerGrabButtonMask); - - fontinfo = XLoadQueryFont(x_display, "9x15bold"); - - // XAllocNamedColor(x_display, DefaultColormap(x_display, screen_num), "green", &color, &dummy); - // XSetWindowBorder(x_display, x_window, color.pixel); - - // gr_values.font = fontinfo->fid; - // gr_values.foreground = color.pixel; - // gr_values.line_width = 5; - - // gc = XCreateGC(x_display, x_window, GCFont | GCForeground | GCLineWidth, &gr_values); - - // XFlush(x_display); - // XMapWindow(x_display, (int32_t)x_window); - // XFlush(x_display); - - XMapWindow(x_display, (int32_t)x_window); - gc = XCreateGC(x_display, x_window, 0, NULL); - - XSetForeground(x_display, gc, - WhitePixel(x_display, DefaultScreen(x_display))); - fontinfo = XLoadQueryFont(x_display, "9x15bold"); - pthread_mutex_lock(&render_lock); - pthread_create(&render_thread, NULL, renderThread, this); - pthread_setname_np(render_thread, "EglRenderer"); - pthread_cond_wait(&render_cond, &render_lock); - pthread_mutex_unlock(&render_lock); - - return; -} - -bool NvEglRenderer::renderAndDrawLoop() -{ - if (drawBorder) + // XStoreName(x_display, x_window, "ApraEglRenderer"); + // XFlush(x_display); + + // XSizeHints hints; + // hints.x = x_offset; + // hints.y = y_offset; + // hints.width = width; + // hints.height = height; + // hints.flags = PPosition | PSize; + // XSetWMNormalHints(x_display, x_window, &hints); + + // WM_HINTS = XInternAtom(x_display, "_MOTIF_WM_HINTS", True); + // XChangeProperty(x_display, x_window, WM_HINTS, WM_HINTS, 32, + // PropModeReplace, (unsigned char *)&wmHints, 5); + + XSelectInput(x_display, (int32_t) x_window, ExposureMask); + XMapWindow(x_display, (int32_t) x_window); + gc = XCreateGC(x_display, x_window, 0, NULL); + + XSetForeground(x_display, gc, + WhitePixel(x_display, DefaultScreen(x_display)) ); + fontinfo = XLoadQueryFont(x_display, "9x15bold"); + + this->ttfFilePath = ttfFilePath ? std::string(ttfFilePath) : std::string(); + this->message = message ? std::string(message) : std::string(); + this->scale = scale; + this->r = r; + this->g = g; + this->b = b; + this->fontSize = fontsize; + this->textPosX = textPosX; + this->textPosY = textPosY; + this->opacity = opacity; + this->imagePath = imagePath; + this->imagePosX = imagePosX; + this->imagePosY = imagePosY; + this->imageWidth = imageWidth; + this->imageHeight = imageHeight; + this->mask = mask; + this->imageOpacity = imageOpacity; + this->textOpacity = textOpacity; + + if(opacity < 1.0f) { - XDrawRectangle(x_display, x_window, gc, 0, 0, (mWidth)-1, (mHeight)-1); - XFlush(x_display); + setWindowOpacity(opacity); } - return true; -} - -bool NvEglRenderer::windowDrag() -{ - if (XCheckMaskEvent(x_display, - ButtonPressMask | - NoEventMask | - KeyPressMask | - KeyReleaseMask | - ButtonReleaseMask | - EnterWindowMask | - LeaveWindowMask | - PointerMotionMask | - PointerMotionHintMask | - Button1MotionMask | - Button2MotionMask | - Button3MotionMask | - Button4MotionMask | - Button5MotionMask | - ButtonMotionMask | - KeymapStateMask | - ExposureMask | - VisibilityChangeMask | - StructureNotifyMask | - ResizeRedirectMask | - SubstructureNotifyMask | - SubstructureRedirectMask | - FocusChangeMask | - PropertyChangeMask | - ColormapChangeMask | - OwnerGrabButtonMask, - &event)) - { - if (event.type == ButtonPress) - { - if (event.xbutton.button == Button1) - { - drag_start_x = event.xbutton.x_root - _x_offset; - drag_start_y = event.xbutton.y_root - _y_offset; - is_dragging = true; - } - } - else if (event.type == MotionNotify) - { - if (is_dragging) - { - int screen = DefaultScreen(x_display); - _x_offset = event.xbutton.x_root - drag_start_x; - _y_offset = event.xbutton.y_root - drag_start_y; - int centerX = _x_offset + mWidth / 2; - int centerY = _y_offset + mHeight / 2; - int screenWidth = XDisplayWidth(x_display, screen); - int screenHeight = XDisplayHeight(x_display, screen); - - // Determine the closest corner - int closestX, closestY; - - if (centerX <= screenWidth / 2) - { - closestX = 0; - } - else - { - closestX = screenWidth - mWidth; - } - - if (centerY <= screenHeight / 2) - { - closestY = 0; - } - else - { - closestY = screenHeight - mHeight; - } - - // Move the window to the closest corner - // XMoveWindow(x_display, x_window, _x_offset, _y_offset); - XMoveWindow(x_display, x_window, closestX, closestY); - XFlush(x_display); - } - } - else if (event.type == ButtonRelease) - { - if (event.xbutton.button == Button1) - { - is_dragging = false; - } - } + else + { + setWindowOpacity(0.99f); } - return true; + pthread_mutex_lock(&render_lock); + pthread_create(&render_thread, NULL, renderThread, this); + pthread_setname_np(render_thread, "EglRenderer"); + pthread_cond_wait(&render_cond, &render_lock); + pthread_mutex_unlock(&render_lock); + return; } int @@ -350,6 +261,7 @@ NvEglRenderer::renderThread(void *arg) EGL_GREEN_SIZE, 8, EGL_BLUE_SIZE, 8, EGL_ALPHA_SIZE, 8, + EGL_STENCIL_SIZE, 8, EGL_SURFACE_TYPE, EGL_WINDOW_BIT, EGL_NONE, }; @@ -392,6 +304,10 @@ NvEglRenderer::renderThread(void *arg) eglMakeCurrent(renderer->egl_display, renderer->egl_surface, renderer->egl_surface, renderer->egl_context); + + glEnable(GL_BLEND); + glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA); + if (eglGetError() != EGL_SUCCESS) { goto error; @@ -401,9 +317,66 @@ NvEglRenderer::renderThread(void *arg) { goto error; } + // Load OES VAO function pointers after making context current + NvEglRenderer::glGenVertexArraysOES = (PFNGLGENVERTEXARRAYSOESPROC)eglGetProcAddress("glGenVertexArraysOES"); + NvEglRenderer::glBindVertexArrayOES = (PFNGLBINDVERTEXARRAYOESPROC)eglGetProcAddress("glBindVertexArrayOES"); + NvEglRenderer::glDeleteVertexArraysOES = (PFNGLDELETEVERTEXARRAYSOESPROC)eglGetProcAddress("glDeleteVertexArraysOES"); + + textShader = renderer->initTextShader(); + // Initialize image shader used for 2D image rendering + imageShader = renderer->initImageShader(); + // setup VAO/VBO for text quads + if (glGenVertexArraysOES) + { + glGenVertexArraysOES(1, &textVAO); + } + glGenBuffers(1, &textVBO); + if (glBindVertexArrayOES) + { + glBindVertexArrayOES(textVAO); + glBindBuffer(GL_ARRAY_BUFFER, textVBO); + glBufferData(GL_ARRAY_BUFFER, sizeof(float) * 6 * 4, NULL, GL_DYNAMIC_DRAW); + glEnableVertexAttribArray(1); + glVertexAttribPointer(1, 4, GL_FLOAT, GL_FALSE, 4 * sizeof(float), 0); + glBindBuffer(GL_ARRAY_BUFFER, 0); + glBindVertexArrayOES(0); + } + else + { + // No VAO support: just allocate buffer now; we'll set attrib pointer per draw + glBindBuffer(GL_ARRAY_BUFFER, textVBO); + glBufferData(GL_ARRAY_BUFFER, sizeof(float) * 6 * 4, NULL, GL_DYNAMIC_DRAW); + glBindBuffer(GL_ARRAY_BUFFER, 0); + } renderer->create_texture(); + // Load image texture once during initialization + renderer->cached_image_texture = renderer->loadImageTexture(renderer->imagePath.c_str()); + if (renderer->cached_image_texture == 0) + { + fprintf(stderr, "Warning: Failed to load cached image texture\n"); + } + + // Initialize font atlas once if text is requested + if (!renderer->message.empty() && !renderer->ttfFilePath.empty()) + { + if (!g_fontInitialized || g_loadedFontPath != renderer->ttfFilePath || g_loadedFontSize != renderer->fontSize) + { + if (renderer->initFontAtlas(renderer->ttfFilePath.c_str(), renderer->fontSize) == 0) + { + g_fontInitialized = true; + g_loadedFontPath = renderer->ttfFilePath; + g_loadedFontSize = renderer->fontSize; + } + else + { + g_fontInitialized = false; + fprintf(stderr, "ERROR: Font atlas initialization failed for '%s'\n", renderer->ttfFilePath.c_str()); + } + } + } + pthread_mutex_lock(&renderer->render_lock); pthread_cond_broadcast(&renderer->render_cond); @@ -418,9 +391,8 @@ NvEglRenderer::renderThread(void *arg) break; } - renderer->windowDrag(); renderer->renderInternal(); - renderer->renderAndDrawLoop(); + pthread_mutex_lock(&renderer->render_lock); pthread_cond_broadcast(&renderer->render_cond); } @@ -431,6 +403,10 @@ NvEglRenderer::renderThread(void *arg) { glDeleteTextures(1, &renderer->texture_id); } + if (renderer->cached_image_texture) + { + glDeleteTextures(1, &renderer->cached_image_texture); + } if (renderer->egl_display != EGL_NO_DISPLAY) { @@ -453,6 +429,7 @@ NvEglRenderer::renderThread(void *arg) renderer->egl_context); if (egl_status == EGL_FALSE) { + LOG_DEBUG << "GETTING EGL FALSE "; } } @@ -465,7 +442,6 @@ NvEglRenderer::renderThread(void *arg) pthread_mutex_lock(&renderer->render_lock); pthread_cond_broadcast(&renderer->render_cond); pthread_mutex_unlock(&renderer->render_lock); - return NULL; error: @@ -500,6 +476,7 @@ NvEglRenderer::~NvEglRenderer() XUnmapWindow(x_display, (int32_t) x_window); XFlush(x_display); XDestroyWindow(x_display, (int32_t) x_window); + x_window = 0; } if (x_display) { @@ -518,35 +495,361 @@ NvEglRenderer::render(int fd) return 0; } -int -NvEglRenderer::renderInternal() +EGLImageKHR +NvEglRenderer::createEglImageFromDmaBuf() { - EGLImageKHR hEglImage; - bool frame_is_late = false; - - EGLSyncKHR egl_sync; - int iErr; - hEglImage = NvEGLImageFromFd(egl_display, render_fd); - if (!hEglImage) + EGLAttrib attrs[32]; + int ai = 0; + attrs[ai++] = EGL_WIDTH; attrs[ai++] = (EGLint)render_width; + attrs[ai++] = EGL_HEIGHT; attrs[ai++] = (EGLint)render_height; + attrs[ai++] = EGL_LINUX_DRM_FOURCC_EXT; attrs[ai++] = (EGLint)render_fourcc; + // Plane 0 + attrs[ai++] = EGL_DMA_BUF_PLANE0_FD_EXT; attrs[ai++] = (EGLint)render_fd; + attrs[ai++] = EGL_DMA_BUF_PLANE0_MODIFIER_LO_EXT; attrs[ai++] = 0; + attrs[ai++] = EGL_DMA_BUF_PLANE0_MODIFIER_HI_EXT; attrs[ai++] = 0; + attrs[ai++] = EGL_DMA_BUF_PLANE0_OFFSET_EXT; attrs[ai++] = (EGLint)render_offset; + attrs[ai++] = EGL_DMA_BUF_PLANE0_PITCH_EXT; attrs[ai++] = (EGLint)render_pitch; + if (render_num_planes >= 2) { - return -1; + attrs[ai++] = EGL_DMA_BUF_PLANE1_FD_EXT; attrs[ai++] = (EGLint)render_fd; + attrs[ai++] = EGL_DMA_BUF_PLANE1_OFFSET_EXT; attrs[ai++] = (EGLint)render_offset1; + attrs[ai++] = EGL_DMA_BUF_PLANE1_PITCH_EXT; attrs[ai++] = (EGLint)render_pitch1; } - + if (render_num_planes >= 3) + { + attrs[ai++] = EGL_DMA_BUF_PLANE2_FD_EXT; attrs[ai++] = (EGLint)render_fd; + attrs[ai++] = EGL_DMA_BUF_PLANE2_OFFSET_EXT; attrs[ai++] = (EGLint)render_offset2; + attrs[ai++] = EGL_DMA_BUF_PLANE2_PITCH_EXT; attrs[ai++] = (EGLint)render_pitch2; + } + attrs[ai++] = EGL_NONE; + + return eglCreateImage( + egl_display, + EGL_NO_CONTEXT, + EGL_LINUX_DMA_BUF_EXT, + (EGLClientBuffer)NULL, + attrs + ); +} +int NvEglRenderer::renderVideoFrame(EGLImageKHR hEglImage) +{ glActiveTexture(GL_TEXTURE0); glBindTexture(GL_TEXTURE_EXTERNAL_OES, texture_id); + glTexParameteri(GL_TEXTURE_EXTERNAL_OES, GL_TEXTURE_MIN_FILTER, GL_LINEAR); + glTexParameteri(GL_TEXTURE_EXTERNAL_OES, GL_TEXTURE_MAG_FILTER, GL_LINEAR); + glTexParameteri(GL_TEXTURE_EXTERNAL_OES, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE); + glTexParameteri(GL_TEXTURE_EXTERNAL_OES, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE); glEGLImageTargetTexture2DOES(GL_TEXTURE_EXTERNAL_OES, hEglImage); + + glUseProgram(gl_program); + + // --- Circle Mask Control --- + GLint enableLoc = glGetUniformLocation(gl_program, "u_enableMask"); + GLint centerLoc = glGetUniformLocation(gl_program, "u_center"); + GLint radiusLoc = glGetUniformLocation(gl_program, "u_radius"); + + if (enableLoc >= 0) glUniform1i(enableLoc, mask ? 1 : 0); // enableMask is a bool member variable + if (centerLoc >= 0) glUniform2f(centerLoc, 0.5f, 0.5f); // center at middle of frame + if (radiusLoc >= 0) glUniform1f(radiusLoc, 0.45f); // circle radius (slightly less than half) + glDrawArrays(GL_TRIANGLES, 0, 6); - iErr = glGetError(); + EGLBoolean egl_status = eglGetError(); + if (egl_status != EGL_SUCCESS) + return -1; + + int iErr = glGetError(); if (iErr != GL_NO_ERROR) + return -1; + + return 0; +} + + +void +NvEglRenderer::saveGLState(GLint& prevProgram, GLint& prevVAO, GLint& prevTexExternal, + GLint& prevTex2D, GLint& prevArrayBuffer, GLint& prevActiveTexUnit, + GLboolean& wasBlendEnabled) +{ + wasBlendEnabled = glIsEnabled(GL_BLEND); + glGetIntegerv(GL_CURRENT_PROGRAM, &prevProgram); + if (glGetError() == GL_NO_ERROR && glBindVertexArrayOES) + { + glGetIntegerv(GL_VERTEX_ARRAY_BINDING_OES, &prevVAO); + } + glGetIntegerv(GL_ACTIVE_TEXTURE, &prevActiveTexUnit); + glGetIntegerv(GL_TEXTURE_BINDING_EXTERNAL_OES, &prevTexExternal); + glGetIntegerv(GL_TEXTURE_BINDING_2D, &prevTex2D); + glGetIntegerv(GL_ARRAY_BUFFER_BINDING, &prevArrayBuffer); +} + +void +NvEglRenderer::restoreGLState(GLint prevProgram, GLint prevVAO, GLint prevTexExternal, + GLint prevTex2D, GLint prevArrayBuffer, GLint prevActiveTexUnit, + GLboolean wasBlendEnabled) +{ + glUseProgram(prevProgram); + if (glBindVertexArrayOES && prevVAO) + { + glBindVertexArrayOES(prevVAO); + } + glActiveTexture(prevActiveTexUnit); + glBindTexture(GL_TEXTURE_2D, prevTex2D); + glBindTexture(GL_TEXTURE_EXTERNAL_OES, prevTexExternal); + glBindBuffer(GL_ARRAY_BUFFER, prevArrayBuffer); + + if (!wasBlendEnabled) + { + glDisable(GL_BLEND); + } + + // If VAO is unavailable, restore video attribute pointer for 'in_pos' + if (!glBindVertexArrayOES) + { + GLint inPosLoc = glGetAttribLocation(prevProgram, "in_pos"); + if (inPosLoc >= 0) + { + glVertexAttribPointer(inPosLoc, 4, GL_FLOAT, GL_FALSE, 0, (void*)0); + glEnableVertexAttribArray(inPosLoc); + } + } +} +void +NvEglRenderer::renderOverlays() +{ + // Ensure depth/stencil won't block overlays and enable blending + glDisable(GL_DEPTH_TEST); + glDisable(GL_STENCIL_TEST); + glEnable(GL_BLEND); + glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA); + + // Save GL state before rendering overlays + GLint prevProgram; + GLint prevVAO = 0; + GLint prevTexExternal; + GLint prevTex2D; + GLint prevArrayBuffer; + GLint prevActiveTexUnit; + GLboolean wasBlendEnabled; + saveGLState(prevProgram, prevVAO, prevTexExternal, prevTex2D, prevArrayBuffer, + prevActiveTexUnit, wasBlendEnabled); + + GLint viewport[4] = {0, 0, 0, 0}; + glGetIntegerv(GL_VIEWPORT, viewport); + int viewportWidth = viewport[2]; + int viewportHeight = viewport[3]; + if (viewportWidth <= 0 && render_width > 0) + { + viewportWidth = static_cast(render_width); + } + if (viewportHeight <= 0 && render_height > 0) + { + viewportHeight = static_cast(render_height); + } + float orthoWidth = viewportWidth > 0 ? static_cast(viewportWidth) + : (render_width > 0 ? render_width : 1.0f); + float orthoHeight = viewportHeight > 0 ? static_cast(viewportHeight) + : (render_height > 0 ? render_height : 1.0f); + + // Render image overlay if available + if (cached_image_texture != 0) + { + glUseProgram(imageShader); + GLint projLoc = glGetUniformLocation(imageShader, "projection"); + if (projLoc != -1) + { + glm::mat4 projection = glm::ortho(0.0f, orthoWidth, orthoHeight, 0.0f); + glUniformMatrix4fv(projLoc, 1, GL_FALSE, glm::value_ptr(projection)); + } + RenderImage(cached_image_texture, imagePosX, imagePosY, imageWidth, imageHeight); + } + + // Render text overlay if message is not empty + if (!message.empty() && !ttfFilePath.empty()) { + if (!g_fontInitialized) + { + // Attempt lazy init if not already initialized + if (initFontAtlas(ttfFilePath.c_str(), fontSize) == 0) + { + g_fontInitialized = true; + g_loadedFontPath = ttfFilePath; + g_loadedFontSize = fontSize; + } + else + { + fprintf(stderr, "ERROR: Skipping text render because font atlas is not initialized for '%s'\n", ttfFilePath.c_str()); + // Skip text rendering if font couldn't be initialized + goto restore_state; + } + } + // Text projection matrix (normalized device coordinates) + GLfloat textProjection[16] = { + 2.0f / orthoWidth, 0.0f, 0.0f, 0.0f, + 0.0f, -2.0f / orthoHeight, 0.0f, 0.0f, + 0.0f, 0.0f, -1.0f, 0.0f, + -1.0f, 1.0f, 0.0f, 1.0f + }; + + glUseProgram(textShader); + GLint projLoc = glGetUniformLocation(textShader, "projection"); + if (projLoc != -1) + glUniformMatrix4fv(projLoc, 1, GL_FALSE, textProjection); + + // Compute multiline-aware text dimensions + int maxLineW = 0; + int currentLineW = 0; + int numLines = 1; + for (auto it = message.begin(); it != message.end(); ++it) + { + if (*it == '\n') + { + if (currentLineW > maxLineW) maxLineW = currentLineW; + currentLineW = 0; + numLines++; + continue; + } + auto cit = Characters.find(*it); + if (cit == Characters.end()) + { + // Approximate advance for missing glyphs (e.g., space) + continue; + } + const Character& ch = cit->second; + currentLineW += static_cast(((int)ch.Advance >> 6) * scale); + } + if (currentLineW > maxLineW) maxLineW = currentLineW; + int textW = maxLineW > 0 ? maxLineW : 1; + int textH = (g_fontLineAdvance > 0 ? g_fontLineAdvance : 16) * numLines * scale; + if (textH < 1) textH = 1; + + // Save previous scissor state + GLboolean prevScissorEnabled = glIsEnabled(GL_SCISSOR_TEST); + GLint prevScissorBox[4]; + glGetIntegerv(GL_SCISSOR_BOX, prevScissorBox); + + // Determine if stencil buffer is available before using it for clipping + GLint stencilBits = 0; + glGetIntegerv(GL_STENCIL_BITS, &stencilBits); + const bool useStencil = stencilBits > 0; + + if (useStencil) + { + // Prepare stencil: 0 everywhere, 1 inside text rectangle + glEnable(GL_STENCIL_TEST); + glStencilMask(0xFF); + glDisable(GL_SCISSOR_TEST); + glClearStencil(0); + glClear(GL_STENCIL_BUFFER_BIT); + } + + // Compute scissor box for top-left coordinates to GL bottom-left origin + int ascentPixels = g_fontAscent > 0 ? static_cast(g_fontAscent * scale) : static_cast(16 * scale); + int adjustedtextPosY = static_cast(textPosY) - ascentPixels; + int adjustedTextH = textH + ascentPixels; + if (adjustedtextPosY < 0) + { + adjustedTextH += adjustedtextPosY; + adjustedtextPosY = 0; + } + + GLint scX = static_cast(textPosX); + GLint scY = static_cast(viewportHeight - adjustedtextPosY - adjustedTextH); + if (scY < 0) scY = 0; + if (scX < 0) scX = 0; + GLsizei scW = static_cast(textW); + GLsizei scH = static_cast(adjustedTextH); + if (viewportWidth > 0) + { + if (scX + scW > viewportWidth) + { + int excess = (scX + scW) - viewportWidth; + scW = static_cast(std::max(1, static_cast(scW) - excess)); + } + } + if (viewportHeight > 0) + { + if (scY + scH > viewportHeight) + { + int excess = (scY + scH) - viewportHeight; + scH = static_cast(std::max(1, static_cast(scH) - excess)); + } + } + + // Use scissor only to clip text rendering (no stencil) + glEnable(GL_SCISSOR_TEST); + glScissor(scX, scY, scW, scH); + if (useStencil) + { + glClearStencil(1); + glClear(GL_STENCIL_BUFFER_BIT); + + // Only pass where stencil == 1 + glStencilFunc(GL_EQUAL, 1, 0xFF); + glStencilOp(GL_KEEP, GL_KEEP, GL_KEEP); + } + else + { + glDisable(GL_STENCIL_TEST); + } + + // For non-VAO path, set attrib pointer for text + if (!glBindVertexArrayOES) + { + glBindBuffer(GL_ARRAY_BUFFER, textVBO); + glEnableVertexAttribArray(1); + glVertexAttribPointer(1, 4, GL_FLOAT, GL_FALSE, 4 * sizeof(float), 0); + } + + RenderText(this->message, this->textPosX, this->textPosY, this->scale, this->r, this->g, this->b); + // Disable stencil and restore scissor state + if (useStencil) + { + glDisable(GL_STENCIL_TEST); + } + if (prevScissorEnabled) + { + glEnable(GL_SCISSOR_TEST); + glScissor(prevScissorBox[0], prevScissorBox[1], prevScissorBox[2], prevScissorBox[3]); + } + else + { + glDisable(GL_SCISSOR_TEST); + } + } + +restore_state: + // Restore GL state + restoreGLState(prevProgram, prevVAO, prevTexExternal, prevTex2D, prevArrayBuffer, + prevActiveTexUnit, wasBlendEnabled); +} + +int +NvEglRenderer::renderInternal() +{ + // Create EGL image from dmabuf + EGLImageKHR hEglImage = createEglImageFromDmaBuf(); + if (!hEglImage) + { + return -1; + } + + // Render video frame + if (renderVideoFrame(hEglImage) < 0) + { + eglDestroyImageKHR(egl_display, hEglImage); return -1; } - egl_sync = eglCreateSyncKHR(egl_display, EGL_SYNC_FENCE_KHR, NULL); + + // Create sync object for frame timing + EGLSyncKHR egl_sync = eglCreateSyncKHR(egl_display, EGL_SYNC_FENCE_KHR, NULL); if (egl_sync == EGL_NO_SYNC_KHR) { + eglDestroyImageKHR(egl_display, hEglImage); return -1; } + + // Frame timing control if (last_render_time.tv_sec != 0) { pthread_mutex_lock(&render_lock); @@ -554,39 +857,38 @@ NvEglRenderer::renderInternal() last_render_time.tv_nsec += render_time_nsec; last_render_time.tv_sec += last_render_time.tv_nsec / 1000000000UL; last_render_time.tv_nsec %= 1000000000UL; - - pthread_cond_timedwait(&render_cond, &render_lock, - &last_render_time); - + pthread_cond_timedwait(&render_cond, &render_lock, &last_render_time); pthread_mutex_unlock(&render_lock); } else { struct timeval now; - gettimeofday(&now, NULL); last_render_time.tv_sec = now.tv_sec; last_render_time.tv_nsec = now.tv_usec * 1000L; } + + // Render overlays (image and text) + renderOverlays(); + + // Swap buffers eglSwapBuffers(egl_display, egl_surface); if (eglGetError() != EGL_SUCCESS) { + eglDestroySyncKHR(egl_display, egl_sync); + eglDestroyImageKHR(egl_display, hEglImage); return -1; } - if (eglClientWaitSyncKHR (egl_display, egl_sync, - EGL_SYNC_FLUSH_COMMANDS_BIT_KHR, EGL_FOREVER_KHR) == EGL_FALSE) - { - } - if (eglDestroySyncKHR(egl_display, egl_sync) != EGL_TRUE) - { - } - NvDestroyEGLImage(egl_display, hEglImage); + // Wait for sync and cleanup + eglClientWaitSyncKHR(egl_display, egl_sync, EGL_SYNC_FLUSH_COMMANDS_BIT_KHR, EGL_FOREVER_KHR); + eglDestroySyncKHR(egl_display, egl_sync); + eglDestroyImageKHR(egl_display, hEglImage); + // Render X11 overlay text if needed if (strlen(overlay_str) != 0) { - XSetForeground(x_display, gc, - BlackPixel(x_display, DefaultScreen(x_display))); + XSetForeground(x_display, gc, BlackPixel(x_display, DefaultScreen(x_display))); XSetFont(x_display, gc, fontinfo->fid); XDrawString(x_display, x_window, gc, overlay_str_x_offset, overlay_str_y_offset, overlay_str, strlen(overlay_str)); @@ -610,6 +912,7 @@ NvEglRenderer::setOverlayText(char *str, uint32_t x, uint32_t y) int NvEglRenderer::setFPS(float fps) { + LOG_DEBUG << "Setting FPS to =======>>>" << fps; uint64_t render_time_usec; if (fps == 0) @@ -629,10 +932,13 @@ NvEglRenderer::setFPS(float fps) NvEglRenderer * NvEglRenderer::createEglRenderer(const char *name, uint32_t width, uint32_t height, uint32_t x_offset, - uint32_t y_offset , bool displayOnTop) + uint32_t y_offset, const char *ttfFilePath, + const char *message, float scale, float r, float g, float b, float fontsize,int textPosX, int textPosY, + string imagePath,int imagePosX,int imagePosY,uint32_t imageWidth,uint32_t imageHeight,float opacity,bool mask + ,float imageOpacity,float textOpacity) { NvEglRenderer* renderer = new NvEglRenderer(name, width, height, - x_offset, y_offset , displayOnTop); + x_offset, y_offset, ttfFilePath, message, scale, r, g, b, fontsize, textPosX, textPosY, imagePath, imagePosX, imagePosY, imageWidth, imageHeight,opacity,mask,imageOpacity,textOpacity); return renderer; } @@ -730,9 +1036,22 @@ NvEglRenderer::InitializeShaders(void) static const char kFragmentShader[] = "#extension GL_OES_EGL_image_external : require\n" - "precision mediump float;\n" "varying vec2 interp_tc; \n" - "uniform samplerExternalOES tex; \n" "void main() {\n" - "gl_FragColor = texture2D(tex, interp_tc);\n" "}\n"; + "precision mediump float;\n" + "varying vec2 interp_tc;\n" + "uniform samplerExternalOES tex;\n" + "uniform int u_enableMask;\n" // 0 = off, 1 = on + "uniform vec2 u_center;\n" // normalized [0,1] coordinates + "uniform float u_radius;\n" // normalized radius (0–1)\n" + "void main() {\n" + " vec4 color = texture2D(tex, interp_tc);\n" + " if (u_enableMask == 1) {\n" + " float dist = distance(interp_tc, u_center);\n" + " if (dist > u_radius)\n" + " discard;\n" + " }\n" + " gl_FragColor = color;\n" + "}\n"; + glEnable(GL_SCISSOR_TEST); program = glCreateProgram(); @@ -761,7 +1080,7 @@ NvEglRenderer::InitializeShaders(void) return -1; } - GLuint vbo; // Store vetex and tex coords + GLuint vbo; // Store vertex and tex coords glGenBuffers(1, &vbo); glBindBuffer(GL_ARRAY_BUFFER, vbo); glBufferData(GL_ARRAY_BUFFER, sizeof(vertexTexBuf), vertexTexBuf, GL_STATIC_DRAW); @@ -773,8 +1092,18 @@ NvEglRenderer::InitializeShaders(void) glVertexAttribPointer(pos_location, 4, GL_FLOAT, GL_FALSE, 0, (void*)0); glEnableVertexAttribArray(pos_location); + glActiveTexture(GL_TEXTURE0); - glUniform1i(glGetUniformLocation(program, "texSampler"), 0); + // Bind the sampler used by the fragment shader to unit 0 + GLint texLoc = glGetUniformLocation(program, "tex"); + if (texLoc != -1) + { + glUniform1i(texLoc, 0); + } + + this->alpha_location = 1; + this->gl_program = program; + if (glGetError() != GL_NO_ERROR) { return -1; @@ -795,4 +1124,308 @@ NvEglRenderer::create_texture() glBindTexture(GL_TEXTURE_EXTERNAL_OES, texture_id); return 0; +} +void NvEglRenderer::setWindowOpacity(float opacity) +{ + if (opacity < 0.0f) opacity = 0.0f; + if (opacity > 1.0f) opacity = 1.0f; + + unsigned long opacityValue = (unsigned long)(0xFFFFFFFFul * opacity); + Atom opacityAtom = XInternAtom(x_display, "_NET_WM_WINDOW_OPACITY", False); + XChangeProperty(x_display, x_window, opacityAtom, XA_CARDINAL, 32, + PropModeReplace, (unsigned char *)&opacityValue, 1); + XFlush(x_display); +} + +int NvEglRenderer::initFontAtlas(const char* fontPath, int fontSize) +{ + FT_Library ft; + if (FT_Init_FreeType(&ft)) { + fprintf(stderr, "ERROR: Could not init FreeType Library\n"); + return -1; + } + + FT_Face face; + if (FT_New_Face(ft, fontPath, 0, &face)) { + fprintf(stderr, "ERROR: Failed to load font: %s\n", fontPath); + return -1; + } + + FT_Set_Pixel_Sizes(face, 0, fontSize); + // Cache font metrics for baseline and line advance + g_fontAscent = static_cast(face->size->metrics.ascender >> 6); + g_fontDescent = static_cast(-(face->size->metrics.descender >> 6)); + g_fontLineAdvance = static_cast(face->size->metrics.height >> 6); + if (g_fontLineAdvance == 0) + { + g_fontLineAdvance = g_fontAscent + g_fontDescent; + } + glPixelStorei(GL_UNPACK_ALIGNMENT, 1); // disable byte-alignment restriction + + for (unsigned char c = 0; c < 128; c++) { + if (FT_Load_Char(face, c, FT_LOAD_RENDER)) { + fprintf(stderr, "ERROR: Failed to load Glyph %c\n", c); + continue; + } + + GLuint tex; + glGenTextures(1, &tex); + glBindTexture(GL_TEXTURE_2D, tex); + glTexImage2D( + GL_TEXTURE_2D, + 0, + GL_ALPHA, + face->glyph->bitmap.width, + face->glyph->bitmap.rows, + 0, + GL_ALPHA, + GL_UNSIGNED_BYTE, + face->glyph->bitmap.buffer + ); + + glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE); + glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE); + glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR); + glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR); + + Character character = { + tex, + (int)face->glyph->bitmap.width, + (int)face->glyph->bitmap.rows, + (int)face->glyph->bitmap_left, + (int)face->glyph->bitmap_top, + (GLuint)face->glyph->advance.x + }; + Characters.insert(std::pair(c, character)); + } + + FT_Done_Face(face); + FT_Done_FreeType(ft); + return 0; +} +GLuint NvEglRenderer::initTextShader() +{ + static const char* textVertexShaderSrc = R"( + attribute vec4 vertex; + varying vec2 TexCoords; + uniform mat4 projection; + void main() { + gl_Position = projection * vec4(vertex.xy, 0.0, 1.0); + TexCoords = vertex.zw; + } + )"; + + static const char* textFragmentShaderSrc = R"( + precision mediump float; + varying vec2 TexCoords; + uniform sampler2D text; + uniform vec3 textColor; + uniform float opacity; + void main() { + float alpha = texture2D(text, TexCoords).a; + vec4 color = vec4(textColor, alpha); + color.a *= opacity; + gl_FragColor = color; + } + )"; + + GLuint vs = glCreateShader(GL_VERTEX_SHADER); + glShaderSource(vs, 1, &textVertexShaderSrc, NULL); + glCompileShader(vs); + + GLuint fs = glCreateShader(GL_FRAGMENT_SHADER); + glShaderSource(fs, 1, &textFragmentShaderSrc, NULL); + glCompileShader(fs); + + GLuint shader = glCreateProgram(); + glAttachShader(shader, vs); + glAttachShader(shader, fs); + glBindAttribLocation(shader, 1, "vertex"); + glLinkProgram(shader); + + // Bind uniforms + glUseProgram(shader); + GLint textSamplerLoc = glGetUniformLocation(shader, "text"); + GLint opacityLoc = glGetUniformLocation(shader, "opacity"); + if (textSamplerLoc != -1) + glUniform1i(textSamplerLoc, 0); + if (opacityLoc != -1) + glUniform1f(opacityLoc, textOpacity); + glUseProgram(0); + + glDeleteShader(vs); + glDeleteShader(fs); + return shader; +} + +void NvEglRenderer::RenderText(std::string text, float x, float y, float scale, float r, float g, float b) +{ + // Assumes textShader is already bound and projection uniform set by caller + GLint colorLoc = glGetUniformLocation(textShader, "textColor"); + glUniform3f(colorLoc, r, g, b); + glActiveTexture(GL_TEXTURE0); + if (glBindVertexArrayOES) + { + glBindVertexArrayOES(textVAO); + } + else + { + // No VAO: ensure attribute pointer is set to textVBO at attrib 1 + glBindBuffer(GL_ARRAY_BUFFER, textVBO); + glEnableVertexAttribArray(1); + glVertexAttribPointer(1, 4, GL_FLOAT, GL_FALSE, 4 * sizeof(float), 0); + } + + const float originX = x; + // In screen coordinates: y=0 is top, y increases downward + // Baseline is at y position (y is top of text area) + float baselineY = y; + + for (auto c = text.begin(); c != text.end(); c++) { + if (*c == '\n') + { + // Move to next line (downward in screen space) + x = originX; + baselineY += g_fontLineAdvance * scale; + continue; + } + auto it = Characters.find(*c); + if (it == Characters.end()) + { + // Skip unsupported glyphs + continue; + } + const Character& ch = it->second; + + // Compute glyph position + float xpos = x + ch.BearingX * scale; + // ypos is the top of the glyph rectangle + // BearingY is offset from baseline to top, so top = baseline - BearingY + float ypos = baselineY - (ch.BearingY * scale); + + float w = ch.SizeX * scale; + float h = ch.SizeY * scale; + + // Build vertex array (ypos = top, ypos + h = bottom) + float vertices[6][4] = { + {xpos, ypos + h, 0.0f, 1.0f}, // flip V + {xpos, ypos, 0.0f, 0.0f}, + {xpos + w, ypos, 1.0f, 0.0f}, + {xpos, ypos + h, 0.0f, 1.0f}, + {xpos + w, ypos, 1.0f, 0.0f}, + {xpos + w, ypos + h, 1.0f, 1.0f} + }; + + + glBindTexture(GL_TEXTURE_2D, ch.TextureID); + glBindBuffer(GL_ARRAY_BUFFER, textVBO); + glBufferSubData(GL_ARRAY_BUFFER, 0, sizeof(vertices), vertices); + glDrawArrays(GL_TRIANGLES, 0, 6); + + // Advance cursor + x += (ch.Advance >> 6) * scale; + } + + if (glBindVertexArrayOES) + { + glBindVertexArrayOES(0); + } + glBindTexture(GL_TEXTURE_2D, 0); +} + +GLuint NvEglRenderer::loadImageTexture(const char* imagePath) +{ + int width, height, channels; + unsigned char* data = stbi_load(imagePath, &width, &height, &channels, STBI_rgb_alpha); + if (!data) { + fprintf(stderr, "Failed to load image: %s\n", imagePath); + return 0; + } + + GLuint tex; + glGenTextures(1, &tex); + glBindTexture(GL_TEXTURE_2D, tex); + glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA, width, height, 0, + GL_RGBA, GL_UNSIGNED_BYTE, data); + glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE); + glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE); + glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR); + glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR); + glBindTexture(GL_TEXTURE_2D, 0); + + stbi_image_free(data); + return tex; +} + +GLuint NvEglRenderer::initImageShader() +{ + static const char* vsSrc = R"( + attribute vec4 vertex; + varying vec2 TexCoords; + uniform mat4 projection; + void main() { + gl_Position = projection * vec4(vertex.xy, 0.0, 1.0); + TexCoords = vertex.zw; + })"; + + static const char* fsSrc = R"( + precision mediump float; + varying vec2 TexCoords; + uniform sampler2D imageTex; + uniform float opacity; + void main() { + vec4 color = texture2D(imageTex, TexCoords); + color.a *= opacity; + gl_FragColor = color; + })"; + + GLuint vs = glCreateShader(GL_VERTEX_SHADER); + glShaderSource(vs, 1, &vsSrc, NULL); + glCompileShader(vs); + + GLuint fs = glCreateShader(GL_FRAGMENT_SHADER); + glShaderSource(fs, 1, &fsSrc, NULL); + glCompileShader(fs); + + GLuint shader = glCreateProgram(); + glAttachShader(shader, vs); + glAttachShader(shader, fs); + glBindAttribLocation(shader, 1, "vertex"); + glLinkProgram(shader); + + glUseProgram(shader); + GLint texLoc = glGetUniformLocation(shader, "imageTex"); + GLint opacityLoc = glGetUniformLocation(shader, "opacity"); + if (texLoc != -1) glUniform1i(texLoc, 0); + if (opacityLoc != -1) glUniform1f(opacityLoc, imageOpacity); + glUseProgram(0); + + glDeleteShader(vs); + glDeleteShader(fs); + return shader; +} + +void NvEglRenderer::RenderImage(GLuint texture, float x, float y, float width, float height) +{ + glUseProgram(imageShader); + glActiveTexture(GL_TEXTURE0); + glBindTexture(GL_TEXTURE_2D, texture); + + float vertices[6][4] = { + {x, y + height, 0.0f, 1.0f}, + {x, y, 0.0f, 0.0f}, + {x + width, y, 1.0f, 0.0f}, + {x, y + height, 0.0f, 1.0f}, + {x + width, y, 1.0f, 0.0f}, + {x + width, y + height, 1.0f, 1.0f} + }; + + glBindBuffer(GL_ARRAY_BUFFER, textVBO); + glBufferSubData(GL_ARRAY_BUFFER, 0, sizeof(vertices), vertices); + glEnableVertexAttribArray(1); + glVertexAttribPointer(1, 4, GL_FLOAT, GL_FALSE, 4 * sizeof(float), 0); + glDrawArrays(GL_TRIANGLES, 0, 6); + + glBindTexture(GL_TEXTURE_2D, 0); + glUseProgram(0); } \ No newline at end of file diff --git a/base/src/NvTransform.cpp b/base/src/NvTransform.cpp index 9e194e080..0dbcf750f 100644 --- a/base/src/NvTransform.cpp +++ b/base/src/NvTransform.cpp @@ -1,5 +1,5 @@ #include "NvTransform.h" -#include "nvbuf_utils.h" +//#include "nvbuf_utils.h" #include "FrameMetadata.h" #include "Frame.h" #include "Logger.h" @@ -7,259 +7,304 @@ #include "AIPExceptions.h" #include "DMAFDWrapper.h" #include "DMAAllocator.h" - #include "npp.h" +#include +#include class NvTransform::Detail { public: - Detail(NvTransformProps &_props) : props(_props) - { - src_rect.top = _props.top; - src_rect.left = _props.left; - src_rect.width = _props.width; - src_rect.height = _props.height; - - memset(&transParams, 0, sizeof(transParams)); - switch(_props.filterType) - { - case NvTransformProps::NvTransformFilter::NEAREST: - transParams.transform_filter = NvBufferTransform_Filter_Nearest; - break; - case NvTransformProps::NvTransformFilter::BILINEAR: - transParams.transform_filter = NvBufferTransform_Filter_Bilinear; - break; - case NvTransformProps::NvTransformFilter::TAP_5: - transParams.transform_filter = NvBufferTransform_Filter_5_Tap; - break; - case NvTransformProps::NvTransformFilter::TAP_10: - transParams.transform_filter = NvBufferTransform_Filter_10_Tap; - break; - case NvTransformProps::NvTransformFilter::SMART: - transParams.transform_filter = NvBufferTransform_Filter_Smart; - break; - case NvTransformProps::NvTransformFilter::NICEST: - transParams.transform_filter = NvBufferTransform_Filter_Nicest; - break; - default: - throw AIPException(AIP_FATAL, "Filter Not Supported"); - } - - if (src_rect.width != 0) - { - transParams.src_rect = src_rect; - transParams.transform_flag = NVBUFFER_TRANSFORM_FILTER | NVBUFFER_TRANSFORM_CROP_SRC; - } - else - { - transParams.transform_flag = NVBUFFER_TRANSFORM_FILTER; - } - } + Detail(NvTransformProps &_props) : props(_props) +{ + src_rect.top = _props.top; + src_rect.left = _props.left; + src_rect.width = _props.width; + src_rect.height = _props.height; + + + memset(&transParams, 0, sizeof(transParams)); + transParams.transform_filter = NvBufSurfTransformInter_Default; + + transParams.transform_flag = NVBUFSURF_TRANSFORM_FILTER; + + if (src_rect.width != 0 && src_rect.height != 0) + { + transParams.src_rect = &src_rect; + transParams.transform_flag |= NVBUFSURF_TRANSFORM_CROP_SRC | NVBUFSURF_TRANSFORM_ALLOW_ODD_CROP; + } + + transParams.transform_flip = NvBufSurfTransform_None; + if (_props.rotation != (NvTransformProps::NvRotation)0) + { + transParams.transform_flag |= NVBUFSURF_TRANSFORM_FLIP; + + switch (_props.rotation) + { + case NvTransformProps::NvRotation::Rotate90: + transParams.transform_flip = NvBufSurfTransform_Rotate90; + break; + case NvTransformProps::NvRotation::Rotate180: + transParams.transform_flip = NvBufSurfTransform_Rotate180; + break; + case NvTransformProps::NvRotation::Rotate270: + transParams.transform_flip = NvBufSurfTransform_Rotate270; + break; + default: + LOG_ERROR << "Invalid rotation angle. Supported: 0, 90, 180, 270."; + transParams.transform_flip = NvBufSurfTransform_None; + break; + } + } + if (_props.flip != (NvTransformProps::NvFlip)0) + { + transParams.transform_flag |= NVBUFSURF_TRANSFORM_FLIP; + + switch (_props.flip) + { + case NvTransformProps::NvFlip::FlipX: + transParams.transform_flip = NvBufSurfTransform_FlipX; + break; + case NvTransformProps::NvFlip::FlipY: + transParams.transform_flip = NvBufSurfTransform_FlipY; + break; + default: + LOG_ERROR << "Invalid flip value. Supported: None, FlipX, FlipY."; + transParams.transform_flip = NvBufSurfTransform_None; + break; + } + } +} - ~Detail() - { - } - bool compute(frame_sp &frame, int outFD) - { - auto dmaFDWrapper = static_cast(frame->data()); - NvBufferTransform(dmaFDWrapper->getFd(), outFD, &transParams); + bool compute(frame_sp &frame, int outFD) + { + auto dmaFDWrapper = static_cast(frame->data()); + NvBufSurface *in_surf = nullptr; + NvBufSurface *out_surf = nullptr; - return true; - } + if (NvBufSurfaceFromFd(dmaFDWrapper->getFd(), (void**)&in_surf) != 0) { + LOG_INFO << "Failed to create input surface"; + return false; + } + + if (NvBufSurfaceFromFd(outFD, (void**)&out_surf) != 0) { + LOG_INFO << "Failed to create output surface"; + return false; + } + + // Synchronize input to device before transform + for (int p = 0; p < 3; ++p) + { + NvBufSurfaceSyncForDevice(in_surf, 0, p); + } + + NvBufSurfTransform_Error err = NvBufSurfTransform(in_surf, out_surf, &transParams); + + if (err != NvBufSurfTransformError_Success) { + LOG_INFO << "Transform failed============================================>>>>>>>>>>>>>>>>>>>>>>>>>>>" << endl;; + } + + for (int p = 0; p < 3; ++p) + { + NvBufSurfaceSyncForCpu(out_surf, 0, p); + } + + return true; + } public: - NvBufferRect src_rect; - framemetadata_sp outputMetadata; - std::string outputPinId; - NvTransformProps props; + NvBufSurfTransformRect src_rect; + framemetadata_sp outputMetadata; + std::string outputPinId; + NvTransformProps props; private: - NvBufferTransformParams transParams; + NvBufSurfTransformParams transParams; }; NvTransform::NvTransform(NvTransformProps props) : Module(TRANSFORM, "NvTransform", props) { - mDetail.reset(new Detail(props)); + mDetail.reset(new Detail(props)); } NvTransform::~NvTransform() {} bool NvTransform::validateInputPins() { - if (getNumberOfInputPins() != 1) - { - LOG_ERROR << "<" << getId() << ">::validateInputPins size is expected to be 1. Actual<" << getNumberOfInputPins() << ">"; - return false; - } - - framemetadata_sp metadata = getFirstInputMetadata(); - FrameMetadata::FrameType frameType = metadata->getFrameType(); - if (frameType != FrameMetadata::RAW_IMAGE && frameType != FrameMetadata::RAW_IMAGE_PLANAR) - { + if (getNumberOfInputPins() != 1) + { + LOG_INFO << "<" << getId() << ">::validateInputPins size is expected to be 1. Actual<" << getNumberOfInputPins() << ">"; + return false; + } + + framemetadata_sp metadata = getFirstInputMetadata(); + FrameMetadata::FrameType frameType = metadata->getFrameType(); + if (frameType != FrameMetadata::RAW_IMAGE && frameType != FrameMetadata::RAW_IMAGE_PLANAR) + { LOG_ERROR << "<" << getId() << ">::validateInputPins input frameType is expected to be RAW_IMAGE or RAW_IMAGE_PLANAR. Actual<" << frameType << ">"; - return false; - } + return false; + } - FrameMetadata::MemType memType = metadata->getMemType(); - if (memType != FrameMetadata::MemType::DMABUF) - { + FrameMetadata::MemType memType = metadata->getMemType(); + if (memType != FrameMetadata::MemType::DMABUF) + { LOG_ERROR << "<" << getId() << ">::validateInputPins input memType is expected to be DMABUF. Actual<" << memType << ">"; - return false; - } + return false; + } - return true; + return true; } bool NvTransform::validateOutputPins() { - if (getNumberOfOutputPins() != 1) - { + if (getNumberOfOutputPins() != 1) + { LOG_ERROR << "<" << getId() << ">::validateOutputPins size is expected to be 1. Actual<" << getNumberOfOutputPins() << ">"; - return false; - } + return false; + } - framemetadata_sp metadata = getFirstOutputMetadata(); - auto frameType = metadata->getFrameType(); - if (frameType != FrameMetadata::RAW_IMAGE && frameType != FrameMetadata::RAW_IMAGE_PLANAR) - { + framemetadata_sp metadata = getFirstOutputMetadata(); + auto frameType = metadata->getFrameType(); + if (frameType != FrameMetadata::RAW_IMAGE && frameType != FrameMetadata::RAW_IMAGE_PLANAR) + { LOG_ERROR << "<" << getId() << ">::validateOutputPins input frameType is expected to be RAW_IMAGE or RAW_IMAGE_PLANAR. Actual<" << frameType << ">"; - return false; - } + return false; + } - FrameMetadata::MemType memType = metadata->getMemType(); - if (memType != FrameMetadata::MemType::DMABUF) - { + FrameMetadata::MemType memType = metadata->getMemType(); + if (memType != FrameMetadata::MemType::DMABUF) + { LOG_ERROR << "<" << getId() << ">::validateOutputPins input memType is expected to be DMABUF. Actual<" << memType << ">"; - return false; - } + return false; + } - return true; + return true; } void NvTransform::addInputPin(framemetadata_sp &metadata, string &pinId) { - Module::addInputPin(metadata, pinId); - switch (mDetail->props.imageType) - { - case ImageMetadata::BGRA: - case ImageMetadata::RGBA: - mDetail->outputMetadata = framemetadata_sp(new RawImageMetadata(FrameMetadata::MemType::DMABUF)); - break; - case ImageMetadata::NV12: - case ImageMetadata::YUV420: - mDetail->outputMetadata = framemetadata_sp(new RawImagePlanarMetadata(FrameMetadata::MemType::DMABUF)); - break; - default: - throw AIPException(AIP_FATAL, "Unsupported Image Type<" + std::to_string(mDetail->props.imageType) + ">"); - } - - mDetail->outputMetadata->copyHint(*metadata.get()); - mDetail->outputPinId = addOutputPin(mDetail->outputMetadata); + Module::addInputPin(metadata, pinId); + switch (mDetail->props.imageType) + { + case ImageMetadata::BGRA: + case ImageMetadata::RGBA: + mDetail->outputMetadata = framemetadata_sp(new RawImageMetadata(FrameMetadata::MemType::DMABUF)); + break; + case ImageMetadata::NV12: + case ImageMetadata::YUV420: + case ImageMetadata::YUV444: + mDetail->outputMetadata = framemetadata_sp(new RawImagePlanarMetadata(FrameMetadata::MemType::DMABUF)); + break; + default: + throw AIPException(AIP_FATAL, "Unsupported Image Type<" + std::to_string(mDetail->props.imageType) + ">"); + } + + mDetail->outputMetadata->copyHint(*metadata.get()); + mDetail->outputPinId = addOutputPin(mDetail->outputMetadata); } bool NvTransform::init() { - if (!Module::init()) - { - return false; - } + if (!Module::init()) + { + return false; + } - return true; + return true; } bool NvTransform::term() { - return Module::term(); + return Module::term(); } bool NvTransform::process(frame_container &frames) { - auto frame = frames.cbegin()->second; - try - { - auto outFrame = makeFrame(mDetail->outputMetadata->getDataSize(), mDetail->outputPinId); - - if (!outFrame.get()) - { + auto frame = frames.cbegin()->second; + if(isFrameEmpty(frame)) + { + LOG_INFO << "Found Empty Frame "; + return true; + } + if(!mDetail->outputMetadata->getDataSize()) + { + return true; + } + auto outFrame = makeFrame(mDetail->outputMetadata->getDataSize(), mDetail->outputPinId); + if (!outFrame.get()) + { LOG_ERROR << "FAILED TO GET BUFFER"; - return false; - } + return false; + } - auto dmaFdWrapper = static_cast(outFrame->data()); - dmaFdWrapper->tempFD = dmaFdWrapper->getFd(); + auto dmaFdWrapper = static_cast(outFrame->data()); + dmaFdWrapper->tempFD = dmaFdWrapper->getFd(); - mDetail->compute(frame, dmaFdWrapper->tempFD); + mDetail->compute(frame, dmaFdWrapper->tempFD); - frames.insert(make_pair(mDetail->outputPinId, outFrame)); - send(frames); - } + frames.insert(make_pair(mDetail->outputPinId, outFrame)); + send(frames); + catch(std::exception & e) { LOG_ERROR<<"NvTransform seg fault"; } - return true; + return true; } bool NvTransform::processSOS(frame_sp &frame) { - auto metadata = frame->getMetadata(); - setMetadata(metadata); + auto metadata = frame->getMetadata(); + setMetadata(metadata); - return true; + return true; } void NvTransform::setMetadata(framemetadata_sp &metadata) { - auto frameType = metadata->getFrameType(); - int width = 0; - int height = 0; - int depth = CV_8U; - ImageMetadata::ImageType inputImageType = ImageMetadata::ImageType::MONO; - - switch (frameType) - { - case FrameMetadata::FrameType::RAW_IMAGE: - { - auto rawMetadata = FrameMetadataFactory::downcast(metadata); - width = rawMetadata->getWidth(); - height = rawMetadata->getHeight(); - depth = rawMetadata->getDepth(); - inputImageType = rawMetadata->getImageType(); - } - break; - case FrameMetadata::FrameType::RAW_IMAGE_PLANAR: - { - auto rawMetadata = FrameMetadataFactory::downcast(metadata); - width = rawMetadata->getWidth(0); - height = rawMetadata->getHeight(0); - depth = rawMetadata->getDepth(); - inputImageType = rawMetadata->getImageType(); - } - break; - default: - throw AIPException(AIP_NOTIMPLEMENTED, "Unsupported FrameType<" + std::to_string(frameType) + ">"); - } - - if (mDetail->props.width != 0) - { - width = mDetail->props.width; - height = mDetail->props.height; - } - if(mDetail->props.scaleHeight != 0 && mDetail->props.scaleWidth != 0) - { - width = width * mDetail->props.scaleWidth; - height = height * mDetail->props.scaleHeight; - } - - - DMAAllocator::setMetadata(mDetail->outputMetadata, width, height, mDetail->props.imageType); + auto frameType = metadata->getFrameType(); + int width = 0; + int height = 0; + int depth = CV_8U; + ImageMetadata::ImageType inputImageType = ImageMetadata::ImageType::MONO; + + switch (frameType) + { + case FrameMetadata::FrameType::RAW_IMAGE: + { + auto rawMetadata = FrameMetadataFactory::downcast(metadata); + width = rawMetadata->getWidth(); + height = rawMetadata->getHeight(); + depth = rawMetadata->getDepth(); + inputImageType = rawMetadata->getImageType(); + } + break; + case FrameMetadata::FrameType::RAW_IMAGE_PLANAR: + { + auto rawMetadata = FrameMetadataFactory::downcast(metadata); + width = rawMetadata->getWidth(0); + height = rawMetadata->getHeight(0); + depth = rawMetadata->getDepth(); + inputImageType = rawMetadata->getImageType(); + } + break; + default: + throw AIPException(AIP_NOTIMPLEMENTED, "Unsupported FrameType<" + std::to_string(frameType) + ">"); + } + + if (mDetail->props.width != 0) + { + width = mDetail->props.width; + height = mDetail->props.height; + } + + DMAAllocator::setMetadata(mDetail->outputMetadata, width, height, mDetail->props.imageType); } bool NvTransform::processEOS(string &pinId) { - //THE FOLLOWING LINE IS COMMENTED FOR SPECIFIC USE IN NVR - MP4READER PASSING EOS WAS COMING HERE AND CAUSING EOS WHICH IS NOT REQUIRED FOR NVR - // mDetail->outputMetadata.reset(); - return true; + LOG_DEBUG<< "Resetting Output Metadata"; + // mDetail->outputMetadata.reset(); + return true; } \ No newline at end of file diff --git a/base/src/NvV4L2Camera.cpp b/base/src/NvV4L2Camera.cpp index 0794983a6..7f0465e26 100644 --- a/base/src/NvV4L2Camera.cpp +++ b/base/src/NvV4L2Camera.cpp @@ -6,7 +6,7 @@ NvV4L2Camera::NvV4L2Camera(NvV4L2CameraProps _props) : Module(SOURCE, "NvV4L2Camera", _props), props(_props) { auto outputMetadata = framemetadata_sp(new RawImageMetadata(FrameMetadata::MemType::DMABUF)); - DMAAllocator::setMetadata(outputMetadata, props.width, props.height, ImageMetadata::ImageType::UYVY); + DMAAllocator::setMetadata(outputMetadata, props.width, props.height, ImageMetadata::ImageType::YUYV); mOutputPinId = addOutputPin(outputMetadata); mHelper = std::make_shared([&](frame_sp &frame) -> void { diff --git a/base/src/NvV4L2CameraHelper.cpp b/base/src/NvV4L2CameraHelper.cpp index f894f07f3..3e5b5bc51 100644 --- a/base/src/NvV4L2CameraHelper.cpp +++ b/base/src/NvV4L2CameraHelper.cpp @@ -47,7 +47,7 @@ bool NvV4L2CameraHelper::cameraInitialize(bool isMirror) if(ioctl(mCamFD, VIDIOC_S_CTRL, &inp) < 0){ LOG_ERROR << "Flip failed"; - return false; + //return false; } /* Set camera output format */ @@ -171,7 +171,6 @@ bool NvV4L2CameraHelper::queueBufferToCamera() { auto frame = mMakeFrame(); if(!frame.get()){ - LOG_INFO<<"cannot create frames"; break; } auto dmaFDWrapper = static_cast(frame->data()); diff --git a/base/src/V4L2CUYUV420Converter.cpp b/base/src/V4L2CUYUV420Converter.cpp index f6abb05e5..503c6c8cf 100755 --- a/base/src/V4L2CUYUV420Converter.cpp +++ b/base/src/V4L2CUYUV420Converter.cpp @@ -3,8 +3,9 @@ #include "ApraEGLDisplay.h" #include "Frame.h" #include "AIPExceptions.h" - -#include "nvbuf_utils.h" +#include +#include +#include #include V4L2CUYUV420Converter::V4L2CUYUV420Converter(uint32_t srcWidth, uint32_t srcHeight, struct v4l2_format &format) : mFormat(format) @@ -26,13 +27,22 @@ V4L2CUYUV420Converter::~V4L2CUYUV420Converter() void V4L2CUYUV420Converter::process(frame_sp& frame, AV4L2Buffer *buffer) { auto data = static_cast(frame->data()); - + if (!data) + { + LOG_FATAL << "Input frame data is null in V4L2CUYUV420Converter::process"; + return; + } uint32_t i; auto numPlanes = buffer->getNumPlanes(); for (i = 0; i < numPlanes; i++) { buffer->v4l2_buf.m.planes[i].bytesused = mBytesUsedY; auto v4l2Data = buffer->planesInfo[i].data; + if (!v4l2Data) + { + LOG_FATAL << "Destination plane data is null for plane " << i; + return; + } auto height = mHeightY; auto width = mWidthY; auto bytesperline = mFormat.fmt.pix_mp.plane_fmt[i].bytesperline; @@ -53,9 +63,15 @@ void V4L2CUYUV420Converter::process(frame_sp& frame, AV4L2Buffer *buffer) for (i = 0; i < numPlanes; i++) { - if (NvBufferMemSyncForDevice(buffer->planesInfo[i].fd, i, (void **)(&buffer->planesInfo[i].data)) < 0) + NvBufSurface *surf = 0; + if (NvBufSurfaceFromFd(buffer->planesInfo[i].fd, reinterpret_cast(&surf)) != 0) + { + LOG_FATAL << "Failed to map DMABUF to NvBufSurface"; + return; + } + if (NvBufSurfaceSyncForDevice(surf, -1, i) != 0) { - LOG_FATAL << "NvBufferMemSyncForDevice failed<>" << i; + LOG_FATAL << "NvBufSurfaceSyncForDevice failed for plane " << i; } } } @@ -72,10 +88,31 @@ V4L2CUDMABufYUV420Converter::~V4L2CUDMABufYUV420Converter() void V4L2CUDMABufYUV420Converter::process(frame_sp& frame, AV4L2Buffer *buffer) { - auto ptr = static_cast(frame->data()); + auto ptr = static_cast(frame->data()); + if (!ptr) + { + LOG_FATAL << "DMAFDWrapper is null"; + return; + } + int fd = ptr->getFd(); + if (fd < 0) + { + LOG_FATAL << "Invalid DMABUF fd"; + return; + } buffer->v4l2_buf.m.planes[0].m.fd = ptr->getFd(); buffer->v4l2_buf.m.planes[0].bytesused = 1; - + NvBufSurface *surf = ptr->getNvBufSurface(); + if (!surf) + { + LOG_FATAL << "Failed to get NvBufSurface from DMAFDWrapper"; + return; + } + if (NvBufSurfaceSyncForDevice(surf, -1, 0) != 0) + { + LOG_FATAL << "NvBufSurfaceSyncForDevice failed"; + return; + } std::lock_guard lock(mCacheMutex); mCache.push_back(frame); } @@ -106,60 +143,73 @@ V4L2CURGBToYUV420Converter::~V4L2CURGBToYUV420Converter() void V4L2CURGBToYUV420Converter::process(frame_sp& frame, AV4L2Buffer *buffer) { - eglImage = NvEGLImageFromFd(eglDisplay, buffer->planesInfo[0].fd); + const int width = static_cast(mFormat.fmt.pix_mp.width); + const int height = static_cast(mFormat.fmt.pix_mp.height); + const int pitch0 = static_cast(mFormat.fmt.pix_mp.plane_fmt[0].bytesperline); + const int pitch1 = static_cast(mFormat.fmt.pix_mp.plane_fmt[1].bytesperline); + const int pitch2 = static_cast(mFormat.fmt.pix_mp.plane_fmt[2].bytesperline); + EGLAttrib plane0_offset = 0; + EGLAttrib plane1_offset = pitch0 * height; + EGLAttrib plane2_offset = plane1_offset + pitch1 * (height / 2); + EGLAttrib attribs[] = { + EGL_WIDTH, width, + EGL_HEIGHT, height, + EGL_LINUX_DRM_FOURCC_EXT, DRM_FORMAT_YUV420, + EGL_DMA_BUF_PLANE0_FD_EXT, buffer->planesInfo[0].fd, + EGL_DMA_BUF_PLANE0_OFFSET_EXT, plane0_offset, + EGL_DMA_BUF_PLANE0_PITCH_EXT, pitch0, + EGL_DMA_BUF_PLANE1_FD_EXT, buffer->planesInfo[1].fd, + EGL_DMA_BUF_PLANE1_OFFSET_EXT, plane1_offset, + EGL_DMA_BUF_PLANE1_PITCH_EXT, pitch1, + EGL_DMA_BUF_PLANE2_FD_EXT, buffer->planesInfo[2].fd, + EGL_DMA_BUF_PLANE2_OFFSET_EXT, plane2_offset, + EGL_DMA_BUF_PLANE2_PITCH_EXT, pitch2, + EGL_NONE + }; + eglImage = eglCreateImage(eglDisplay, EGL_NO_CONTEXT, EGL_LINUX_DMA_BUF_EXT, + (EGLClientBuffer)NULL, attribs); + if (eglImage == EGL_NO_IMAGE_KHR) { + LOG_ERROR << "eglCreateImage failed for YUV420 EGL image"; + return; + } status = cuGraphicsEGLRegisterImage(&pResource, eglImage, CU_GRAPHICS_MAP_RESOURCE_FLAGS_NONE); - if (status != CUDA_SUCCESS) - { - LOG_ERROR << "cuGraphicsEGLRegisterImage failed: " << status << " cuda process stop"; + if (status != CUDA_SUCCESS) { + LOG_ERROR << "cuGraphicsEGLRegisterImage failed: " << status; + eglDestroyImage(eglDisplay, eglImage); return; } - status = cuGraphicsResourceGetMappedEglFrame(&eglFrame, pResource, 0, 0); - if (status != CUDA_SUCCESS) - { - LOG_ERROR << "cuGraphicsSubResourceGetMappedArray failed status<" << status << ">"; + if (status != CUDA_SUCCESS) { + LOG_ERROR << "cuGraphicsResourceGetMappedEglFrame failed: " << status; return; } - - for (auto i = 0; i < 3; i++) - { + Npp8u* dst[3]; + for (int i = 0; i < 3; ++i) { dst[i] = static_cast(eglFrame.frame.pPitch[i]); } status = cuCtxSynchronize(); - if (status != CUDA_SUCCESS) - { - LOG_ERROR << "cuCtxSynchronize failed status<" << status << ">"; + if (status != CUDA_SUCCESS) { + LOG_ERROR << "cuCtxSynchronize failed: " << status; return; } auto data = static_cast(frame->data()); auto res = nppiRGBToYUV420_8u_C3P3R(static_cast(data), nsrcStep, dst, dstPitch, oSizeROI); - if (res != NPP_SUCCESS) - { + if (res != NPP_SUCCESS) { LOG_ERROR << "nppiRGBToYUV420_8u_C3P3R failed"; } status = cuCtxSynchronize(); - if (status != CUDA_SUCCESS) - { - LOG_ERROR << "cuCtxSynchronize failed after cc status<" << status << ">"; + if (status != CUDA_SUCCESS) { + LOG_ERROR << "cuCtxSynchronize failed after NPP: " << status; } - status = cuGraphicsUnregisterResource(pResource); - if (status != CUDA_SUCCESS) - { + if (status != CUDA_SUCCESS) { LOG_ERROR << "cuGraphicsEGLUnRegisterResource failed: " << status; } - - NvDestroyEGLImage(eglDisplay, eglImage); - - for (auto i = 0; i < 3; i++) - { - buffer->v4l2_buf.m.planes[i].bytesused = mBytesUsedY; - if (i != 0) - { - buffer->v4l2_buf.m.planes[i].bytesused = mBytesUsedUV; - } - } + eglDestroyImage(eglDisplay, eglImage); + buffer->v4l2_buf.m.planes[0].bytesused = mBytesUsedY; + buffer->v4l2_buf.m.planes[1].bytesused = mBytesUsedUV; + buffer->v4l2_buf.m.planes[2].bytesused = mBytesUsedUV; } \ No newline at end of file diff --git a/base/test/DMAUtils_test.cpp b/base/test/DMAUtils_test.cpp new file mode 100644 index 000000000..7e7ccc553 --- /dev/null +++ b/base/test/DMAUtils_test.cpp @@ -0,0 +1,95 @@ +#include "stdafx.h" +#include +#include +#include "MemTypeConversion.h" +#include "ExternalSourceModule.h" +#include "ExternalSinkModule.h" +#include "FrameMetadata.h" +#include "FrameMetadataFactory.h" +#include "Frame.h" +#include "Logger.h" +#include "AIPExceptions.h" +#include "JPEGEncoderL4TM.h" +#include "FileReaderModule.h" +#include "StatSink.h" +#include "PipeLine.h" +#include "test_utils.h" +#include +#include "NvV4L2Camera.h" +#include "DMAFDToHostCopy.h" +#include "FileWriterModule.h" +#include "DMAFDWrapper.h" +#include "DMAAllocator.h" +#include "nvbufsurface.h" +#include "DMAUtils.h" +#include "NvArgusCamera.h" +BOOST_AUTO_TEST_SUITE(dmautils_tests) +BOOST_AUTO_TEST_CASE(getCudaPtrForFD_valid_fd) +{ + LoggerProps logProps; + logProps.enableConsoleLog = true; + Logger::initLogger(logProps); + Logger::setLogLevel(boost::log::trivial::severity_level::trace); + int height=1024; + int width=1024; + NvBufSurfaceColorFormat format = NVBUF_COLOR_FORMAT_YUV420; + auto eglDisplay = ApraEGLDisplay::getEGLDisplay(); + auto dmaWrapper = DMAFDWrapper::create(0, width, height, format, NVBUF_LAYOUT_PITCH, eglDisplay); + int fd = dmaWrapper->getFd(); + BOOST_REQUIRE(fd > 0); + EGLImageKHR eglImage = EGL_NO_IMAGE_KHR; + CUgraphicsResource pResource; + CUeglFrame eglFrame; + uint8_t* cudaPtr = DMAUtils::getCudaPtrForFD(fd, eglImage, &pResource, eglFrame, eglDisplay); + BOOST_TEST(cudaPtr != nullptr); + BOOST_TEST(eglImage != EGL_NO_IMAGE_KHR); + cudaError_t result = cudaMemset(cudaPtr, 0xFF, 1024); + BOOST_TEST(result == cudaSuccess); + NvBufSurface *surf = nullptr; + BOOST_REQUIRE(NvBufSurfaceFromFd(fd, (void**)&surf) == 0); + BOOST_CHECK_NO_THROW(DMAUtils::freeCudaPtr(eglImage, &pResource, surf, eglDisplay)); +} +BOOST_AUTO_TEST_CASE(getCudaPtrForFD_different_formats) +{ + LoggerProps logProps; + logProps.enableConsoleLog = true; + Logger::initLogger(logProps); + Logger::setLogLevel(boost::log::trivial::severity_level::trace); + struct FormatTest { + NvBufSurfaceColorFormat format; + std::string name; + }; + std::vector formats = { + {NVBUF_COLOR_FORMAT_YUV420, "YUV420"}, + {NVBUF_COLOR_FORMAT_RGBA, "RGBA"} + }; + auto eglDisplay = ApraEGLDisplay::getEGLDisplay(); + for (const auto& fmt : formats) { + LOG_INFO << "Testing getCudaPtrForFD with format: " << fmt.name; + auto dmaWrapper = DMAFDWrapper::create(0, 256, 256, fmt.format, NVBUF_LAYOUT_PITCH, eglDisplay); + if (!dmaWrapper) { + LOG_WARNING << "Failed to create DMA buffer for format " << fmt.name << " - skipping"; + continue; + } + int fd = dmaWrapper->getFd(); + EGLImageKHR eglImage = EGL_NO_IMAGE_KHR; + CUgraphicsResource pResource; + CUeglFrame eglFrame; + uint8_t* cudaPtr = DMAUtils::getCudaPtrForFD(fd, eglImage, &pResource, eglFrame, eglDisplay); + if (cudaPtr) { + size_t testSize = 1024; + cudaError_t result = cudaMemset(cudaPtr, 0x55, testSize); + BOOST_TEST(result == cudaSuccess); + if (result != cudaSuccess) { + LOG_ERROR << "CUDA operations failed for format " << fmt.name; + } + NvBufSurface *surf = nullptr; + if (NvBufSurfaceFromFd(fd, (void**)&surf) == 0) { + DMAUtils::freeCudaPtr(eglImage, &pResource, surf, eglDisplay); + } + } else { + LOG_WARNING << "Failed to get CUDA pointer for format " << fmt.name; + } + } +} +BOOST_AUTO_TEST_SUITE_END() \ No newline at end of file diff --git a/base/test/eglrenderer_test.cpp b/base/test/eglrenderer_test.cpp index e6733257c..f908fb6f5 100644 --- a/base/test/eglrenderer_test.cpp +++ b/base/test/eglrenderer_test.cpp @@ -5,16 +5,17 @@ #include "PipeLine.h" #include "NvV4L2Camera.h" #include "NvTransform.h" - +#include "NvEglRenderer.h" +#include "ApraNvEglRenderer.h" BOOST_AUTO_TEST_SUITE(eglrenderer_tests) - +/* BOOST_AUTO_TEST_CASE(basic, *boost::unit_test::disabled()) { int width = 640; - int height = 480; + int height = 360; - FileReaderModuleProps fileReaderProps("./data/ArgusCamera"); + FileReaderModuleProps fileReaderProps("/home/developer/ApraPipes/data/Raw_YUV420_640x360/Image001_YUV420.raw"); fileReaderProps.fps = 30; auto fileReader = boost::shared_ptr(new FileReaderModule(fileReaderProps)); auto metadata = framemetadata_sp(new RawImageMetadata(width, height, ImageMetadata::ImageType::UYVY, CV_8UC1, 0, CV_8U, FrameMetadata::MemType::DMABUF, true)); @@ -40,17 +41,22 @@ BOOST_AUTO_TEST_CASE(basic, *boost::unit_test::disabled()) p.wait_for_all(); } - +*/ BOOST_AUTO_TEST_CASE(displayOnTop, *boost::unit_test::disabled()) { - NvV4L2CameraProps nvCamProps(640,360, 10); + LoggerProps logProps; + logProps.enableConsoleLog = true; + Logger::initLogger(logProps); + Logger::setLogLevel(boost::log::trivial::severity_level::trace); + NvV4L2CameraProps nvCamProps(640,360, 10,false); auto source = boost::shared_ptr(new NvV4L2Camera(nvCamProps)); NvTransformProps nvprops(ImageMetadata::RGBA); auto transform = boost::shared_ptr(new NvTransform(nvprops)); source->setNext(transform); - auto sink = boost::shared_ptr(new EglRenderer(EglRendererProps(0,0,1))); + auto sink = boost::shared_ptr(new EglRenderer(EglRendererProps(0,0))); + //,"/home/developer/ApraPipes/data/Debrosee-ALPnL.ttf","HelloWorld",1.0f,1.0f,1.0f,1.0f,24,200,200,0.99))); transform->setNext(sink); PipeLine p("test"); @@ -72,14 +78,15 @@ BOOST_AUTO_TEST_CASE(displayOnTop, *boost::unit_test::disabled()) BOOST_AUTO_TEST_CASE(switch_display, *boost::unit_test::disabled()) { - NvV4L2CameraProps nvCamProps(640,360, 10); + NvV4L2CameraProps nvCamProps(640,360, 10,false); auto source = boost::shared_ptr(new NvV4L2Camera(nvCamProps)); NvTransformProps nvprops(ImageMetadata::RGBA); auto transform = boost::shared_ptr(new NvTransform(nvprops)); source->setNext(transform); - auto sink = boost::shared_ptr(new EglRenderer(EglRendererProps(0,0,0))); + auto sink = boost::shared_ptr(new EglRenderer(EglRendererProps(0,0))); + //,"/home/developer/ApraPipes/data/Debrosee-ALPnL.ttf","HelloWorld",1.0f,1.0f,1.0f,1.0f,24,10,50))); transform->setNext(sink); PipeLine p("test"); @@ -101,14 +108,14 @@ BOOST_AUTO_TEST_CASE(switch_display, *boost::unit_test::disabled()) BOOST_AUTO_TEST_CASE(open_close_window, *boost::unit_test::disabled()) { - NvV4L2CameraProps nvCamProps(640,360, 10); + NvV4L2CameraProps nvCamProps(640,360, 10,false); auto source = boost::shared_ptr(new NvV4L2Camera(nvCamProps)); NvTransformProps nvprops(ImageMetadata::RGBA); auto transform = boost::shared_ptr(new NvTransform(nvprops)); source->setNext(transform); - auto sink = boost::shared_ptr(new EglRenderer(EglRendererProps(0,0,0))); + auto sink = boost::shared_ptr(new EglRenderer(EglRendererProps(0,0))); transform->setNext(sink); PipeLine p("test"); @@ -134,4 +141,201 @@ BOOST_AUTO_TEST_CASE(open_close_window, *boost::unit_test::disabled()) p.wait_for_all(); } +BOOST_AUTO_TEST_CASE(ctor_default, *boost::unit_test::disabled()) +{ + LoggerProps logProps; + logProps.enableConsoleLog = true; + Logger::initLogger(logProps); + Logger::setLogLevel(boost::log::trivial::trace); + + NvV4L2CameraProps camProps(640, 360, 10, false); + auto source = boost::shared_ptr(new NvV4L2Camera(camProps)); + + NvTransformProps nvprops(ImageMetadata::RGBA); + auto transform = boost::shared_ptr(new NvTransform(nvprops)); + source->setNext(transform); + + auto sink = boost::shared_ptr(new EglRenderer(EglRendererProps())); + transform->setNext(sink); + + PipeLine p("default_ctor_test"); + p.appendModule(source); + BOOST_TEST(p.init()); + p.run_all_threaded(); + boost::this_thread::sleep_for(boost::chrono::seconds(10)); + p.stop(); p.term(); p.wait_for_all(); +} + +BOOST_AUTO_TEST_CASE(ctor_geometry_xy, *boost::unit_test::disabled()) +{ + LoggerProps logProps; logProps.enableConsoleLog = true; + Logger::initLogger(logProps); + Logger::setLogLevel(boost::log::trivial::trace); + + NvV4L2CameraProps camProps(640, 360, 10, false); + auto source = boost::shared_ptr(new NvV4L2Camera(camProps)); + + NvTransformProps nvprops(ImageMetadata::RGBA); + auto transform = boost::shared_ptr(new NvTransform(nvprops)); + source->setNext(transform); + + auto sink = boost::shared_ptr(new EglRenderer(EglRendererProps(50, 50))); + transform->setNext(sink); + + PipeLine p("geometry_xy_test"); + p.appendModule(source); + BOOST_TEST(p.init()); + p.run_all_threaded(); + boost::this_thread::sleep_for(boost::chrono::seconds(10)); + p.stop(); p.term(); p.wait_for_all(); +} + +BOOST_AUTO_TEST_CASE(ctor_geometry_xywh, *boost::unit_test::disabled()) +{ + LoggerProps logProps; logProps.enableConsoleLog = true; + Logger::initLogger(logProps); + Logger::setLogLevel(boost::log::trivial::trace); + + NvV4L2CameraProps camProps(640, 360, 10, false); + auto source = boost::shared_ptr(new NvV4L2Camera(camProps)); + + NvTransformProps nvprops(ImageMetadata::RGBA); + auto transform = boost::shared_ptr(new NvTransform(nvprops)); + source->setNext(transform); + + auto sink = boost::shared_ptr(new EglRenderer(EglRendererProps(0, 0, 320, 240))); + transform->setNext(sink); + + PipeLine p("geometry_xywh_test"); + p.appendModule(source); + BOOST_TEST(p.init()); + p.run_all_threaded(); + boost::this_thread::sleep_for(boost::chrono::seconds(10)); + p.stop(); p.term(); p.wait_for_all(); +} + +BOOST_AUTO_TEST_CASE(ctor_geometry_text, *boost::unit_test::disabled()) +{ + LoggerProps logProps; logProps.enableConsoleLog = true; + Logger::initLogger(logProps); + Logger::setLogLevel(boost::log::trivial::trace); + + NvV4L2CameraProps camProps(640, 360, 10, false); + auto source = boost::shared_ptr(new NvV4L2Camera(camProps)); + + NvTransformProps nvprops(ImageMetadata::RGBA); + auto transform = boost::shared_ptr(new NvTransform(nvprops)); + source->setNext(transform); + + EglRendererProps::TextInfo text; + text.fontPath = "/home/developer/ApraPipes/data/Debrosee-ALPnL.ttf"; + text.message = "HelloText"; + text.color = {1.0f, 0.0f, 1.0f}; + text.fontSize = 24; + text.position = {50,50}; + text.scale = 1; + text.opacity = 1.0f; + auto sink = boost::shared_ptr(new EglRenderer(EglRendererProps(100, 100, 320, 240, text))); + transform->setNext(sink); + + PipeLine p("geometry_text_test"); + p.appendModule(source); + BOOST_TEST(p.init()); + p.run_all_threaded(); + boost::this_thread::sleep_for(boost::chrono::seconds(10)); + p.stop(); p.term(); p.wait_for_all(); +} + +BOOST_AUTO_TEST_CASE(ctor_geometry_image, *boost::unit_test::disabled()) +{ + LoggerProps logProps; logProps.enableConsoleLog = true; + Logger::initLogger(logProps); + Logger::setLogLevel(boost::log::trivial::trace); + + NvV4L2CameraProps camProps(640, 360, 10, false); + auto source = boost::shared_ptr(new NvV4L2Camera(camProps)); + + NvTransformProps nvprops(ImageMetadata::RGBA); + auto transform = boost::shared_ptr(new NvTransform(nvprops)); + source->setNext(transform); + + EglRendererProps::ImageInfo img; + img.path = "/home/developer/ApraPipes/data/apra.jpeg"; + img.position = {0, 0}; + img.size = {128, 128}; + img.opacity = 0.75f; + auto sink = boost::shared_ptr(new EglRenderer(EglRendererProps(200, 200, 320, 240, img))); + transform->setNext(sink); + + PipeLine p("geometry_image_test"); + p.appendModule(source); + BOOST_TEST(p.init()); + p.run_all_threaded(); + boost::this_thread::sleep_for(boost::chrono::seconds(10)); + p.stop(); p.term(); p.wait_for_all(); +} + +BOOST_AUTO_TEST_CASE(ctor_geometry_text_image, *boost::unit_test::disabled()) +{ + LoggerProps logProps; logProps.enableConsoleLog = true; + Logger::initLogger(logProps); + Logger::setLogLevel(boost::log::trivial::trace); + + NvV4L2CameraProps camProps(640, 360, 10, false); + auto source = boost::shared_ptr(new NvV4L2Camera(camProps)); + + NvTransformProps nvprops(ImageMetadata::RGBA); + auto transform = boost::shared_ptr(new NvTransform(nvprops)); + source->setNext(transform); + + EglRendererProps::TextInfo text; + text.fontPath = "/home/developer/ApraPipes/data/Debrosee-ALPnL.ttf"; + text.message = "Overlay Text"; + text.color = {0.0f, 1.0f, 0.0f}; + text.fontSize = 20; + text.position = {100, 50}; + text.scale = 1.0f; + text.opacity = 0.5f; + EglRendererProps::ImageInfo img; + img.path = "/home/developer/ApraPipes/data/apra.jpeg"; + img.position = {200, 150}; + img.size = {64, 64}; + + auto sink = boost::shared_ptr( + new EglRenderer(EglRendererProps(0, 0, 320, 240, text, img)) + ); + transform->setNext(sink); + + PipeLine p("geometry_text_image_test"); + p.appendModule(source); + BOOST_TEST(p.init()); + p.run_all_threaded(); + boost::this_thread::sleep_for(boost::chrono::seconds(10)); + p.stop(); p.term(); p.wait_for_all(); +} + +BOOST_AUTO_TEST_CASE(ctor_geometry_opacity_mask, *boost::unit_test::disabled()) +{ + LoggerProps logProps; logProps.enableConsoleLog = true; + Logger::initLogger(logProps); + Logger::setLogLevel(boost::log::trivial::trace); + + NvV4L2CameraProps camProps(640, 360, 10, false); + auto source = boost::shared_ptr(new NvV4L2Camera(camProps)); + + NvTransformProps nvprops(ImageMetadata::RGBA); + auto transform = boost::shared_ptr(new NvTransform(nvprops)); + source->setNext(transform); + + auto sink = boost::shared_ptr(new EglRenderer(EglRendererProps(0, 0, 320, 240, 0.5f, true))); + transform->setNext(sink); + + PipeLine p("geometry_opacity_mask_test"); + p.appendModule(source); + BOOST_TEST(p.init()); + p.run_all_threaded(); + boost::this_thread::sleep_for(boost::chrono::seconds(10)); + p.stop(); p.term(); p.wait_for_all(); +} + BOOST_AUTO_TEST_SUITE_END() \ No newline at end of file diff --git a/base/test/h264decoder_tests.cpp b/base/test/h264decoder_tests.cpp index 8ad07ce88..0ef0c361a 100644 --- a/base/test/h264decoder_tests.cpp +++ b/base/test/h264decoder_tests.cpp @@ -26,7 +26,7 @@ BOOST_AUTO_TEST_CASE(mp4reader_decoder_eglrenderer_2) auto fileReader = boost::shared_ptr(new FileReaderModule( - FileReaderModuleProps("./data/8bit_frame_1280x720_rgba.raw"))); + FileReaderModuleProps("../data/8bit_frame_1280x720_rgba.raw"))); auto metadata = framemetadata_sp( new RawImageMetadata(1280, 720, ImageMetadata::ImageType::RGBA, CV_8UC4, 0, CV_8U, FrameMetadata::HOST, true)); @@ -39,7 +39,7 @@ BOOST_AUTO_TEST_CASE(mp4reader_decoder_eglrenderer_2) auto memconversionHost = boost::shared_ptr(new MemTypeConversion(MemTypeConversionProps(FrameMetadata::HOST, stream))); memconversionDMA->setNext(memconversionHost); - auto fileWriter = boost::shared_ptr(new FileWriterModule(FileWriterModuleProps("./data/testOutput/MEMCPY_TEST/frame_????.raw"))); + auto fileWriter = boost::shared_ptr(new FileWriterModule(FileWriterModuleProps("./data/testOutput/MEMCPY_TEST/frame.raw"))); memconversionHost->setNext(fileWriter); boost::shared_ptr p; @@ -65,7 +65,7 @@ BOOST_AUTO_TEST_CASE(mp4reader_decoder_eglrenderer) Logger::setLogLevel("info"); // metadata is known - std::string videoPath = "./data/Mp4_videos/h264_video/20221010/0012/1668064027062.mp4"; + std::string videoPath = "/home/developer/ApraPipes/data/Mp4_videos/h264_video/apraH264.mp4"; auto mp4ReaderProps = Mp4ReaderSourceProps(videoPath, false, 0, true, false, false); auto mp4Reader = boost::shared_ptr(new Mp4ReaderSource(mp4ReaderProps)); auto h264ImageMetadata = framemetadata_sp(new H264Metadata(0, 0)); @@ -107,7 +107,7 @@ BOOST_AUTO_TEST_CASE(mp4reader_decoder_eglrenderer) p.reset(); } - +/* BOOST_AUTO_TEST_CASE(sample_mp4_file_decoder_cuda_device_to_host) { Logger::setLogLevel("info"); @@ -169,6 +169,6 @@ BOOST_AUTO_TEST_CASE(sample_mp4_file_decoder_cuda_device_to_host) p->wait_for_all(); p.reset(); } - +*/ BOOST_AUTO_TEST_SUITE_END() \ No newline at end of file diff --git a/base/test/h264encoderv4l2_tests.cpp b/base/test/h264encoderv4l2_tests.cpp index 2832be368..8b783c985 100755 --- a/base/test/h264encoderv4l2_tests.cpp +++ b/base/test/h264encoderv4l2_tests.cpp @@ -3,65 +3,60 @@ #include "PipeLine.h" #include "H264EncoderV4L2.h" #include "FileReaderModule.h" +#include "FileWriterModule.h" #include "FrameMetadata.h" #include "Frame.h" #include "Logger.h" #include "StatSink.h" #include "CudaMemCopy.h" -#include "ExternalSinkModule.h" #include "RTSPPusher.h" -#include "Overlay.h" -#include "OverlayModule.h" -#include "H264Metadata.h" -#include "FramesMuxer.h" #include "test_utils.h" BOOST_AUTO_TEST_SUITE(h264encoderv4l2_tests) -BOOST_AUTO_TEST_CASE(yuv420_640x360) +BOOST_AUTO_TEST_CASE(yuv420_640x360, *boost::unit_test::disabled()) { - // metadata is known - auto width = 640; - auto height = 360; + // metadata is known + auto width = 640; + auto height = 360; - auto fileReader = boost::shared_ptr(new FileReaderModule(FileReaderModuleProps("./data/Raw_YUV420_640x360/Image???_YUV420.raw"))); - auto metadata = framemetadata_sp(new RawImagePlanarMetadata(width, height, ImageMetadata::ImageType::YUV420, size_t(0), CV_8U)); - auto rawImagePin = fileReader->addOutputPin(metadata); + auto fileReader = boost::shared_ptr(new FileReaderModule(FileReaderModuleProps("../data/Raw_YUV420_640x360/Image020_YUV420.raw"))); + auto metadata = framemetadata_sp(new RawImagePlanarMetadata(width, height, ImageMetadata::ImageType::YUV420, size_t(0), CV_8U)); + auto rawImagePin = fileReader->addOutputPin(metadata); - H264EncoderV4L2Props encoderProps; - encoderProps.targetKbps = 1024; - auto encoder = boost::shared_ptr(new H264EncoderV4L2(encoderProps)); - fileReader->setNext(encoder); + H264EncoderV4L2Props encoderProps; + encoderProps.targetKbps = 1024; + auto encoder = boost::shared_ptr(new H264EncoderV4L2(encoderProps)); + fileReader->setNext(encoder); - auto sink = boost::shared_ptr(new ExternalSinkModule()); - encoder->setNext(sink); + auto fileWriter = boost::shared_ptr(new FileWriterModule(FileWriterModuleProps("./data/testOutput/Raw_YUV420_640x360.h264", true))); + encoder->setNext(fileWriter); - BOOST_TEST(fileReader->init()); - BOOST_TEST(encoder->init()); - BOOST_TEST(sink->init()); + BOOST_TEST(fileReader->init()); + BOOST_TEST(encoder->init()); + BOOST_TEST(fileWriter->init()); - fileReader->play(true); + fileReader->play(true); + for (auto i = 0; i < 42; i++) + { + fileReader->step(); + encoder->step(); + fileWriter->step(); + } - for (auto i = 0; i < 42; i++) - { - fileReader->step(); - encoder->step(); - auto frames = sink->pop(); - auto outputFrame = frames.begin()->second; - std::string fileName = "./data/testOutput/h264EncoderV4l2/Raw_YUV420_640x360_" + to_string(i) + ".h264"; - Test_Utils::saveOrCompare(fileName.c_str(), const_cast(static_cast(outputFrame->data())), outputFrame->size(), 0); - } + Test_Utils::saveOrCompare("./data/testOutput/Raw_YUV420_640x360.h264", 0); } + BOOST_AUTO_TEST_CASE(rgb24_1280x720, *boost::unit_test::disabled()) { // metadata is known auto width = 1280; auto height = 720; - auto fileReader = boost::shared_ptr(new FileReaderModule(FileReaderModuleProps("./data/Raw_RGB24_1280x720"))); + auto fileReader = boost::shared_ptr(new FileReaderModule(FileReaderModuleProps("/home/developer/ApraPipes/data/8bit_frame_1280x720_bgra.raw"))); auto metadata = framemetadata_sp(new RawImageMetadata(width, height, ImageMetadata::ImageType::RGB, CV_8UC3, size_t(0), CV_8U, FrameMetadata::HOST, true)); auto rawImagePin = fileReader->addOutputPin(metadata); @@ -76,13 +71,13 @@ BOOST_AUTO_TEST_CASE(rgb24_1280x720, *boost::unit_test::disabled()) auto encoder = boost::shared_ptr(new H264EncoderV4L2(encoderProps)); copy->setNext(encoder); - auto sink = boost::shared_ptr(new ExternalSinkModule()); - encoder->setNext(sink); + auto fileWriter = boost::shared_ptr(new FileWriterModule(FileWriterModuleProps("./data/testOutput/Raw_RGB24_1280x7202.h264", true))); + encoder->setNext(fileWriter); BOOST_TEST(fileReader->init()); BOOST_TEST(copy->init()); BOOST_TEST(encoder->init()); - BOOST_TEST(sink->init()); + BOOST_TEST(fileWriter->init()); fileReader->play(true); @@ -92,11 +87,10 @@ BOOST_AUTO_TEST_CASE(rgb24_1280x720, *boost::unit_test::disabled()) fileReader->step(); copy->step(); encoder->step(); - auto frames = sink->pop(); - auto outputFrame = frames.begin()->second; - Test_Utils::saveOrCompare("./data/testOutput/Raw_RGB24_1280x720.h264", const_cast(static_cast(outputFrame->data())), outputFrame->size(), 0); + fileWriter->step(); } - + + Test_Utils::saveOrCompare("./data/testOutput/Raw_RGB24_1280x720.h264", 0); } BOOST_AUTO_TEST_CASE(yuv420_640x360_profiling, *boost::unit_test::disabled()) @@ -190,7 +184,7 @@ BOOST_AUTO_TEST_CASE(encodepush, *boost::unit_test::disabled()) auto width = 640; auto height = 360; - auto fileReader = boost::shared_ptr(new FileReaderModule(FileReaderModuleProps("./data/Raw_YUV420_640x360/Image???_YUV420.raw"))); + auto fileReader = boost::shared_ptr(new FileReaderModule(FileReaderModuleProps("../data/Raw_YUV420_640x360/Image???_YUV420.raw"))); auto metadata = framemetadata_sp(new RawImagePlanarMetadata(width, height, ImageMetadata::ImageType::YUV420, size_t(0), CV_8U)); auto rawImagePin = fileReader->addOutputPin(metadata); @@ -199,7 +193,7 @@ BOOST_AUTO_TEST_CASE(encodepush, *boost::unit_test::disabled()) auto encoder = boost::shared_ptr(new H264EncoderV4L2(encoderProps)); fileReader->setNext(encoder); - auto sink = boost::shared_ptr(new RTSPPusher(RTSPPusherProps("rtsp://10.102.10.129:5544", "aprapipes_h264"))); + auto sink = boost::shared_ptr(new RTSPPusher(RTSPPusherProps("rtsp://10.102.10.220:8554", "aprapipes_h264"))); encoder->setNext(sink); PipeLine p("test"); @@ -218,71 +212,4 @@ BOOST_AUTO_TEST_CASE(encodepush, *boost::unit_test::disabled()) LOG_INFO << "TEST DONE"; } -BOOST_AUTO_TEST_CASE(encode_and_extract_motion_vectors) -{ - // metadata is known - auto width = 640; - auto height = 360; - - auto fileReader = boost::shared_ptr(new FileReaderModule(FileReaderModuleProps("./data/Raw_YUV420_640x360/Image???_YUV420.raw"))); - auto metadata = framemetadata_sp(new RawImagePlanarMetadata(width, height, ImageMetadata::ImageType::YUV420, size_t(0), CV_8U)); - auto rawImagePin = fileReader->addOutputPin(metadata); - - H264EncoderV4L2Props encoderProps; - encoderProps.targetKbps = 1024; - encoderProps.enableMotionVectors = true; - auto encoder = boost::shared_ptr(new H264EncoderV4L2(encoderProps)); - fileReader->setNext(encoder); - - auto sink = boost::shared_ptr(new ExternalSinkModule()); - encoder->setNext(sink); - - BOOST_TEST(fileReader->init()); - BOOST_TEST(encoder->init()); - BOOST_TEST(sink->init()); - - fileReader->play(true); - - int motionVectorFramesCount = 0; - for (auto i = 0; i < 40; i++) - { - fileReader->step(); - encoder->step(); - auto frames = sink->pop(); - for (auto it = frames.cbegin(); it != frames.cend(); it++) - { - auto metadata = it->second->getMetadata(); - auto frameType = metadata->getFrameType(); - auto outputFrame = it->second; - if (frameType == FrameMetadata::H264_DATA) - { - std::string fileName = "./data/testOutput/h264EncoderH264Frames/frame_640x360" + to_string(i) + ".h264"; - Test_Utils::saveOrCompare(fileName.c_str(), const_cast(static_cast(outputFrame->data())), outputFrame->size(), 0); - } - else if(frameType == FrameMetadata::OVERLAY_INFO_IMAGE) - { - DrawingOverlay drawOverlay; - drawOverlay.deserialize(outputFrame); - auto list = drawOverlay.getList(); - motionVectorFramesCount++; - for (auto primitive1 : list) - { - if (primitive1->primitiveType == Primitive::COMPOSITE) - { - CompositeOverlay *mCompositeOverlay1 = static_cast(primitive1); - - auto compositeList1 = mCompositeOverlay1->getList(); - - for (auto primitive2 : compositeList1) - { - BOOST_TEST(primitive2->primitiveType == Primitive::CIRCLE); - } - } - } - } - } - } - bool condition = (motionVectorFramesCount == 32 || motionVectorFramesCount == 33); - BOOST_TEST(condition); -} BOOST_AUTO_TEST_SUITE_END() diff --git a/base/test/memtypeconversion_tests.cpp b/base/test/memtypeconversion_tests.cpp index 3c77020ae..c49757359 100644 --- a/base/test/memtypeconversion_tests.cpp +++ b/base/test/memtypeconversion_tests.cpp @@ -20,7 +20,7 @@ BOOST_AUTO_TEST_SUITE(memtypeconversion_tests) BOOST_AUTO_TEST_CASE(Host_to_Dma_to_Device_to_Host_RGBA_1280x720) { #if 1 - auto fileReader = boost::shared_ptr(new FileReaderModule(FileReaderModuleProps("./data/8bit_frame_1280x720_rgba.raw"))); + auto fileReader = boost::shared_ptr(new FileReaderModule(FileReaderModuleProps("../data/8bit_frame_1280x720_rgba.raw"))); auto metadata = framemetadata_sp(new RawImageMetadata(1280, 720, ImageMetadata::ImageType::RGBA, CV_8UC4, 0, CV_8U, FrameMetadata::HOST, true)); fileReader->addOutputPin(metadata); @@ -53,14 +53,14 @@ BOOST_AUTO_TEST_CASE(Host_to_Dma_to_Device_to_Host_RGBA_1280x720) BOOST_TEST((frames.find(outputPinId) != frames.end())); auto outFrame = frames[outputPinId]; BOOST_TEST(outFrame->getMetadata()->getFrameType() == FrameMetadata::RAW_IMAGE); - Test_Utils::saveOrCompare("./data/MemConversion_outputs/Host_to_Dma_to_Device_to_Host_RGBA_1280x720.raw", (const uint8_t *)outFrame->data(), outFrame->size(), 0); + Test_Utils::saveOrCompare("../data/MemConversion_outputs/Host_to_Dma_to_Device_to_Host_RGBA_1280x720.raw", (const uint8_t *)outFrame->data(), outFrame->size(), 0); #endif } BOOST_AUTO_TEST_CASE(Host_to_Device_to_Dma_to_Device_to_Host_YUV420_400x400) { #if 1 - auto fileReader = boost::shared_ptr(new FileReaderModule(FileReaderModuleProps("./data/yuv420_400x400.raw"))); + auto fileReader = boost::shared_ptr(new FileReaderModule(FileReaderModuleProps("../data/yuv420_400x400.raw"))); auto metadata = framemetadata_sp(new RawImagePlanarMetadata(400, 400, ImageMetadata::ImageType::YUV420, size_t(0), CV_8U)); fileReader->addOutputPin(metadata); @@ -98,14 +98,14 @@ BOOST_AUTO_TEST_CASE(Host_to_Device_to_Dma_to_Device_to_Host_YUV420_400x400) BOOST_TEST((frames.find(outputPinId) != frames.end())); auto outFrame = frames[outputPinId]; BOOST_TEST(outFrame->getMetadata()->getFrameType() == FrameMetadata::RAW_IMAGE_PLANAR); - Test_Utils::saveOrCompare("./data/MemConversion_outputs/Host_to_Device_to_Dma_to_Device_to_Host_YUV420_400x400.raw", (const uint8_t *)outFrame->data(), outFrame->size(), 0); + Test_Utils::saveOrCompare("../data/MemConversion_outputs/Host_to_Device_to_Dma_to_Device_to_Host_YUV420_400x400.raw", (const uint8_t *)outFrame->data(), outFrame->size(), 0); #endif } BOOST_AUTO_TEST_CASE(Host_to_Device_to_Dma_to_Host_BGRA_400x400) { #if 1 - auto fileReader = boost::shared_ptr(new FileReaderModule(FileReaderModuleProps("./data/overlay_400x400_BGRA.raw"))); + auto fileReader = boost::shared_ptr(new FileReaderModule(FileReaderModuleProps("../data/overlay_400x400_BGRA.raw"))); auto metadata = framemetadata_sp(new RawImageMetadata(400, 400, ImageMetadata::ImageType::BGRA, CV_8UC4, 0, CV_8U, FrameMetadata::HOST, true)); fileReader->addOutputPin(metadata); @@ -138,7 +138,7 @@ BOOST_AUTO_TEST_CASE(Host_to_Device_to_Dma_to_Host_BGRA_400x400) BOOST_TEST((frames.find(outputPinId) != frames.end())); auto outFrame = frames[outputPinId]; BOOST_TEST(outFrame->getMetadata()->getFrameType() == FrameMetadata::RAW_IMAGE); - Test_Utils::saveOrCompare("./data/MemConversion_outputs/Host_to_Device_to_Dma_to_Host_BGRA_400x400.raw", (const uint8_t *)outFrame->data(), outFrame->size(), 0); + Test_Utils::saveOrCompare("../data/MemConversion_outputs/Host_to_Device_to_Dma_to_Host_BGRA_400x400.raw", (const uint8_t *)outFrame->data(), outFrame->size(), 0); #endif } @@ -154,7 +154,7 @@ BOOST_AUTO_TEST_CASE(Dma_to_Host, *boost::unit_test::disabled()) auto memconversion = boost::shared_ptr(new MemTypeConversion(MemTypeConversionProps(FrameMetadata::HOST))); transform->setNext(memconversion); - auto sink = boost::shared_ptr(new FileWriterModule(FileWriterModuleProps("./data/testOutput/nvv4l2/frame_????.raw"))); + auto sink = boost::shared_ptr(new FileWriterModule(FileWriterModuleProps("../data/testOutput/nvv4l2/frame_????.raw"))); memconversion->setNext(sink); PipeLine p("test"); @@ -189,7 +189,7 @@ BOOST_AUTO_TEST_CASE(Dma_to_Host_to_Dma, *boost::unit_test::disabled()) auto memconversion2 = boost::shared_ptr(new MemTypeConversion(MemTypeConversionProps(FrameMetadata::DMABUF))); memconversion->setNext(memconversion2); - auto sink = boost::shared_ptr(new EglRenderer(EglRendererProps(0, 0, 0))); + auto sink = boost::shared_ptr(new EglRenderer(EglRendererProps(0, 0))); memconversion2->setNext(sink); PipeLine p("test"); @@ -212,7 +212,7 @@ BOOST_AUTO_TEST_CASE(Dma_to_Host_to_Dma, *boost::unit_test::disabled()) BOOST_AUTO_TEST_CASE(Device_to_Dma_RGBA, *boost::unit_test::disabled()) { #if 1 - auto fileReader = boost::shared_ptr(new FileReaderModule(FileReaderModuleProps("./data/8bit_frame_1280x720_rgba.raw"))); + auto fileReader = boost::shared_ptr(new FileReaderModule(FileReaderModuleProps("../data/8bit_frame_1280x720_rgba.raw"))); auto metadata = framemetadata_sp(new RawImageMetadata(1280, 720, ImageMetadata::ImageType::RGBA, CV_8UC4, 0, CV_8U, FrameMetadata::HOST, true)); fileReader->addOutputPin(metadata); @@ -223,7 +223,7 @@ BOOST_AUTO_TEST_CASE(Device_to_Dma_RGBA, *boost::unit_test::disabled()) auto memconversion = boost::shared_ptr(new MemTypeConversion(MemTypeConversionProps(FrameMetadata::DMABUF, stream))); copy1->setNext(memconversion); - auto sink = boost::shared_ptr(new EglRenderer(EglRendererProps(0, 0, 0))); + auto sink = boost::shared_ptr(new EglRenderer(EglRendererProps(0, 0))); memconversion->setNext(sink); PipeLine p("test"); @@ -246,7 +246,7 @@ BOOST_AUTO_TEST_CASE(Device_to_Dma_RGBA, *boost::unit_test::disabled()) BOOST_AUTO_TEST_CASE(Device_to_Dma_Planar, *boost::unit_test::disabled()) { #if 1 - auto fileReader = boost::shared_ptr(new FileReaderModule(FileReaderModuleProps("./data/yuv420_400x400.raw"))); + auto fileReader = boost::shared_ptr(new FileReaderModule(FileReaderModuleProps("../data/yuv420_400x400.raw"))); auto metadata = framemetadata_sp(new RawImagePlanarMetadata(400, 400, ImageMetadata::ImageType::YUV420, size_t(0), CV_8U)); fileReader->addOutputPin(metadata); @@ -257,7 +257,7 @@ BOOST_AUTO_TEST_CASE(Device_to_Dma_Planar, *boost::unit_test::disabled()) auto memconversion = boost::shared_ptr(new MemTypeConversion(MemTypeConversionProps(FrameMetadata::DMABUF, stream))); copy1->setNext(memconversion); - auto sink = boost::shared_ptr(new EglRenderer(EglRendererProps(0, 0, 0))); + auto sink = boost::shared_ptr(new EglRenderer(EglRendererProps(0, 0))); memconversion->setNext(sink); PipeLine p("test"); @@ -293,7 +293,7 @@ BOOST_AUTO_TEST_CASE(Dma_to_Device_Planar, *boost::unit_test::disabled()) auto copy2 = boost::shared_ptr(new MemTypeConversion(MemTypeConversionProps(FrameMetadata::HOST, stream))); memconversion->setNext(copy2); - auto sink = boost::shared_ptr(new FileWriterModule(FileWriterModuleProps("./data/testOutput/nvv4l2/frame_????.raw"))); + auto sink = boost::shared_ptr(new FileWriterModule(FileWriterModuleProps("../data/testOutput/nvv4l2/frame_????.raw"))); copy2->setNext(sink); PipeLine p("test"); @@ -326,7 +326,7 @@ BOOST_AUTO_TEST_CASE(Dma_to_Device, *boost::unit_test::disabled()) auto copy2 = boost::shared_ptr(new MemTypeConversion(MemTypeConversionProps(FrameMetadata::HOST, stream))); memconversion->setNext(copy2); - auto sink = boost::shared_ptr(new FileWriterModule(FileWriterModuleProps("./data/testOutput/nvv4l2/frame_????.raw"))); + auto sink = boost::shared_ptr(new FileWriterModule(FileWriterModuleProps("../data/testOutput/nvv4l2/frame_?????.raw"))); copy2->setNext(sink); PipeLine p("test"); @@ -348,7 +348,7 @@ BOOST_AUTO_TEST_CASE(Dma_to_Device, *boost::unit_test::disabled()) BOOST_AUTO_TEST_CASE(Host_to_Device_to_Host) { - auto fileReader = boost::shared_ptr(new FileReaderModule(FileReaderModuleProps("./data/RGB_320x180.raw"))); + auto fileReader = boost::shared_ptr(new FileReaderModule(FileReaderModuleProps("../data/RGB_320x180.raw"))); auto metadata = framemetadata_sp(new RawImageMetadata(320, 180, ImageMetadata::ImageType::RGB, CV_8UC3, 0, CV_8U, FrameMetadata::HOST, true)); fileReader->addOutputPin(metadata); @@ -376,12 +376,12 @@ BOOST_AUTO_TEST_CASE(Host_to_Device_to_Host) BOOST_TEST((frames.find(outputPinId) != frames.end())); auto outFrame = frames[outputPinId]; BOOST_TEST(outFrame->getMetadata()->getFrameType() == FrameMetadata::RAW_IMAGE); - Test_Utils::saveOrCompare("./data/MemConversion_outputs/Host_to_Device_to_Host_RGB_320x180.raw", (const uint8_t *)outFrame->data(), outFrame->size(), 0); + Test_Utils::saveOrCompare("../data/MemConversion_outputs/Host_to_Device_to_Host_RGB_320x180.raw", (const uint8_t *)outFrame->data(), outFrame->size(), 0); } BOOST_AUTO_TEST_CASE(Host_to_Device_to_Host_PlanarImage) { - auto fileReader = boost::shared_ptr(new FileReaderModule(FileReaderModuleProps("./data/nv12-704x576.raw"))); + auto fileReader = boost::shared_ptr(new FileReaderModule(FileReaderModuleProps("../data/nv12-704x576.raw"))); auto metadata = framemetadata_sp(new RawImagePlanarMetadata(704, 576, ImageMetadata::ImageType::NV12, size_t(0), CV_8U)); fileReader->addOutputPin(metadata); @@ -409,7 +409,7 @@ BOOST_AUTO_TEST_CASE(Host_to_Device_to_Host_PlanarImage) BOOST_TEST((frames.find(outputPinId) != frames.end())); auto outFrame = frames[outputPinId]; BOOST_TEST(outFrame->getMetadata()->getFrameType() == FrameMetadata::RAW_IMAGE_PLANAR); - Test_Utils::saveOrCompare("./data/MemConversion_outputs/Host_to_Device_to_Host_NV12.raw", (const uint8_t *)outFrame->data(), outFrame->size(), 0); + Test_Utils::saveOrCompare("../data/MemConversion_outputs/Host_to_Device_to_Host_NV12.raw", (const uint8_t *)outFrame->data(), outFrame->size(), 0); } BOOST_AUTO_TEST_SUITE_END() \ No newline at end of file diff --git a/base/test/nvtransform_tests.cpp b/base/test/nvtransform_tests.cpp index db6452615..f16d0e83f 100644 --- a/base/test/nvtransform_tests.cpp +++ b/base/test/nvtransform_tests.cpp @@ -1,13 +1,12 @@ #include - #include "PipeLine.h" #include "NvV4L2Camera.h" #include "EglRenderer.h" -#include "nvbuf_utils.h" #include "EGL/egl.h" #include "cudaEGL.h" #include "NvTransform.h" - +#include "FileWriterModule.h" +#include "FileReaderModule.h" #include #include #include @@ -18,157 +17,272 @@ #include "RawImageMetadata.h" #include "DMAFDWrapper.h" #include "DMAUtils.h" -#include "NvArgusCamera.h" - +#include #include +#include "nvbufsurftransform.h" +#include "ExternalSourceModule.h" +#include "ExternalSinkModule.h" +#include "ApraData.h" +#include "FrameFactory.h" using sys_clock = std::chrono::system_clock; -BOOST_AUTO_TEST_SUITE(nv_transform_tests, *boost::unit_test::disabled()) - -BOOST_AUTO_TEST_CASE(basic, *boost::unit_test::disabled()) -{ - Logger::setLogLevel(boost::log::trivial::severity_level::info); +class NvTransformTest : public NvTransform { +public: + using NvTransform::NvTransform; + using NvTransform::addInputPin; + using NvTransform::processSOS; + using NvTransform::processEOS; - NvV4L2CameraProps sourceProps(1920, 1080, 10); - auto source = boost::shared_ptr(new NvV4L2Camera(sourceProps)); + bool processFrame(frame_container &frames) { + return NvTransform::process(frames); + } +}; - auto nv_transform = boost::shared_ptr(new NvTransform(NvTransformProps(ImageMetadata::RGBA))); - source->setNext(nv_transform); - - PipeLine p("test"); - p.appendModule(source); - BOOST_TEST(p.init()); - - p.run_all_threaded(); - boost::this_thread::sleep_for(boost::chrono::seconds(10)); - p.stop(); - p.term(); - p.wait_for_all(); -} - -BOOST_AUTO_TEST_CASE(test) +frame_sp makeYUV420Frame(const std::string& path, uint32_t width, uint32_t height) { - EGLDisplay eglDisplay = eglGetDisplay(EGL_DEFAULT_DISPLAY); - if(eglDisplay == EGL_NO_DISPLAY) - { - throw AIPException(AIP_FATAL, "eglGetDisplay failed"); - } - - if (!eglInitialize(eglDisplay, NULL, NULL)) - { - throw AIPException(AIP_FATAL, "eglInitialize failed"); - } - DMAFDWrapper* dmafdWrapper = DMAFDWrapper::create(0,1024,1024,NvBufferColorFormat_ABGR32,NvBufferLayout_Pitch,eglDisplay); - auto mapped = dmafdWrapper->getHostPtr(); - memset(mapped,255,1024*1024*4); - auto rgbSize = 10; - for(auto i = 0; i < rgbSize; i++) - { - cout << (int)*(static_cast(mapped) + i) << " "; - } - cout <> 2; + size_t size = sizeY + 2 * sizeUV; + size_t step[4] = { 640, 320, 320, 0 }; + + auto metadata = framemetadata_sp(new RawImagePlanarMetadata( + width, height, ImageMetadata::YUV420, step, CV_8U, FrameMetadata::MemType::DMABUF + )); + + auto frameFactory = framefactory_sp(new FrameFactory(metadata, 1)); + auto frame = frameFactory->create(size, frameFactory); + if (!frame || !frame->data()) + throw std::runtime_error("Failed to create frame or DMA buffer"); + + auto dma = static_cast(frame->data()); + std::ifstream file(path, std::ios::binary); + if (!file.is_open()) + throw std::runtime_error("Cannot open YUV file: " + path); + + const int y_w = static_cast(width); + const int y_h = static_cast(height); + const int u_w = y_w >> 1; + const int u_h = y_h >> 1; + const int v_w = u_w; + const int v_h = u_h; + + NvBufSurface* surf = dma->getNvBufSurface(); + const size_t y_pitch = surf->surfaceList[0].planeParams.pitch[0]; + const size_t u_pitch = surf->surfaceList[0].planeParams.pitch[1]; + const size_t v_pitch = surf->surfaceList[0].planeParams.pitch[2]; + + std::vector rowY(y_w); + std::vector rowU(u_w); + std::vector rowV(v_w); + + // Y plane + uint8_t* dstY = static_cast(dma->getHostPtrY()); + for (int r = 0; r < y_h; ++r) { + file.read(reinterpret_cast(rowY.data()), y_w); + if (file.gcount() != y_w) throw std::runtime_error("Failed to read Y row"); + memcpy(dstY + r * y_pitch, rowY.data(), y_w); + } + + // U plane + uint8_t* dstU = static_cast(dma->getHostPtrU()); + for (int r = 0; r < u_h; ++r) { + file.read(reinterpret_cast(rowU.data()), u_w); + if (file.gcount() != u_w) throw std::runtime_error("Failed to read U row"); + memcpy(dstU + r * u_pitch, rowU.data(), u_w); + } + + // V plane + uint8_t* dstV = static_cast(dma->getHostPtrV()); + for (int r = 0; r < v_h; ++r) { + file.read(reinterpret_cast(rowV.data()), v_w); + if (file.gcount() != v_w) throw std::runtime_error("Failed to read V row"); + memcpy(dstV + r * v_pitch, rowV.data(), v_w); + } + + return frame; } -BOOST_AUTO_TEST_CASE(fdtest) +BOOST_AUTO_TEST_SUITE(nv_transform_tests, *boost::unit_test::disabled()) + +BOOST_AUTO_TEST_CASE(test) { - size_t size = 1024*1024*4; - void *host = malloc(size); - void *host_ref = malloc(size); - - cudaFree(0); - - EGLImageKHR eglInImage; - CUgraphicsResource pInResource; - CUeglFrame eglInFrame; - EGLDisplay eglDisplay = eglGetDisplay(EGL_DEFAULT_DISPLAY); - if(eglDisplay == EGL_NO_DISPLAY) - { - throw AIPException(AIP_FATAL, "eglGetDisplay failed"); - } - - if (!eglInitialize(eglDisplay, NULL, NULL)) - { - throw AIPException(AIP_FATAL, "eglInitialize failed"); - } - DMAFDWrapper* dmafdWrapper = DMAFDWrapper::create(0,1024,1024,NvBufferColorFormat_ABGR32,NvBufferLayout_Pitch,eglDisplay); - auto mapped = dmafdWrapper->getHostPtr(); - - - auto src = DMAUtils::getCudaPtrForFD(dmafdWrapper->getFd(), eglInImage,&pInResource,eglInFrame, eglDisplay); - - int value = 128; - for(int i = 0; i < 10; i++) - { - value += i; - memset(mapped, value, size); - NvBufferMemSyncForDevice(dmafdWrapper->getFd(), 0, &mapped); - cudaMemcpy(host, src, size, cudaMemcpyDeviceToHost); - cudaDeviceSynchronize(); - memset(host_ref, value, size); - if(memcmp(host, host_ref, size) != 0) - { - std::cout << "failed" << std::endl; - } - - value += 1; - cudaMemset(src, value, size); - cudaDeviceSynchronize(); - NvBufferMemSyncForCpu(dmafdWrapper->getFd(), 0, &mapped); - memset(host_ref, value, size); - if(memcmp(mapped, host_ref, size) != 0) - { - std::cout << "failed 2" << std::endl; - } - } - - - - // DMAUtils::freeCudaPtr(eglInImage,&pInResource, eglDisplay); + EGLDisplay eglDisplay = eglGetDisplay(EGL_DEFAULT_DISPLAY); + if(eglDisplay == EGL_NO_DISPLAY) throw AIPException(AIP_FATAL, "eglGetDisplay failed"); + if (!eglInitialize(eglDisplay, NULL, NULL)) throw AIPException(AIP_FATAL, "eglInitialize failed"); + + DMAFDWrapper* dmafdWrapper = DMAFDWrapper::create(0,1024,1024,NVBUF_COLOR_FORMAT_ABGR,NVBUF_LAYOUT_PITCH,eglDisplay); + auto mapped = dmafdWrapper->getHostPtr(); + memset(mapped,255,1024*1024*4); + + auto rgbSize = 10; + for(auto i = 0; i < rgbSize; i++) + std::cout << (int)*(static_cast(mapped) + i) << " "; + std::cout << std::endl; } -BOOST_AUTO_TEST_CASE(crop, *boost::unit_test::disabled()) +BOOST_AUTO_TEST_CASE(yuv_dma_crop) { - Logger::setLogLevel(boost::log::trivial::severity_level::info); - - NvArgusCameraProps sourceProps(1280, 720, 0); - auto source = boost::shared_ptr(new NvArgusCamera(sourceProps)); - - auto nv_transform = boost::shared_ptr(new NvTransform(NvTransformProps(ImageMetadata::RGBA, 400, 400))); - source->setNext(nv_transform); - - PipeLine p("test"); - p.appendModule(source); - BOOST_TEST(p.init()); - - p.run_all_threaded(); - boost::this_thread::sleep_for(boost::chrono::seconds(10)); - p.stop(); - p.term(); - p.wait_for_all(); + constexpr int src_width = 3840; + constexpr int src_height = 2160; + constexpr int dst_width = 3840; + constexpr int dst_height = 2160; + + auto input_frame = makeYUV420Frame("/home/developer/ApraPipes/data/4k.yuv", src_width, src_height); + BOOST_REQUIRE(input_frame != nullptr); + + NvTransformProps props(ImageMetadata::YUV420,NvTransformProps::NvFlip::FlipY); + auto nv_transform = std::make_shared(props); + + std::string inputPinId = "input"; + framemetadata_sp metadata = input_frame->getMetadata(); + nv_transform->addInputPin(metadata, inputPinId); + + std::string outputPinId = "output"; + frame_container frames; + frames[inputPinId] = input_frame; + + BOOST_REQUIRE(nv_transform->init()); + nv_transform->processSOS(input_frame); + nv_transform->processFrame(frames); + nv_transform->processEOS(outputPinId); + nv_transform->term(); + + frame_sp out_frame; + for (const auto &kv : frames) { + if (kv.first != inputPinId) { + out_frame = kv.second; + break; + } + } + + BOOST_REQUIRE(out_frame != nullptr); + auto out_dma = static_cast(out_frame->data()); + auto out_md = FrameMetadataFactory::downcast(out_frame->getMetadata()); + + const int y_w = out_md->getWidth(0); + const int y_h = out_md->getHeight(0); + const size_t y_pitch = out_md->getStep(0); + const int u_w = out_md->getWidth(1); + const int u_h = out_md->getHeight(1); + const size_t u_pitch = out_md->getStep(1); + const int v_w = out_md->getWidth(2); + const int v_h = out_md->getHeight(2); + const size_t v_pitch = out_md->getStep(2); + + std::ofstream f_out("/home/developer/ApraPipes/data/4k_cropped.yuv", std::ios::binary); + + // Write Y plane + const uint8_t* srcY = static_cast(out_dma->getHostPtrY()); + for (int r = 0; r < y_h; ++r) + f_out.write(reinterpret_cast(srcY + r * y_pitch), y_w); + + // Write U plane + const uint8_t* srcU = static_cast(out_dma->getHostPtrU()); + for (int r = 0; r < u_h; ++r) + f_out.write(reinterpret_cast(srcU + r * u_pitch), u_w); + + // Write V plane + const uint8_t* srcV = static_cast(out_dma->getHostPtrV()); + for (int r = 0; r < v_h; ++r) + f_out.write(reinterpret_cast(srcV + r * v_pitch), v_w); } -BOOST_AUTO_TEST_CASE(cropAndScale, *boost::unit_test::disabled()) +BOOST_AUTO_TEST_CASE(yuv_dma_transform_variants) { - Logger::setLogLevel(boost::log::trivial::severity_level::info); - - NvV4L2CameraProps sourceProps(1920, 1080, 10); - auto source = boost::shared_ptr(new NvV4L2Camera(sourceProps)); - - float scaleHeight = 1; - float scaleWidth = 0.5; - auto nv_transform = boost::shared_ptr(new NvTransform(NvTransformProps(ImageMetadata::RGBA, 400, 400, scaleWidth, scaleHeight, NvTransformProps::NvTransformFilter::BILINEAR))); - source->setNext(nv_transform); - - PipeLine p("test"); - p.appendModule(source); - BOOST_TEST(p.init()); - - p.run_all_threaded(); - boost::this_thread::sleep_for(boost::chrono::seconds(10)); - p.stop(); - p.term(); - p.wait_for_all(); + constexpr int src_width = 3840; + constexpr int src_height = 2160; + + auto input_frame = makeYUV420Frame("/home/developer/ApraPipes/data/4k.yuv", src_width, src_height); + BOOST_REQUIRE(input_frame != nullptr); + + struct TestCase { + std::string name; + NvTransformProps props; + }; + + std::vector tests = { + { "default", NvTransformProps(ImageMetadata::YUV420) }, + { "crop_w_h", NvTransformProps(ImageMetadata::YUV420, 1920, 1080) }, + { "crop_full", NvTransformProps(ImageMetadata::YUV420, 1920, 1080, 100, 100) }, + { "rotate_90", NvTransformProps(ImageMetadata::YUV420, NvTransformProps::NvRotation::Rotate90) }, + { "rotate_180", NvTransformProps(ImageMetadata::YUV420, NvTransformProps::NvRotation::Rotate180) }, + { "flip_x", NvTransformProps(ImageMetadata::YUV420, NvTransformProps::NvFlip::FlipX) }, + { "flip_y", NvTransformProps(ImageMetadata::YUV420, NvTransformProps::NvFlip::FlipY) } + }; + + EGLDisplay eglDisplay = eglGetDisplay(EGL_DEFAULT_DISPLAY); + if(eglDisplay == EGL_NO_DISPLAY) throw AIPException(AIP_FATAL, "eglGetDisplay failed"); + if(!eglInitialize(eglDisplay, NULL, NULL)) throw AIPException(AIP_FATAL, "eglInitialize failed"); + + int index = 0; + for (auto &test : tests) + { + std::cout << "\nRunning NvTransform variant: " << test.name << std::endl; + + auto nv_transform = std::make_shared(test.props); + + std::string inputPinId = "input" + std::to_string(index); + framemetadata_sp metadata = input_frame->getMetadata(); + nv_transform->addInputPin(metadata, inputPinId); + + frame_container frames; + frames[inputPinId] = input_frame; + + BOOST_REQUIRE(nv_transform->init()); + nv_transform->processSOS(input_frame); + nv_transform->processFrame(frames); + nv_transform->processEOS(inputPinId); + nv_transform->term(); + + frame_sp out_frame; + for (const auto &kv : frames) + { + if (kv.first != inputPinId) + { + out_frame = kv.second; + break; + } + } + + BOOST_REQUIRE(out_frame != nullptr); + auto out_dma = static_cast(out_frame->data()); + auto out_md = FrameMetadataFactory::downcast(out_frame->getMetadata()); + + const int y_w = out_md->getWidth(0); + const int y_h = out_md->getHeight(0); + const size_t y_pitch = out_md->getStep(0); + const int u_w = out_md->getWidth(1); + const int u_h = out_md->getHeight(1); + const size_t u_pitch = out_md->getStep(1); + const int v_w = out_md->getWidth(2); + const int v_h = out_md->getHeight(2); + const size_t v_pitch = out_md->getStep(2); + + std::string outPath = "./data/Testoutput" + test.name + ".yuv"; + std::ofstream f_out(outPath, std::ios::binary); + BOOST_REQUIRE(f_out.is_open()); + + // Write Y plane + const uint8_t* srcY = static_cast(out_dma->getHostPtrY()); + for (int r = 0; r < y_h; ++r) + f_out.write(reinterpret_cast(srcY + r * y_pitch), y_w); + + // Write U plane + const uint8_t* srcU = static_cast(out_dma->getHostPtrU()); + for (int r = 0; r < u_h; ++r) + f_out.write(reinterpret_cast(srcU + r * u_pitch), u_w); + + // Write V plane + const uint8_t* srcV = static_cast(out_dma->getHostPtrV()); + for (int r = 0; r < v_h; ++r) + f_out.write(reinterpret_cast(srcV + r * v_pitch), v_w); + + f_out.close(); + std::cout << "Saved output: " << outPath << std::endl; + + index++; + } } BOOST_AUTO_TEST_SUITE_END() \ No newline at end of file diff --git a/base/test/nvv4l2camerahelper_test.cpp b/base/test/nvv4l2camerahelper_test.cpp index 8caf08f22..e85fb5ae2 100644 --- a/base/test/nvv4l2camerahelper_test.cpp +++ b/base/test/nvv4l2camerahelper_test.cpp @@ -13,11 +13,15 @@ BOOST_AUTO_TEST_SUITE(nvv4l2camerahelper_tests) BOOST_AUTO_TEST_CASE(basic, *boost::unit_test::disabled()) { - uint32_t width = 3280; - uint32_t height = 2464; + LoggerProps logProps; + logProps.enableConsoleLog = true; + Logger::initLogger(logProps); + Logger::setLogLevel(boost::log::trivial::severity_level::trace); + uint32_t width = 640; + uint32_t height = 480; auto framemetadata = framemetadata_sp(new RawImageMetadata(FrameMetadata::MemType::DMABUF)); - DMAAllocator::setMetadata(framemetadata, width, height, ImageMetadata::ImageType::UYVY); + DMAAllocator::setMetadata(framemetadata, width, height, ImageMetadata::ImageType::YUYV); framefactory_sp framefactory(new FrameFactory(framemetadata, 10)); auto helper = std::make_shared([](frame_sp &frame) -> void { @@ -44,7 +48,7 @@ BOOST_AUTO_TEST_CASE(basic, *boost::unit_test::disabled()) ); helper->start(width, height, 10, false); - boost::this_thread::sleep_for(boost::chrono::seconds(100)); + boost::this_thread::sleep_for(boost::chrono::seconds(10)); BOOST_TEST(helper->stop()); helper.reset(); diff --git a/data/Debrosee-ALPnL.ttf b/data/Debrosee-ALPnL.ttf new file mode 100644 index 0000000000000000000000000000000000000000..311dd6114190641d2dc4c6edf04a0c545bc742f3 GIT binary patch literal 46480 zcmeHw3y@sZdFH+Sem|!lGt=+)W2UDcBdI}v1r`{Cf-zt(a&53=Bm*`Ntx&w!&QjR% z8baBQDxtiwmrY!3Qbio>D2~@Fgzack)E29_ysBDCMI0@mv?`UXC0bU|Zn@Ynz2EoU z?wQdbVTgzerx>Zfd-~jS?>+ZB|M|~<{_|+VGz=pSa2Vb9-S~l<|INo<`i5aVa;IU; zr{8z;hpsZFjeueNhlh|VvgMYWuiby@@t$GWJ@~%q12-@9KmYQteA+O~{rJA^_ItMP 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zaBl{-e)~t1eLzA1+S7`T?yuK+Zv-7Ihym!`5$75U)Fspjs+f`~r!kC)D2 z8*43&kDfV0RFie*b)FL``r1&i5wt_&^_{!_?!o{pIX)(HNq-%a<&X2_(R`ddV z;~Iyx87pk}i5oCHuN-lR*nY|cFs73^TmzWOcxqvc<&X{lwvo|WhMT6Vj}L*6$^Rit z&Wa_Mj^tHap^l|&EFSF&C*(+^IPHr(TKr@BE|qd;B&{@a)HgnO=XikILR7hZBb6a+0Sy%b9qtaaxHxQx(WGA1jzs>(B~zPhdTNS`9X-AX^9l%cbd z&`4dM3I2Q;ii1~YEnU83LbV!kb~eKtOi6nag{v~A@jN13*)?Vge*iP?4hm|i@>=|Lu1e8@uq?PZVjIa#aW!F!Y(lUlb}!V&k# zSKmeF`}TM0wAh|Dj0Vj*#oU&8>T%%m%EnK2hIgK~N(U)eELb~4Nt2_CNHodqCxll2nqj83~|HHinSI~Ef})dZvne9`^E*?i0Jc+#)Npkl9SB^ z+f1Rl(8j;Fh0ds4?;%B#K2;g)UIU&;^ND+2IKJWH_B`d+)jj@>o+Kf``is)~WMe0>Cj{G%H9D95CFPz?4ar!C9o5(af$at{u23;|Paa_FOVLKr3R~+|2diqjg(6{of>kdD$RnDu zIY_T;nWFihN!%;fAxS?XQq#AjzTP!1oZ$zUKMx7cR!bhe;i&D;(ov*B$7_yl*?B%h zDM+qT98Ta)!9LbK(ZF*R@;PjUstYNOuR%)|l~`T-A9K2;@I?5tScvyi3dT54N%=_F zX{B;zj}7yeDduX-e*vX85wdDnkQ4GmIMEhic_RIXzW%(pQA?DmpB*YGNaa>~mf%e1tfuw#^(YeOY*_>6@bz=a%9{ Ndk&xWuXe8I{|kglpTGbB literal 0 HcmV?d00001 From 1ecdf43f1b46779036380937c1ed3807d45cda6d Mon Sep 17 00:00:00 2001 From: chidanand S M Date: Tue, 18 Nov 2025 13:25:25 +0530 Subject: [PATCH 10/22] Fix for green tint issue while converting from rgb to yuv420 --- base/src/V4L2CUYUV420Converter.cpp | 82 ++++++++++++++++-------------- 1 file changed, 45 insertions(+), 37 deletions(-) diff --git a/base/src/V4L2CUYUV420Converter.cpp b/base/src/V4L2CUYUV420Converter.cpp index 503c6c8cf..24da710d8 100755 --- a/base/src/V4L2CUYUV420Converter.cpp +++ b/base/src/V4L2CUYUV420Converter.cpp @@ -143,72 +143,80 @@ V4L2CURGBToYUV420Converter::~V4L2CURGBToYUV420Converter() void V4L2CURGBToYUV420Converter::process(frame_sp& frame, AV4L2Buffer *buffer) { - const int width = static_cast(mFormat.fmt.pix_mp.width); - const int height = static_cast(mFormat.fmt.pix_mp.height); - const int pitch0 = static_cast(mFormat.fmt.pix_mp.plane_fmt[0].bytesperline); - const int pitch1 = static_cast(mFormat.fmt.pix_mp.plane_fmt[1].bytesperline); - const int pitch2 = static_cast(mFormat.fmt.pix_mp.plane_fmt[2].bytesperline); - EGLAttrib plane0_offset = 0; - EGLAttrib plane1_offset = pitch0 * height; - EGLAttrib plane2_offset = plane1_offset + pitch1 * (height / 2); - EGLAttrib attribs[] = { - EGL_WIDTH, width, - EGL_HEIGHT, height, - EGL_LINUX_DRM_FOURCC_EXT, DRM_FORMAT_YUV420, - EGL_DMA_BUF_PLANE0_FD_EXT, buffer->planesInfo[0].fd, - EGL_DMA_BUF_PLANE0_OFFSET_EXT, plane0_offset, - EGL_DMA_BUF_PLANE0_PITCH_EXT, pitch0, - EGL_DMA_BUF_PLANE1_FD_EXT, buffer->planesInfo[1].fd, - EGL_DMA_BUF_PLANE1_OFFSET_EXT, plane1_offset, - EGL_DMA_BUF_PLANE1_PITCH_EXT, pitch1, - EGL_DMA_BUF_PLANE2_FD_EXT, buffer->planesInfo[2].fd, - EGL_DMA_BUF_PLANE2_OFFSET_EXT, plane2_offset, - EGL_DMA_BUF_PLANE2_PITCH_EXT, pitch2, - EGL_NONE - }; - eglImage = eglCreateImage(eglDisplay, EGL_NO_CONTEXT, EGL_LINUX_DMA_BUF_EXT, - (EGLClientBuffer)NULL, attribs); - if (eglImage == EGL_NO_IMAGE_KHR) { - LOG_ERROR << "eglCreateImage failed for YUV420 EGL image"; + NvBufSurface *surface = nullptr; + if (NvBufSurfaceFromFd(buffer->planesInfo[0].fd, reinterpret_cast(&surface)) != 0) + { + LOG_ERROR << "NvBufSurfaceFromFd failed for RGB->YUV converter"; + return; + } + + if (NvBufSurfaceSyncForDevice(surface, -1, -1) != 0) + { + LOG_ERROR << "NvBufSurfaceSyncForDevice failed"; return; } + + if (NvBufSurfaceMapEglImage(surface, 0) != 0) + { + LOG_ERROR << "NvBufSurfaceMapEglImage failed"; + return; + } + + eglImage = surface->surfaceList[0].mappedAddr.eglImage; + if (eglImage == EGL_NO_IMAGE_KHR) + { + LOG_ERROR << "NvBufSurfaceMapEglImage returned invalid EGL image"; + NvBufSurfaceUnMapEglImage(surface, 0); + return; + } + status = cuGraphicsEGLRegisterImage(&pResource, eglImage, CU_GRAPHICS_MAP_RESOURCE_FLAGS_NONE); - if (status != CUDA_SUCCESS) { + if (status != CUDA_SUCCESS) + { LOG_ERROR << "cuGraphicsEGLRegisterImage failed: " << status; - eglDestroyImage(eglDisplay, eglImage); + NvBufSurfaceUnMapEglImage(surface, 0); return; } status = cuGraphicsResourceGetMappedEglFrame(&eglFrame, pResource, 0, 0); - if (status != CUDA_SUCCESS) { + if (status != CUDA_SUCCESS) + { LOG_ERROR << "cuGraphicsResourceGetMappedEglFrame failed: " << status; + cuGraphicsUnregisterResource(pResource); + NvBufSurfaceUnMapEglImage(surface, 0); return; } - Npp8u* dst[3]; - for (int i = 0; i < 3; ++i) { + for (int i = 0; i < 3; ++i) + { dst[i] = static_cast(eglFrame.frame.pPitch[i]); } status = cuCtxSynchronize(); - if (status != CUDA_SUCCESS) { + if (status != CUDA_SUCCESS) + { LOG_ERROR << "cuCtxSynchronize failed: " << status; + cuGraphicsUnregisterResource(pResource); + NvBufSurfaceUnMapEglImage(surface, 0); return; } auto data = static_cast(frame->data()); auto res = nppiRGBToYUV420_8u_C3P3R(static_cast(data), nsrcStep, dst, dstPitch, oSizeROI); - if (res != NPP_SUCCESS) { + if (res != NPP_SUCCESS) + { LOG_ERROR << "nppiRGBToYUV420_8u_C3P3R failed"; } status = cuCtxSynchronize(); - if (status != CUDA_SUCCESS) { + if (status != CUDA_SUCCESS) + { LOG_ERROR << "cuCtxSynchronize failed after NPP: " << status; } status = cuGraphicsUnregisterResource(pResource); - if (status != CUDA_SUCCESS) { + if (status != CUDA_SUCCESS) + { LOG_ERROR << "cuGraphicsEGLUnRegisterResource failed: " << status; } - eglDestroyImage(eglDisplay, eglImage); + NvBufSurfaceUnMapEglImage(surface, 0); buffer->v4l2_buf.m.planes[0].bytesused = mBytesUsedY; buffer->v4l2_buf.m.planes[1].bytesused = mBytesUsedUV; buffer->v4l2_buf.m.planes[2].bytesused = mBytesUsedUV; From 863dea2c49af848c234b3ad1f6b03fe0af89c9cf Mon Sep 17 00:00:00 2001 From: chidanand S M Date: Wed, 19 Nov 2025 11:17:59 +0530 Subject: [PATCH 11/22] fixed nvbufsurface: Wrong plane index error in nvtrasform --- base/src/NvTransform.cpp | 21 ++++++++------------- 1 file changed, 8 insertions(+), 13 deletions(-) diff --git a/base/src/NvTransform.cpp b/base/src/NvTransform.cpp index 0dbcf750f..a51286202 100644 --- a/base/src/NvTransform.cpp +++ b/base/src/NvTransform.cpp @@ -92,26 +92,26 @@ class NvTransform::Detail return false; } - // Synchronize input to device before transform - for (int p = 0; p < 3; ++p) - { + int in_planes = in_surf->surfaceList[0].planeParams.num_planes; + int out_planes = out_surf->surfaceList[0].planeParams.num_planes; + + for (int p = 0; p < in_planes; ++p) { NvBufSurfaceSyncForDevice(in_surf, 0, p); } - - NvBufSurfTransform_Error err = NvBufSurfTransform(in_surf, out_surf, &transParams); + NvBufSurfTransform_Error err = NvBufSurfTransform(in_surf, out_surf, &transParams); if (err != NvBufSurfTransformError_Success) { - LOG_INFO << "Transform failed============================================>>>>>>>>>>>>>>>>>>>>>>>>>>>" << endl;; + LOG_INFO << "Transform failed"; } - for (int p = 0; p < 3; ++p) - { + for (int p = 0; p < out_planes; ++p) { NvBufSurfaceSyncForCpu(out_surf, 0, p); } return true; } + public: NvBufSurfTransformRect src_rect; framemetadata_sp outputMetadata; @@ -245,11 +245,6 @@ bool NvTransform::process(frame_container &frames) frames.insert(make_pair(mDetail->outputPinId, outFrame)); send(frames); - catch(std::exception & e) - { - LOG_ERROR<<"NvTransform seg fault"; - } - return true; } From f02ce21d57d5d3ee2688d6a058534fab4d9ade38 Mon Sep 17 00:00:00 2001 From: RashmiShinde21 Date: Fri, 14 Nov 2025 21:01:02 +0530 Subject: [PATCH 12/22] code refactoring :removed unecessary logs and comments --- base/src/DMAUtils.cpp | 16 +++--------- base/src/JPEGEncoderL4TM.cpp | 9 ------- base/src/NvArgusCameraHelper.cpp | 44 ++------------------------------ base/src/NvTransform.cpp | 5 +++- base/src/NvV4L2CameraHelper.cpp | 2 +- base/test/nvv4l2camera_test.cpp | 9 ++++--- 6 files changed, 16 insertions(+), 69 deletions(-) diff --git a/base/src/DMAUtils.cpp b/base/src/DMAUtils.cpp index e58d9761f..fce1bab96 100644 --- a/base/src/DMAUtils.cpp +++ b/base/src/DMAUtils.cpp @@ -3,12 +3,7 @@ #include #include -// Forward declaration of NvBufSurface to avoid header dependencies if possible -//struct _NvBufSurface; -//typedef struct _NvBufSurface NvBufSurface; -// This function is the equivalent of the old getCudaPtr. -// It directly uses the EGLImageKHR, which is created externally now. uint8_t* DMAUtils::getCudaPtr(EGLImageKHR eglImage, CUgraphicsResource *pResource, CUeglFrame *pEglFrame) { // Register the EGL image as a CUDA graphics resource @@ -37,31 +32,27 @@ uint8_t* DMAUtils::getCudaPtr(EGLImageKHR eglImage, CUgraphicsResource *pResourc return static_cast(pEglFrame->frame.pPitch[0]); } -// Updated freeCudaPtr function to handle cleanup for JetPack 6 + void DMAUtils::freeCudaPtr(EGLImageKHR eglImage, CUgraphicsResource *pResource, NvBufSurface *surf, EGLDisplay eglDisplay) { auto status = cuCtxSynchronize(); if (status != CUDA_SUCCESS) { - LOG_ERROR << "cuCtxSynchronize failed after cc status<" << status << ">"; - // Continue cleanup even if sync fails + LOG_ERROR << "cuCtxSynchronize failed<" << status << ">"; + } status = cuGraphicsUnregisterResource(*pResource); if (status != CUDA_SUCCESS) { LOG_ERROR << "cuGraphicsUnregisterResource failed: " << status; - // Continue cleanup even if unregister fails } - // Unmap the EGLImage auto res_unmap_egl = NvBufSurfaceUnMapEglImage(surf, 0); if (res_unmap_egl) { LOG_ERROR << "NvBufSurfaceUnMapEglImage Error: " << res_unmap_egl; } - - // Destroy the NvBufSurface auto res_destroy = NvBufSurfaceDestroy(surf); if (res_destroy) { @@ -69,6 +60,7 @@ void DMAUtils::freeCudaPtr(EGLImageKHR eglImage, CUgraphicsResource *pResource, } } uint8_t* DMAUtils::getCudaPtrForFD(int fd, EGLImageKHR &eglImage, CUgraphicsResource *pResource, CUeglFrame eglFrame, EGLDisplay eglDisplay){ + NvBufSurface *surf = nullptr; if (NvBufSurfaceFromFd(fd, (void**)&surf) != 0) { LOG_ERROR << "Failed to create NvBufSurface from file descriptor"; diff --git a/base/src/JPEGEncoderL4TM.cpp b/base/src/JPEGEncoderL4TM.cpp index 7dae73890..96f4e493f 100755 --- a/base/src/JPEGEncoderL4TM.cpp +++ b/base/src/JPEGEncoderL4TM.cpp @@ -95,25 +95,16 @@ size_t compute(frame_sp& inFrame, frame_sp& frame) return 0; } - // Choose color space – I420/NV12 are both YCbCr for the encoder - //J_COLOR_SPACE cs = JCS_YCbCr; - - - // Setup output buffer auto out_ptr = static_cast(frame->data()); unsigned char* out_buf = out_ptr; unsigned long out_len = static_cast(frame->size()); - // Call NvJPEGEncoder::encodeFromFd(fd, ...) - // Assuming you have a member nvEnc of type NvJPEGEncoder* already setup in init() int ret = encHelper->encodeFromFd(fd, color_space, &out_buf, out_len, mProps.quality); if (ret < 0) { LOG_ERROR << "encodeFromFd failed"; return 0; } - - // out_len now has the actual size; return it return static_cast(out_len); } else{ diff --git a/base/src/NvArgusCameraHelper.cpp b/base/src/NvArgusCameraHelper.cpp index bfc543316..7796dc8ed 100644 --- a/base/src/NvArgusCameraHelper.cpp +++ b/base/src/NvArgusCameraHelper.cpp @@ -33,29 +33,11 @@ void NvArgusCameraHelper::sendFrame(Argus::Buffer *buffer) { Argus::IBuffer *iBuffer = Argus::interface_cast(buffer); auto ptr = const_cast(iBuffer->getClientData()); - - // DEBUG: Track frame lookup - LOG_INFO << "sendFrame: looking up dmaFDWrapper=" << ptr; - - auto frameIt = mQueuedFrames.find(ptr); - if (frameIt == mQueuedFrames.end()) { - LOG_ERROR << "sendFrame: FRAME NOT FOUND in mQueuedFrames! ptr=" << ptr - << " map_size=" << mQueuedFrames.size(); - return; - } - - auto frame = frameIt->second; - LOG_INFO << "sendFrame: found frame=" << frame.get() - << " use_count=" << frame.use_count() - << " before sending"; - + auto frame = mQueuedFrames[ptr]; mSendFrame(frame); - - LOG_INFO << "sendFrame: after mSendFrame, use_count=" << frame.use_count(); - std::lock_guard lock(mQueuedFramesMutex); auto erased = mQueuedFrames.erase(ptr); - LOG_INFO << "sendFrame: erased " << erased << " entries, remaining=" << mQueuedFrames.size(); + } void NvArgusCameraHelper::operator()() @@ -72,7 +54,6 @@ void NvArgusCameraHelper::operator()() /* Timeout or error happen, exit */ break; } - LOG_INFO << "AT operator to acquireBuffer to capture camera frames"<(frame->data()); - - // DEBUG: Track frame lifecycle - LOG_INFO << "queueFrameToCamera: frame.get()=" << frame.get() - << " dmaFDWrapper=" << dmaFDWrapper - << " use_count=" << frame.use_count() - << " clientData=" << dmaFDWrapper->getClientData(); Argus::IBufferOutputStream *stream = Argus::interface_cast(outputStream); auto status = stream->releaseBuffer(static_cast(const_cast(dmaFDWrapper->getClientData()))); @@ -102,18 +77,7 @@ bool NvArgusCameraHelper::queueFrameToCamera() std::lock_guard lock(mQueuedFramesMutex); - // DEBUG: Check if this wrapper is already in the map - auto existing = mQueuedFrames.find(dmaFDWrapper); - if (existing != mQueuedFrames.end()) { - LOG_ERROR << "DOUBLE MAP ENTRY! dmaFDWrapper=" << dmaFDWrapper - << " existing_frame=" << existing->second.get() - << " existing_use_count=" << existing->second.use_count() - << " new_frame=" << frame.get() - << " new_use_count=" << frame.use_count(); - } - mQueuedFrames[dmaFDWrapper] = frame; - LOG_INFO << "queueFrameToCamera: stored in map, total entries=" << mQueuedFrames.size(); return true; } @@ -224,12 +188,8 @@ bool NvArgusCameraHelper::start(uint32_t width, uint32_t height, uint32_t fps, i auto dmaFDWrapper = static_cast(frame->data()); - // Debug: Check EGL image validity EGLImageKHR eglImg = dmaFDWrapper->getEGLImage(); EGLDisplay eglDisp = dmaFDWrapper->getEGLDisplay(); - LOG_INFO<< "Buffer[" << i << "] EGLImage: " << eglImg << " (EGL_NO_IMAGE_KHR=" << EGL_NO_IMAGE_KHR << ")"; - LOG_INFO<< "Buffer[" << i << "] EGLDisplay: " << eglDisp; - LOG_INFO << "Buffer[" << i << "] DMA FD: " << dmaFDWrapper->getFd(); if (eglImg == EGL_NO_IMAGE_KHR) { LOG_ERROR << "Buffer[" << i << "] EGLImage is EGL_NO_IMAGE_KHR - this will cause Argus createBuffer to fail"; diff --git a/base/src/NvTransform.cpp b/base/src/NvTransform.cpp index a51286202..1ca0b0fa4 100644 --- a/base/src/NvTransform.cpp +++ b/base/src/NvTransform.cpp @@ -220,7 +220,9 @@ bool NvTransform::term() bool NvTransform::process(frame_container &frames) { - auto frame = frames.cbegin()->second; + try + { + auto frame = frames.cbegin()->second; if(isFrameEmpty(frame)) { LOG_INFO << "Found Empty Frame "; @@ -244,6 +246,7 @@ bool NvTransform::process(frame_container &frames) frames.insert(make_pair(mDetail->outputPinId, outFrame)); send(frames); +} return true; } diff --git a/base/src/NvV4L2CameraHelper.cpp b/base/src/NvV4L2CameraHelper.cpp index 3e5b5bc51..307765b37 100644 --- a/base/src/NvV4L2CameraHelper.cpp +++ b/base/src/NvV4L2CameraHelper.cpp @@ -76,7 +76,7 @@ bool NvV4L2CameraHelper::cameraInitialize(bool isMirror) fmt.fmt.pix.height != mCamHeight || fmt.fmt.pix.pixelformat != mCamPixFmt) { - LOG_ERROR << "The desired format is not supported"<(new VirtualCameraSink(sinkProps)); - auto fileWriter2 = boost::shared_ptr(new FileWriterModule(FileWriterModuleProps("./data/testOutput/nvv4l2/crop_640_360.raw", true))); + auto fileWriter2 = boost::shared_ptr(new FileWriterModule(FileWriterModuleProps("./data/testOutput/nvv4l2/crop_360_360.raw", true))); copy->setNext(fileWriter2); fileWriter2->setNext(sink); @@ -139,15 +139,16 @@ BOOST_AUTO_TEST_CASE(capture) logProps.enableConsoleLog = true; Logger::initLogger(logProps); Logger::setLogLevel(boost::log::trivial::severity_level::trace); - auto source = boost::shared_ptr(new NvV4L2Camera(NvV4L2CameraProps(3280, 2464, 10))); + auto source = boost::shared_ptr(new NvV4L2Camera(NvV4L2CameraProps(640, 480, 10))); + auto transform = boost::shared_ptr(new NvTransform(NvTransformProps(ImageMetadata::RGBA))); + auto copy = boost::shared_ptr(new DMAFDToHostCopy); VirtualCameraSinkProps sinkProps("/dev/video10"); sinkProps.logHealth = true; sinkProps.logHealthFrequency = 100; auto sink = boost::shared_ptr(new VirtualCameraSink(sinkProps)); - - source->setNext(copy); + transform->setNext(copy); copy->setNext(sink); PipeLine p("test"); From 155ef6c120f99026a58270bedf4dd751454f0d5b Mon Sep 17 00:00:00 2001 From: rashmis-21 Date: Wed, 19 Nov 2025 18:56:28 +0530 Subject: [PATCH 13/22] - fixed the memory access violation for jpeg encoding of rgb formats - added test for encoding of yuv format -made changes to validate planar metadata in validateInputPins of encoder -added tests for validating exception handling --- base/include/JPEGEncoderL4TMHelper.h | 1 + base/src/JPEGEncoderL4TM.cpp | 42 ++++-- base/src/JPEGEncoderL4TMHelper.cpp | 4 +- base/test/jpegencoderl4tm_tests.cpp | 194 +++++++++++---------------- 4 files changed, 116 insertions(+), 125 deletions(-) diff --git a/base/include/JPEGEncoderL4TMHelper.h b/base/include/JPEGEncoderL4TMHelper.h index f12668e4b..1ca51e7c5 100755 --- a/base/include/JPEGEncoderL4TMHelper.h +++ b/base/include/JPEGEncoderL4TMHelper.h @@ -33,6 +33,7 @@ class JPEGEncoderL4TMHelper uint32_t comp_height[3]; uint32_t comp_width[3]; unsigned int stride[3]; + bool hardware_acc=TRUE; uint32_t h_max_samp = 0; uint32_t v_max_samp = 0; diff --git a/base/src/JPEGEncoderL4TM.cpp b/base/src/JPEGEncoderL4TM.cpp index 96f4e493f..6db6299b6 100755 --- a/base/src/JPEGEncoderL4TM.cpp +++ b/base/src/JPEGEncoderL4TM.cpp @@ -186,22 +186,40 @@ size_t compute(frame_sp& inFrame, frame_sp& frame) bool validateMetadata(framemetadata_sp &metadata, std::string id) { - auto rawImageMetadata = FrameMetadataFactory::downcast(metadata); - if (rawImageMetadata->getChannels() != 1 && rawImageMetadata->getChannels() != 3 && rawImageMetadata->getChannels() != 4) + if (metadata->getFrameType() == FrameMetadata::RAW_IMAGE) { - LOG_ERROR << "<" << id << ">:: RAW_IMAGE CHANNELS IS EXPECTED TO BE 1, 3, or 4"; - return false; - } + auto rawImageMetadata = FrameMetadataFactory::downcast(metadata); + if (rawImageMetadata->getChannels() != 1 && rawImageMetadata->getChannels() != 3 && rawImageMetadata->getChannels() != 4) + { + LOG_ERROR << "<" << id << ">:: RAW_IMAGE CHANNELS IS EXPECTED TO BE 1, 3, or 4"; + return false; + } - if(rawImageMetadata->getImageType() != ImageMetadata::MONO && rawImageMetadata->getImageType() != ImageMetadata::RGB && rawImageMetadata->getImageType() != ImageMetadata::RGBA && rawImageMetadata->getImageType() != ImageMetadata::NV12) - { - LOG_ERROR << "<" << id << ">:: ImageType is expected to be MONO, RGB, RGBA, or NV12"; - return false; + if (rawImageMetadata->getImageType() != ImageMetadata::MONO && rawImageMetadata->getImageType() != ImageMetadata::RGB) + { + LOG_ERROR << "<" << id << ">:: ImageType is expected to be MONO, RGB, RGBA"; + return false; + } + + if (rawImageMetadata->getStep() * mProps.scale != MSDK_ALIGN32(rawImageMetadata->getWidth() * rawImageMetadata->getChannels() * mProps.scale)) + { + LOG_ERROR << "<" << id << ">:: RAW_IMAGE STEP IS EXPECTED TO BE 32 BIT ALIGNED<>" << rawImageMetadata->getWidth() << "<>" << mProps.scale; + return false; + } } + else if (metadata->getFrameType() == FrameMetadata::RAW_IMAGE_PLANAR) + { + auto rawImagePlanarMetadata = FrameMetadataFactory::downcast(metadata); + // For now, we are just allowing this. Add specific validations if needed. + if (rawImagePlanarMetadata->getImageType() != ImageMetadata::YUV420 && rawImagePlanarMetadata->getImageType() != ImageMetadata::NV12) + { + LOG_ERROR << "<" << id << ">:: ImageType is expected to be YUV420 or NV12"; + return false; + } - if (rawImageMetadata->getStep()*mProps.scale != MSDK_ALIGN32(rawImageMetadata->getWidth()*rawImageMetadata->getChannels()*mProps.scale)) + } + else { - LOG_ERROR << "<" << id << ">:: RAW_IMAGE STEP IS EXPECTED TO BE 32 BIT ALIGNED<>" << rawImageMetadata->getWidth() << "<>" << mProps.scale; return false; } @@ -389,7 +407,7 @@ bool JPEGEncoderL4TM::validateInputPins() if (metadata->isSet()) { - // return mDetail->validateMetadata(metadata, getId()); + return mDetail->validateMetadata(metadata, getId()); } return true; diff --git a/base/src/JPEGEncoderL4TMHelper.cpp b/base/src/JPEGEncoderL4TMHelper.cpp index 24580bad3..7a76c93c2 100755 --- a/base/src/JPEGEncoderL4TMHelper.cpp +++ b/base/src/JPEGEncoderL4TMHelper.cpp @@ -115,6 +115,8 @@ int JPEGEncoderL4TMHelper::encode(const unsigned char *in_buf, unsigned char **o { // Store original color space before destroying J_COLOR_SPACE orig_color_space = cinfo.in_color_space; + //this disables the hardware acceleration since it does not support RGB format + hardware_acc=FALSE; // every time destroy the cinfo and create it // if we don't do this per encode memory leak of the order of input frame @@ -145,7 +147,7 @@ int JPEGEncoderL4TMHelper::encode(const unsigned char *in_buf, unsigned char **o jpeg_mem_dest(&cinfo, out_buf, &out_buf_size); - jpeg_set_hardware_acceleration_parameters_enc(&cinfo, TRUE, out_buf_size, 0, 0); + jpeg_set_hardware_acceleration_parameters_enc(&cinfo, hardware_acc, out_buf_size, 0, 0); unsigned char *base[planes], *end[planes]; diff --git a/base/test/jpegencoderl4tm_tests.cpp b/base/test/jpegencoderl4tm_tests.cpp index 9ff0bc891..65162f11e 100755 --- a/base/test/jpegencoderl4tm_tests.cpp +++ b/base/test/jpegencoderl4tm_tests.cpp @@ -216,6 +216,58 @@ BOOST_AUTO_TEST_CASE(jpegencoder_dmabuf_fd_yuv420, * boost::unit_test::disabled( (const uint8_t*)outFrame->data(), outFrame->size(), 0); } +BOOST_AUTO_TEST_CASE(jpegencoderl4tm_yuv420, * boost::unit_test::disabled()) +{ + // metadata is known + auto width = 3840; + auto height = 2160; + + // YUV420 format: Y plane (width * height) + U plane (width * height / 4) + V plane (width * height / 4) + // Total size = width * height * 3 / 2 + size_t yuv420Size = static_cast(width) * height * 3 / 2; + unsigned char *in_buf = new unsigned char[yuv420Size]; + + auto in_file = new std::ifstream("./data/4k.yuv", std::ios::binary); + in_file->read((char *)in_buf, yuv420Size); + delete in_file; + + auto m1 = boost::shared_ptr(new ExternalSourceModule()); + auto metadata = framemetadata_sp(new RawImagePlanarMetadata(width, height, ImageMetadata::ImageType::YUV420, size_t(0), CV_8U)); + + auto rawImagePin = m1->addOutputPin(metadata); + + auto m2 = boost::shared_ptr(new JPEGEncoderL4TM()); + m1->setNext(m2); + auto encodedImageMetadata = framemetadata_sp(new FrameMetadata(FrameMetadata::ENCODED_IMAGE)); + auto encodedImagePin = m2->addOutputPin(encodedImageMetadata); + + auto m3 = boost::shared_ptr(new ExternalSinkModule()); + m2->setNext(m3); + + BOOST_TEST(m1->init()); + BOOST_TEST(m2->init()); + BOOST_TEST(m3->init()); + + auto rawImageFrame = m1->makeFrame(metadata->getDataSize(), rawImagePin); + memcpy(rawImageFrame->data(), in_buf, metadata->getDataSize()); + + frame_container frames; + frames.insert(make_pair(rawImagePin, rawImageFrame)); + + m1->send(frames); + m2->step(); + frames = m3->pop(); + BOOST_TEST((frames.find(encodedImagePin) != frames.end())); + auto encodedImageFrame = frames[encodedImagePin]; + BOOST_TEST(encodedImageFrame->getMetadata()->getFrameType() == FrameMetadata::ENCODED_IMAGE); + + Test_Utils::saveOrCompare("./data/testOutput/jpegencoderl4tm_yuv420_encoded.jpg", (const uint8_t *)encodedImageFrame->data(), encodedImageFrame->size(), 0); + + delete[] in_buf; +} + + + BOOST_AUTO_TEST_CASE(jpegencoderl4tm_basic, * boost::unit_test::disabled()) { // metadata is known @@ -496,97 +548,18 @@ BOOST_AUTO_TEST_CASE(jpegencoderl4tm_basic_perf_scale, * boost::unit_test::disab } } -BOOST_AUTO_TEST_CASE(jpegencoderl4tm_basic_2, * boost::unit_test::disabled()) -{ - // metadata is set after init - auto img = cv::imread("./data/frame.jpg", cv::IMREAD_GRAYSCALE); - auto m1 = boost::shared_ptr(new ExternalSourceModule()); - auto metadata = framemetadata_sp(new RawImageMetadata()); - auto rawImagePin = m1->addOutputPin(metadata); - - auto m2 = boost::shared_ptr(new JPEGEncoderL4TM()); - m1->setNext(m2); - auto encodedImageMetadata = framemetadata_sp(new FrameMetadata(FrameMetadata::ENCODED_IMAGE)); - auto encodedImagePin = m2->addOutputPin(encodedImageMetadata); - - auto m3 = boost::shared_ptr(new ExternalSinkModule()); - m2->setNext(m3); - - BOOST_TEST(m1->init()); - BOOST_TEST(m2->init()); - BOOST_TEST(m3->init()); - - FrameMetadataFactory::downcast(metadata)->setData(img); - auto rawImageFrame = m1->makeFrame(metadata->getDataSize(), rawImagePin); - memcpy(rawImageFrame->data(), img.data, metadata->getDataSize()); - - frame_container frames; - frames.insert(make_pair(rawImagePin, rawImageFrame)); - - m1->send(frames); - m2->step(); - frames = m3->pop(); - BOOST_TEST((frames.find(encodedImagePin) != frames.end())); - auto encodedImageFrame = frames[encodedImagePin]; - - Test_Utils::saveOrCompare("./data/testOutput/frame_test_l4tm.jpg", (const uint8_t *)encodedImageFrame->data(), encodedImageFrame->size(), 0); -} - -BOOST_AUTO_TEST_CASE(jpegencoderl4tm_basic_width_notmultipleof32, * boost::unit_test::disabled()) -{ - // metadata is set after init - auto img_orig = cv::imread("./data/frame.jpg", cv::IMREAD_GRAYSCALE); - cv::Mat img; - cv::resize(img_orig, img, cv::Size(240, 60)); - auto m1 = boost::shared_ptr(new ExternalSourceModule()); - auto metadata = framemetadata_sp(new RawImageMetadata()); - auto rawImagePin = m1->addOutputPin(metadata); - - auto m2 = boost::shared_ptr(new JPEGEncoderL4TM()); - m1->setNext(m2); - auto encodedImageMetadata = framemetadata_sp(new FrameMetadata(FrameMetadata::ENCODED_IMAGE)); - auto encodedImagePin = m2->addOutputPin(encodedImageMetadata); - - auto m3 = boost::shared_ptr(new ExternalSinkModule()); - m2->setNext(m3); - - BOOST_TEST(m1->init()); - BOOST_TEST(m2->init()); - BOOST_TEST(m3->init()); - - FrameMetadataFactory::downcast(metadata)->setData(img); - auto rawImageFrame = m1->makeFrame(metadata->getDataSize(), rawImagePin); - memcpy(rawImageFrame->data(), img.data, metadata->getDataSize()); - - frame_container frames; - frames.insert(make_pair(rawImagePin, rawImageFrame)); - - m1->send(frames); - - try - { - m2->step(); - BOOST_TEST(false); - } - catch (AIP_Exception &exception) - { - BOOST_TEST(exception.getCode() == AIP_NOTIMPLEMENTED); - } - catch (...) - { - BOOST_TEST(false); - } -} - -BOOST_AUTO_TEST_CASE(jpegencoderl4tm_basic_width_notmultipleof32_2, * boost::unit_test::disabled()) +BOOST_AUTO_TEST_CASE(jpegencoderl4tm_not_valid_image_type, * boost::unit_test::disabled()) { + LoggerProps logProps; logProps.enableConsoleLog = true; + Logger::initLogger(logProps); + Logger::setLogLevel(boost::log::trivial::severity_level::trace); // metadata is known - auto img_orig = cv::imread("./data/frame.jpg", cv::IMREAD_GRAYSCALE); - cv::Mat img; - cv::resize(img_orig, img, cv::Size(240, 60)); + auto width = 3840; + auto height = 2160; + auto m1 = boost::shared_ptr(new ExternalSourceModule()); - auto metadata = framemetadata_sp(new RawImageMetadata()); - FrameMetadataFactory::downcast(metadata)->setData(img); + auto metadata = framemetadata_sp(new RawImagePlanarMetadata(width, height, ImageMetadata::ImageType::YUV444, size_t(0), CV_8U)); + auto rawImagePin = m1->addOutputPin(metadata); auto m2 = boost::shared_ptr(new JPEGEncoderL4TM()); @@ -605,13 +578,19 @@ BOOST_AUTO_TEST_CASE(jpegencoderl4tm_basic_width_notmultipleof32_2, * boost::uni } } -BOOST_AUTO_TEST_CASE(jpegencoderl4tm_basic_width_channels_2, * boost::unit_test::disabled()) +BOOST_AUTO_TEST_CASE(jpegencoderl4tm_not_multipleof32, * boost::unit_test::disabled()) { + LoggerProps logProps; logProps.enableConsoleLog = true; + Logger::initLogger(logProps); + Logger::setLogLevel(boost::log::trivial::severity_level::trace); // metadata is known - auto img = cv::imread("./data/frame.jpg"); + auto width = 1000; + auto height = 1000; + + auto m1 = boost::shared_ptr(new ExternalSourceModule()); - auto metadata = framemetadata_sp(new RawImageMetadata()); - FrameMetadataFactory::downcast(metadata)->setData(img); + auto metadata = framemetadata_sp(new RawImageMetadata(width, height, ImageMetadata::RGB, CV_8UC3, width*3, CV_8U, FrameMetadata::HOST)); + auto rawImagePin = m1->addOutputPin(metadata); auto m2 = boost::shared_ptr(new JPEGEncoderL4TM()); @@ -630,10 +609,14 @@ BOOST_AUTO_TEST_CASE(jpegencoderl4tm_basic_width_channels_2, * boost::unit_test: } } -BOOST_AUTO_TEST_CASE(jpegencoderl4tm_basic_width_channels, * boost::unit_test::disabled()) + +BOOST_AUTO_TEST_CASE(jpegencoderl4tm_metadata_not_set, * boost::unit_test::disabled()) { - // metadata is set after init - auto img = cv::imread("./data/frame.jpg"); + LoggerProps logProps; logProps.enableConsoleLog = true; + Logger::initLogger(logProps); + Logger::setLogLevel(boost::log::trivial::severity_level::trace); + + auto m1 = boost::shared_ptr(new ExternalSourceModule()); auto metadata = framemetadata_sp(new RawImageMetadata()); auto rawImagePin = m1->addOutputPin(metadata); @@ -645,33 +628,20 @@ BOOST_AUTO_TEST_CASE(jpegencoderl4tm_basic_width_channels, * boost::unit_test::d auto m3 = boost::shared_ptr(new ExternalSinkModule()); m2->setNext(m3); - - BOOST_TEST(m1->init()); - BOOST_TEST(m2->init()); - BOOST_TEST(m3->init()); - - FrameMetadataFactory::downcast(metadata)->setData(img); - auto rawImageFrame = m1->makeFrame(metadata->getDataSize(), rawImagePin); - memcpy(rawImageFrame->data(), img.data, metadata->getDataSize()); - - frame_container frames; - frames.insert(make_pair(rawImagePin, rawImageFrame)); - - m1->send(frames); - try { - m2->step(); + m1->init(); + m2->init(); + m3->init(); BOOST_TEST(false); } catch (AIP_Exception &exception) { - BOOST_TEST(exception.getCode() == AIP_NOTIMPLEMENTED); + BOOST_TEST(exception.getCode() == AIP_FATAL); } catch (...) { BOOST_TEST(false); } } - BOOST_AUTO_TEST_SUITE_END() From 6c18c1252ba6f3618488f6f8dcfd4f505c590a46 Mon Sep 17 00:00:00 2001 From: rashmis-21 Date: Thu, 20 Nov 2025 13:54:57 +0530 Subject: [PATCH 14/22] fixed the issue of nvv4l2 camera capturing frames only for 10 sec --- base/src/NvV4L2CameraHelper.cpp | 31 +++++++++++++++++-------------- 1 file changed, 17 insertions(+), 14 deletions(-) diff --git a/base/src/NvV4L2CameraHelper.cpp b/base/src/NvV4L2CameraHelper.cpp index 307765b37..dfc4cf6c3 100644 --- a/base/src/NvV4L2CameraHelper.cpp +++ b/base/src/NvV4L2CameraHelper.cpp @@ -12,7 +12,7 @@ NvV4L2CameraHelper::NvV4L2CameraHelper(SendFrame sendFrame,std::function _makeFrame) { // hardcoded device name and pixfmt which is fine for now - mCamDevname = "/dev/video0"; + mCamDevname = "/dev/video1"; mCamFD = -1; mCamPixFmt = V4L2_PIX_FMT_YUYV; @@ -126,15 +126,18 @@ void NvV4L2CameraHelper::operator()() FD_SET(fds, &rset); mRunning = true; struct timeval timeout; -timeout.tv_sec = 10; -timeout.tv_usec = 0; - /* Wait for camera event with timeout = 10 sec */ - while (select(fds + 1, &rset, NULL, NULL, &timeout) > 0 && mRunning) - { - if (FD_ISSET(fds, &rset)) + while (mRunning) { - struct v4l2_buffer v4l2_buf; + timeout.tv_sec = 1; + timeout.tv_usec = 0; + if (select(fds + 1, &rset, NULL, NULL, &timeout) > 0 && FD_ISSET(fds, &rset)) + { + if (!mRunning) { + break; + } + LOG_INFO<<"capturing frames"; + struct v4l2_buffer v4l2_buf; /* Dequeue a camera buff */ memset(&v4l2_buf, 0, sizeof(v4l2_buf)); @@ -142,7 +145,7 @@ timeout.tv_usec = 0; v4l2_buf.memory = V4L2_MEMORY_DMABUF; if (ioctl(mCamFD, VIDIOC_DQBUF, &v4l2_buf) < 0) { - LOG_ERROR << "Failed to dequeue camera buffer"; + LOG_ERROR << "Failed to dequeue camera buffer. errno: " << errno << " " << strerror(errno); break; } @@ -155,11 +158,11 @@ timeout.tv_usec = 0; } mSendFrame(frameItr->second); mBufferFD.erase(frameItr); - } - else - { - LOG_INFO<<"fd not set"; - } + } + else + { + LOG_INFO<<"fd not set"; + } } } From d390e0847f4f1d7f34735ff114dad146cda8f735 Mon Sep 17 00:00:00 2001 From: chidanand S M Date: Thu, 20 Nov 2025 15:19:33 +0530 Subject: [PATCH 15/22] - Fixed bug in RawImagePlanarMetadata where data size was not updated correctly on the second update (#400). - Added unit test to validate proper metadata size updates for subsequent writes. - Added a new test to verify H264EncoderV4L2 encoding using frames captured from NvV4L2Camera. - Ensures YUV420 conversion + encoding pipeline works correctly with real camera input. --- base/include/RawImagePlanarMetadata.h | 13 +++--- base/test/frame_factory_test_dma.cpp | 65 ++++++++++++++++++++++++++- base/test/h264encoderv4l2_tests.cpp | 61 ++++++++++++++++++++++--- 3 files changed, 126 insertions(+), 13 deletions(-) diff --git a/base/include/RawImagePlanarMetadata.h b/base/include/RawImagePlanarMetadata.h index 30a3514a9..4f3c73ca4 100644 --- a/base/include/RawImagePlanarMetadata.h +++ b/base/include/RawImagePlanarMetadata.h @@ -148,14 +148,15 @@ class RawImagePlanarMetadata : public FrameMetadata protected: void setDataSize() { - dataSize = 0; + size_t tmp = 0; for (auto i = 0; i < channels; i++) { - if (nextPtrOffset[i] == NOT_SET_NUM) - { - nextPtrOffset[i] = dataSize; - dataSize += step[i] * height[i]; - } + nextPtrOffset[i] = tmp; + tmp += step[i] * height[i]; + } + if(dataSize != tmp) + { + dataSize = tmp; } } diff --git a/base/test/frame_factory_test_dma.cpp b/base/test/frame_factory_test_dma.cpp index 56df0143c..239c9fc9e 100755 --- a/base/test/frame_factory_test_dma.cpp +++ b/base/test/frame_factory_test_dma.cpp @@ -248,8 +248,69 @@ BOOST_AUTO_TEST_CASE(memcopy_read_write) auto frame = frameFactory->create(size, frameFactory); void *iptr = (static_cast(frame->data()))->getHostPtr(); memset(iptr,200,size); - unsigned char *bytePtr = static_cast(iptr); - BOOST_TEST(bytePtr[0] == 200); } +BOOST_AUTO_TEST_CASE(change_dataSize_YUV420) +{ + + uint32_t width1 = 1280; + uint32_t height1 = 720; + + size_t step1[4] = {0}; + step1[0] = width1; // Y plane + step1[1] = width1 / 2; // U plane + step1[2] = width1 / 2; + size_t nextPtrOffset1[4] = {NOT_SET_NUM, NOT_SET_NUM, NOT_SET_NUM, NOT_SET_NUM}; + size_t nextPtrOffset2[4] = {NOT_SET_NUM, NOT_SET_NUM, NOT_SET_NUM, NOT_SET_NUM}; + size_t expectedSize1 = (width1 * height1) + (width1 * height1 / 4) + (width1 * height1 / 4); + + + auto metadata = boost::make_shared( + width1, + height1, + ImageMetadata::ImageType::YUV420, + CV_8UC1, // YUV channels are 1 byte each + step1, + nextPtrOffset1, + FrameMetadata::MemType::HOST + ); + + auto rawOutMetadata = FrameMetadataFactory::downcast(metadata); + + size_t size1 = rawOutMetadata->getDataSize(); + BOOST_TEST(size1 == expectedSize1); + + + uint32_t width2 = 640; + uint32_t height2 = 360; + + + size_t step2[4] = {0}; + step2[0] = width2; // Y plane + step2[1] = width2 / 2; // U plane + step2[2] = width2 / 2; // V plane + + + + size_t expectedSize2 = (width2 * height2) + (width2 * height2 / 4) + (width2 * height2 / 4); + + auto modifiedMeta = boost::make_shared( + width2, + height2, + ImageMetadata::ImageType::YUV420, + 0, // alignLength + CV_8UC1 // depth + // MemType defaults to HOST +); + + + rawOutMetadata->setData(*modifiedMeta); + + size_t size2 = rawOutMetadata->getDataSize(); + + BOOST_TEST(size2 == expectedSize2); // metadata not auto-updated + BOOST_TEST(size2 != size1); // still uses original size +} + + BOOST_AUTO_TEST_SUITE_END() \ No newline at end of file diff --git a/base/test/h264encoderv4l2_tests.cpp b/base/test/h264encoderv4l2_tests.cpp index 8b783c985..29e6646c3 100755 --- a/base/test/h264encoderv4l2_tests.cpp +++ b/base/test/h264encoderv4l2_tests.cpp @@ -10,8 +10,11 @@ #include "StatSink.h" #include "CudaMemCopy.h" #include "RTSPPusher.h" - +#include "NvV4L2Camera.h" +#include "NvTransform.h" +#include "DMAFDToHostCopy.h" #include "test_utils.h" +#include "EglRenderer.h" BOOST_AUTO_TEST_SUITE(h264encoderv4l2_tests) @@ -56,7 +59,7 @@ BOOST_AUTO_TEST_CASE(rgb24_1280x720, *boost::unit_test::disabled()) auto width = 1280; auto height = 720; - auto fileReader = boost::shared_ptr(new FileReaderModule(FileReaderModuleProps("/home/developer/ApraPipes/data/8bit_frame_1280x720_bgra.raw"))); + auto fileReader = boost::shared_ptr(new FileReaderModule(FileReaderModuleProps("../data/frame_1280x720_rgb.raw"))); auto metadata = framemetadata_sp(new RawImageMetadata(width, height, ImageMetadata::ImageType::RGB, CV_8UC3, size_t(0), CV_8U, FrameMetadata::HOST, true)); auto rawImagePin = fileReader->addOutputPin(metadata); @@ -90,7 +93,7 @@ BOOST_AUTO_TEST_CASE(rgb24_1280x720, *boost::unit_test::disabled()) fileWriter->step(); } - Test_Utils::saveOrCompare("./data/testOutput/Raw_RGB24_1280x720.h264", 0); + //Test_Utils::saveOrCompare("./data/testOutput/Raw_RGB24_1280x720.h264", 0); } BOOST_AUTO_TEST_CASE(yuv420_640x360_profiling, *boost::unit_test::disabled()) @@ -99,7 +102,7 @@ BOOST_AUTO_TEST_CASE(yuv420_640x360_profiling, *boost::unit_test::disabled()) auto width = 640; auto height = 360; - FileReaderModuleProps fileReaderProps("./data/Raw_YUV420_640x360/Image???_YUV420.raw"); + FileReaderModuleProps fileReaderProps("../data/Raw_YUV420_640x360/Image???_YUV420.raw"); fileReaderProps.fps = 1000; auto fileReader = boost::shared_ptr(new FileReaderModule(fileReaderProps)); auto metadata = framemetadata_sp(new RawImagePlanarMetadata(width, height, ImageMetadata::ImageType::YUV420, size_t(0), CV_8U)); @@ -123,7 +126,7 @@ BOOST_AUTO_TEST_CASE(yuv420_640x360_profiling, *boost::unit_test::disabled()) p.run_all_threaded(); - boost::this_thread::sleep_for(boost::chrono::seconds(100)); + boost::this_thread::sleep_for(boost::chrono::seconds(10)); Logger::setLogLevel(boost::log::trivial::severity_level::error); p.stop(); @@ -212,4 +215,52 @@ BOOST_AUTO_TEST_CASE(encodepush, *boost::unit_test::disabled()) LOG_INFO << "TEST DONE"; } +BOOST_AUTO_TEST_CASE(nvv4l2_camera_encode, *boost::unit_test::disabled()) +{ + // Source from NvV4L2 camera + LoggerProps logProps; + logProps.enableConsoleLog = true; + Logger::initLogger(logProps); + Logger::setLogLevel(boost::log::trivial::severity_level::info); + + NvV4L2CameraProps camProps(640, 360, 10, false); + auto source = boost::shared_ptr(new NvV4L2Camera(camProps)); + + // Branch 1: convert to YUV420 and encode with H264EncoderV4L2 + auto yuvTransform = boost::shared_ptr(new NvTransform(NvTransformProps(ImageMetadata::YUV420))); + source->setNext(yuvTransform); + + H264EncoderV4L2Props encoderProps; + encoderProps.targetKbps = 2048; + auto encoder = boost::shared_ptr(new H264EncoderV4L2(encoderProps)); + yuvTransform->setNext(encoder); + + auto fileWriter = boost::shared_ptr( + new FileWriterModule(FileWriterModuleProps("./data/output/camera_640x360.h264", true)) + ); + encoder->setNext(fileWriter); + StatSinkProps encSinkProps; + encSinkProps.logHealth = true; + encSinkProps.logHealthFrequency = 100; + auto encSink = boost::shared_ptr(new StatSink(encSinkProps)); + encoder->setNext(encSink); + + // Branch 2: convert to RGBA and render using EGL renderer + auto rgbaTransform = boost::shared_ptr(new NvTransform(NvTransformProps(ImageMetadata::RGBA))); + source->setNext(rgbaTransform); + + auto renderer = boost::shared_ptr(new EglRenderer(EglRendererProps(0, 0))); + rgbaTransform->setNext(renderer); + + PipeLine p("nvv4l2_camera_h264_encode_and_egl_render"); + p.appendModule(source); + BOOST_TEST(p.init()); + p.run_all_threaded(); + + boost::this_thread::sleep_for(boost::chrono::seconds(100)); + + p.stop(); + p.term(); + p.wait_for_all(); +} BOOST_AUTO_TEST_SUITE_END() From 6a78126ec6c02ace0b16d913ce02cf602d0441e3 Mon Sep 17 00:00:00 2001 From: rashmis-21 Date: Thu, 20 Nov 2025 16:11:18 +0530 Subject: [PATCH 16/22] fix for the crash in invalid_sensor_mode test for argus camera --- base/test/nvarguscamerahelper_tests.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/base/test/nvarguscamerahelper_tests.cpp b/base/test/nvarguscamerahelper_tests.cpp index dd1e6f9ae..72b1a0008 100755 --- a/base/test/nvarguscamerahelper_tests.cpp +++ b/base/test/nvarguscamerahelper_tests.cpp @@ -100,6 +100,7 @@ BOOST_AUTO_TEST_CASE(invalid_sensor_mode, *boost::unit_test::disabled()) { LOG_INFO << "Testcase passed"; } + helper->stop(); helper.reset(); LOG_INFO << "FINISHED"; } From f375216b411e2cbc15ea5477fda959c3e0620fd1 Mon Sep 17 00:00:00 2001 From: rashmis-21 Date: Thu, 20 Nov 2025 16:22:25 +0530 Subject: [PATCH 17/22] added 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-# list of conditions and the following disclaimer. -# -# * Redistributions in binary form must reproduce the above copyright notice, -# this list of conditions and the following disclaimer in the documentation -# and/or other materials provided with the distribution. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE -# DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE -# FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL -# DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR -# SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, -# OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE -# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - -# This is a gate file to Hunter package manager. -# Include this file using `include` command and add package you need, example: -# -# cmake_minimum_required(VERSION 3.2) -# -# include("cmake/HunterGate.cmake") -# HunterGate( -# URL "https://github.com/path/to/hunter/archive.tar.gz" -# SHA1 "798501e983f14b28b10cda16afa4de69eee1da1d" -# ) -# -# project(MyProject) -# -# hunter_add_package(Foo) -# hunter_add_package(Boo COMPONENTS Bar Baz) -# -# Projects: -# * https://github.com/hunter-packages/gate/ -# * https://github.com/ruslo/hunter - -option(HUNTER_ENABLED "Enable Hunter package manager support" OFF) - -if(HUNTER_ENABLED) - if(CMAKE_VERSION VERSION_LESS "3.2") - message( - FATAL_ERROR - "At least CMake version 3.2 required for Hunter dependency management." - " Update CMake or set HUNTER_ENABLED to OFF." - ) - endif() -endif() - -include(CMakeParseArguments) # cmake_parse_arguments - -option(HUNTER_STATUS_PRINT "Print working status" ON) -option(HUNTER_STATUS_DEBUG "Print a lot info" OFF) -option(HUNTER_TLS_VERIFY "Enable/disable TLS certificate checking on downloads" ON) - -set(HUNTER_ERROR_PAGE "https://docs.hunter.sh/en/latest/reference/errors") - -function(hunter_gate_status_print) - if(HUNTER_STATUS_PRINT OR HUNTER_STATUS_DEBUG) - foreach(print_message ${ARGV}) - message(STATUS "[hunter] ${print_message}") - endforeach() - endif() -endfunction() - -function(hunter_gate_status_debug) - if(HUNTER_STATUS_DEBUG) - foreach(print_message ${ARGV}) - string(TIMESTAMP timestamp) - message(STATUS "[hunter *** DEBUG *** ${timestamp}] ${print_message}") - endforeach() - endif() -endfunction() - -function(hunter_gate_error_page error_page) - message("------------------------------ ERROR ------------------------------") - message(" ${HUNTER_ERROR_PAGE}/${error_page}.html") - message("-------------------------------------------------------------------") - message("") - message(FATAL_ERROR "") -endfunction() - -function(hunter_gate_internal_error) - message("") - foreach(print_message ${ARGV}) - message("[hunter ** INTERNAL **] ${print_message}") - endforeach() - message("[hunter ** INTERNAL **] [Directory:${CMAKE_CURRENT_LIST_DIR}]") - message("") - hunter_gate_error_page("error.internal") -endfunction() - -function(hunter_gate_fatal_error) - cmake_parse_arguments(hunter "" "ERROR_PAGE" "" "${ARGV}") - if("${hunter_ERROR_PAGE}" STREQUAL "") - hunter_gate_internal_error("Expected ERROR_PAGE") - endif() - message("") - foreach(x ${hunter_UNPARSED_ARGUMENTS}) - message("[hunter ** FATAL ERROR **] ${x}") - endforeach() - message("[hunter ** FATAL ERROR **] [Directory:${CMAKE_CURRENT_LIST_DIR}]") - message("") - hunter_gate_error_page("${hunter_ERROR_PAGE}") -endfunction() - -function(hunter_gate_user_error) - hunter_gate_fatal_error(${ARGV} ERROR_PAGE "error.incorrect.input.data") -endfunction() - -function(hunter_gate_self root version sha1 result) - string(COMPARE EQUAL "${root}" "" is_bad) - if(is_bad) - hunter_gate_internal_error("root is empty") - endif() - - string(COMPARE EQUAL "${version}" "" is_bad) - if(is_bad) - hunter_gate_internal_error("version is empty") - endif() - - string(COMPARE EQUAL "${sha1}" "" is_bad) - if(is_bad) - hunter_gate_internal_error("sha1 is empty") - endif() - - string(SUBSTRING "${sha1}" 0 7 archive_id) - - if(EXISTS "${root}/cmake/Hunter") - set(hunter_self "${root}") - else() - set( - hunter_self - "${root}/_Base/Download/Hunter/${version}/${archive_id}/Unpacked" - ) - endif() - - set("${result}" "${hunter_self}" PARENT_SCOPE) -endfunction() - -# Set HUNTER_GATE_ROOT cmake variable to suitable value. -function(hunter_gate_detect_root) - # Check CMake variable - string(COMPARE NOTEQUAL "${HUNTER_ROOT}" "" not_empty) - if(not_empty) - set(HUNTER_GATE_ROOT "${HUNTER_ROOT}" PARENT_SCOPE) - hunter_gate_status_debug("HUNTER_ROOT detected by cmake variable") - return() - endif() - - # Check environment variable - string(COMPARE NOTEQUAL "$ENV{HUNTER_ROOT}" "" not_empty) - if(not_empty) - set(HUNTER_GATE_ROOT "$ENV{HUNTER_ROOT}" PARENT_SCOPE) - hunter_gate_status_debug("HUNTER_ROOT detected by environment variable") - return() - endif() - - # Check HOME environment variable - string(COMPARE NOTEQUAL "$ENV{HOME}" "" result) - if(result) - set(HUNTER_GATE_ROOT "$ENV{HOME}/.hunter" PARENT_SCOPE) - hunter_gate_status_debug("HUNTER_ROOT set using HOME environment variable") - return() - endif() - - # Check SYSTEMDRIVE and USERPROFILE environment variable (windows only) - if(WIN32) - string(COMPARE NOTEQUAL "$ENV{SYSTEMDRIVE}" "" result) - if(result) - set(HUNTER_GATE_ROOT "$ENV{SYSTEMDRIVE}/.hunter" PARENT_SCOPE) - hunter_gate_status_debug( - "HUNTER_ROOT set using SYSTEMDRIVE environment variable" - ) - return() - endif() - - string(COMPARE NOTEQUAL "$ENV{USERPROFILE}" "" result) - if(result) - set(HUNTER_GATE_ROOT "$ENV{USERPROFILE}/.hunter" PARENT_SCOPE) - hunter_gate_status_debug( - "HUNTER_ROOT set using USERPROFILE environment variable" - ) - return() - endif() - endif() - - hunter_gate_fatal_error( - "Can't detect HUNTER_ROOT" - ERROR_PAGE "error.detect.hunter.root" - ) -endfunction() - -function(hunter_gate_download dir) - string( - COMPARE - NOTEQUAL - "$ENV{HUNTER_DISABLE_AUTOINSTALL}" - "" - disable_autoinstall - ) - if(disable_autoinstall AND NOT HUNTER_RUN_INSTALL) - hunter_gate_fatal_error( - "Hunter not found in '${dir}'" - "Set HUNTER_RUN_INSTALL=ON to auto-install it from '${HUNTER_GATE_URL}'" - "Settings:" - " HUNTER_ROOT: ${HUNTER_GATE_ROOT}" - " HUNTER_SHA1: ${HUNTER_GATE_SHA1}" - ERROR_PAGE "error.run.install" - ) - endif() - string(COMPARE EQUAL "${dir}" "" is_bad) - if(is_bad) - hunter_gate_internal_error("Empty 'dir' argument") - endif() - - string(COMPARE EQUAL "${HUNTER_GATE_SHA1}" "" is_bad) - if(is_bad) - hunter_gate_internal_error("HUNTER_GATE_SHA1 empty") - endif() - - string(COMPARE EQUAL "${HUNTER_GATE_URL}" "" is_bad) - if(is_bad) - hunter_gate_internal_error("HUNTER_GATE_URL empty") - endif() - - set(done_location "${dir}/DONE") - set(sha1_location "${dir}/SHA1") - - set(build_dir "${dir}/Build") - set(cmakelists "${dir}/CMakeLists.txt") - - hunter_gate_status_debug("Locking directory: ${dir}") - file(LOCK "${dir}" DIRECTORY GUARD FUNCTION) - hunter_gate_status_debug("Lock done") - - if(EXISTS "${done_location}") - # while waiting for lock other instance can do all the job - hunter_gate_status_debug("File '${done_location}' found, skip install") - return() - endif() - - file(REMOVE_RECURSE "${build_dir}") - file(REMOVE_RECURSE "${cmakelists}") - - file(MAKE_DIRECTORY "${build_dir}") # check directory permissions - - # Disabling languages speeds up a little bit, reduces noise in the output - # and avoids path too long windows error - file( - WRITE - "${cmakelists}" - "cmake_minimum_required(VERSION 3.2)\n" - "project(HunterDownload LANGUAGES NONE)\n" - "include(ExternalProject)\n" - "ExternalProject_Add(\n" - " Hunter\n" - " URL\n" - " \"${HUNTER_GATE_URL}\"\n" - " URL_HASH\n" - " SHA1=${HUNTER_GATE_SHA1}\n" - " DOWNLOAD_DIR\n" - " \"${dir}\"\n" - " TLS_VERIFY\n" - " ${HUNTER_TLS_VERIFY}\n" - " SOURCE_DIR\n" - " \"${dir}/Unpacked\"\n" - " CONFIGURE_COMMAND\n" - " \"\"\n" - " BUILD_COMMAND\n" - " \"\"\n" - " INSTALL_COMMAND\n" - " \"\"\n" - ")\n" - ) - - if(HUNTER_STATUS_DEBUG) - set(logging_params "") - else() - set(logging_params OUTPUT_QUIET) - endif() - - hunter_gate_status_debug("Run generate") - - # Need to add toolchain file too. - # Otherwise on Visual Studio + MDD this will fail with error: - # "Could not find an appropriate version of the Windows 10 SDK installed on this machine" - if(EXISTS "${CMAKE_TOOLCHAIN_FILE}") - get_filename_component(absolute_CMAKE_TOOLCHAIN_FILE "${CMAKE_TOOLCHAIN_FILE}" ABSOLUTE) - set(toolchain_arg "-DCMAKE_TOOLCHAIN_FILE=${absolute_CMAKE_TOOLCHAIN_FILE}") - else() - # 'toolchain_arg' can't be empty - set(toolchain_arg "-DCMAKE_TOOLCHAIN_FILE=") - endif() - - string(COMPARE EQUAL "${CMAKE_MAKE_PROGRAM}" "" no_make) - if(no_make) - set(make_arg "") - else() - # Test case: remove Ninja from PATH but set it via CMAKE_MAKE_PROGRAM - set(make_arg "-DCMAKE_MAKE_PROGRAM=${CMAKE_MAKE_PROGRAM}") - endif() - - execute_process( - COMMAND - "${CMAKE_COMMAND}" - "-H${dir}" - "-B${build_dir}" - "-G${CMAKE_GENERATOR}" - "${toolchain_arg}" - ${make_arg} - WORKING_DIRECTORY "${dir}" - RESULT_VARIABLE download_result - ${logging_params} - ) - - if(NOT download_result EQUAL 0) - hunter_gate_internal_error( - "Configure project failed." - "To reproduce the error run: ${CMAKE_COMMAND} -H${dir} -B${build_dir} -G${CMAKE_GENERATOR} ${toolchain_arg} ${make_arg}" - "In directory ${dir}" - ) - endif() - - hunter_gate_status_print( - "Initializing Hunter workspace (${HUNTER_GATE_SHA1})" - " ${HUNTER_GATE_URL}" - " -> ${dir}" - ) - execute_process( - COMMAND "${CMAKE_COMMAND}" --build "${build_dir}" - WORKING_DIRECTORY "${dir}" - RESULT_VARIABLE download_result - ${logging_params} - ) - - if(NOT download_result EQUAL 0) - hunter_gate_internal_error("Build project failed") - endif() - - file(REMOVE_RECURSE "${build_dir}") - file(REMOVE_RECURSE "${cmakelists}") - - file(WRITE "${sha1_location}" "${HUNTER_GATE_SHA1}") - file(WRITE "${done_location}" "DONE") - - hunter_gate_status_debug("Finished") -endfunction() - -# Must be a macro so master file 'cmake/Hunter' can -# apply all variables easily just by 'include' command -# (otherwise PARENT_SCOPE magic needed) -macro(HunterGate) - if(HUNTER_GATE_DONE) - # variable HUNTER_GATE_DONE set explicitly for external project - # (see `hunter_download`) - set_property(GLOBAL PROPERTY HUNTER_GATE_DONE YES) - endif() - - # First HunterGate command will init Hunter, others will be ignored - get_property(_hunter_gate_done GLOBAL PROPERTY HUNTER_GATE_DONE SET) - - if(NOT HUNTER_ENABLED) - # Empty function to avoid error "unknown function" - function(hunter_add_package) - endfunction() - - set( - _hunter_gate_disabled_mode_dir - "${CMAKE_CURRENT_LIST_DIR}/cmake/Hunter/disabled-mode" - ) - if(EXISTS "${_hunter_gate_disabled_mode_dir}") - hunter_gate_status_debug( - "Adding \"disabled-mode\" modules: ${_hunter_gate_disabled_mode_dir}" - ) - list(APPEND CMAKE_PREFIX_PATH "${_hunter_gate_disabled_mode_dir}") - endif() - elseif(_hunter_gate_done) - hunter_gate_status_debug("Secondary HunterGate (use old settings)") - hunter_gate_self( - "${HUNTER_CACHED_ROOT}" - "${HUNTER_VERSION}" - "${HUNTER_SHA1}" - _hunter_self - ) - include("${_hunter_self}/cmake/Hunter") - else() - set(HUNTER_GATE_LOCATION "${CMAKE_CURRENT_SOURCE_DIR}") - - string(COMPARE NOTEQUAL "${PROJECT_NAME}" "" _have_project_name) - if(_have_project_name) - hunter_gate_fatal_error( - "Please set HunterGate *before* 'project' command. " - "Detected project: ${PROJECT_NAME}" - ERROR_PAGE "error.huntergate.before.project" - ) - endif() - - cmake_parse_arguments( - HUNTER_GATE "LOCAL" "URL;SHA1;GLOBAL;FILEPATH" "" ${ARGV} - ) - - string(COMPARE EQUAL "${HUNTER_GATE_SHA1}" "" _empty_sha1) - string(COMPARE EQUAL "${HUNTER_GATE_URL}" "" _empty_url) - string( - COMPARE - NOTEQUAL - "${HUNTER_GATE_UNPARSED_ARGUMENTS}" - "" - _have_unparsed - ) - string(COMPARE NOTEQUAL "${HUNTER_GATE_GLOBAL}" "" _have_global) - string(COMPARE NOTEQUAL "${HUNTER_GATE_FILEPATH}" "" _have_filepath) - - if(_have_unparsed) - hunter_gate_user_error( - "HunterGate unparsed arguments: ${HUNTER_GATE_UNPARSED_ARGUMENTS}" - ) - endif() - if(_empty_sha1) - hunter_gate_user_error("SHA1 suboption of HunterGate is mandatory") - endif() - if(_empty_url) - hunter_gate_user_error("URL suboption of HunterGate is mandatory") - endif() - if(_have_global) - if(HUNTER_GATE_LOCAL) - hunter_gate_user_error("Unexpected LOCAL (already has GLOBAL)") - endif() - if(_have_filepath) - hunter_gate_user_error("Unexpected FILEPATH (already has GLOBAL)") - endif() - endif() - if(HUNTER_GATE_LOCAL) - if(_have_global) - hunter_gate_user_error("Unexpected GLOBAL (already has LOCAL)") - endif() - if(_have_filepath) - hunter_gate_user_error("Unexpected FILEPATH (already has LOCAL)") - endif() - endif() - if(_have_filepath) - if(_have_global) - hunter_gate_user_error("Unexpected GLOBAL (already has FILEPATH)") - endif() - if(HUNTER_GATE_LOCAL) - hunter_gate_user_error("Unexpected LOCAL (already has FILEPATH)") - endif() - endif() - - hunter_gate_detect_root() # set HUNTER_GATE_ROOT - - # Beautify path, fix probable problems with windows path slashes - get_filename_component( - HUNTER_GATE_ROOT "${HUNTER_GATE_ROOT}" ABSOLUTE - ) - hunter_gate_status_debug("HUNTER_ROOT: ${HUNTER_GATE_ROOT}") - if(NOT HUNTER_ALLOW_SPACES_IN_PATH) - string(FIND "${HUNTER_GATE_ROOT}" " " _contain_spaces) - if(NOT _contain_spaces EQUAL -1) - hunter_gate_fatal_error( - "HUNTER_ROOT (${HUNTER_GATE_ROOT}) contains spaces." - "Set HUNTER_ALLOW_SPACES_IN_PATH=ON to skip this error" - "(Use at your own risk!)" - ERROR_PAGE "error.spaces.in.hunter.root" - ) - endif() - endif() - - string( - REGEX - MATCH - "[0-9]+\\.[0-9]+\\.[0-9]+[-_a-z0-9]*" - HUNTER_GATE_VERSION - "${HUNTER_GATE_URL}" - ) - string(COMPARE EQUAL "${HUNTER_GATE_VERSION}" "" _is_empty) - if(_is_empty) - set(HUNTER_GATE_VERSION "unknown") - endif() - - hunter_gate_self( - "${HUNTER_GATE_ROOT}" - "${HUNTER_GATE_VERSION}" - "${HUNTER_GATE_SHA1}" - _hunter_self - ) - - set(_master_location "${_hunter_self}/cmake/Hunter") - if(EXISTS "${HUNTER_GATE_ROOT}/cmake/Hunter") - # Hunter downloaded manually (e.g. by 'git clone') - set(_unused "xxxxxxxxxx") - set(HUNTER_GATE_SHA1 "${_unused}") - set(HUNTER_GATE_VERSION "${_unused}") - else() - get_filename_component(_archive_id_location "${_hunter_self}/.." ABSOLUTE) - set(_done_location "${_archive_id_location}/DONE") - set(_sha1_location "${_archive_id_location}/SHA1") - - # Check Hunter already downloaded by HunterGate - if(NOT EXISTS "${_done_location}") - hunter_gate_download("${_archive_id_location}") - endif() - - if(NOT EXISTS "${_done_location}") - hunter_gate_internal_error("hunter_gate_download failed") - endif() - - if(NOT EXISTS "${_sha1_location}") - hunter_gate_internal_error("${_sha1_location} not found") - endif() - file(READ "${_sha1_location}" _sha1_value) - string(COMPARE EQUAL "${_sha1_value}" "${HUNTER_GATE_SHA1}" _is_equal) - if(NOT _is_equal) - hunter_gate_internal_error( - "Short SHA1 collision:" - " ${_sha1_value} (from ${_sha1_location})" - " ${HUNTER_GATE_SHA1} (HunterGate)" - ) - endif() - if(NOT EXISTS "${_master_location}") - hunter_gate_user_error( - "Master file not found:" - " ${_master_location}" - "try to update Hunter/HunterGate" - ) - endif() - endif() - include("${_master_location}") - set_property(GLOBAL PROPERTY HUNTER_GATE_DONE YES) - endif() -endmacro() diff --git a/cmake/config.cmake b/cmake/config.cmake deleted file mode 100644 index 430f31590..000000000 --- a/cmake/config.cmake +++ /dev/null @@ -1,96 +0,0 @@ -hunter_config( - OpenCV - VERSION ${HUNTER_OpenCV_VERSION} - CMAKE_ARGS - CMAKE_POSITION_INDEPENDENT_CODE=ON - BUILD_EXAMPLES=OFF - BUILD_opencv_python2=OFF - BUILD_opencv_python3=OFF - CUDA_ARCH_BIN=5.3,6.2,7.2,7.5 - CUDA_FAST_MATH=ON - CUDNN_VERSION='8.0' - EIGEN_INCLUDE_PATH=/usr/include/eigen3 - OPENCV_DNN_CUDA=ON - OPENCV_ENABLE_NONFREE=ON - OPENCV_GENERATE_PKGCONFIG=ON - WITH_CUBLAS=ON - WITH_CUDA=ON - WITH_CUDNN=ON - WITH_GSTREAMER=ON - WITH_LIBV4L=ON - WITH_OPENGL=ON - BUILD_JPEG=ON - OPENCV_WITH_EXTRA_MODULES=ON -) -hunter_config( - Boost - VERSION ${HUNTER_Boost_VERSION} - CMAKE_ARGS - CMAKE_POSITION_INDEPENDENT_CODE=ON -) -hunter_config( - BZip2 - VERSION ${HUNTER_BZip2_VERSION} - CMAKE_ARGS - CMAKE_POSITION_INDEPENDENT_CODE=ON -) -hunter_config( - ZLIB - VERSION ${HUNTER_ZLIB_VERSION} - CMAKE_ARGS - CMAKE_POSITION_INDEPENDENT_CODE=ON -) -hunter_config( - lzma - VERSION ${HUNTER_lzma_VERSION} - CMAKE_ARGS - CMAKE_POSITION_INDEPENDENT_CODE=ON -) -hunter_config( - Jpeg - VERSION ${HUNTER_Jpeg_VERSION} - CMAKE_ARGS - CMAKE_POSITION_INDEPENDENT_CODE=ON -) -hunter_config( - TIFF - VERSION ${HUNTER_TIFF_VERSION} - CMAKE_ARGS - CMAKE_POSITION_INDEPENDENT_CODE=ON -) -hunter_config( - WebP - VERSION ${HUNTER_WebP_VERSION} - CMAKE_ARGS - CMAKE_POSITION_INDEPENDENT_CODE=ON -) -hunter_config( - Protobuf - VERSION ${HUNTER_Protobuf_VERSION} - CMAKE_ARGS - CMAKE_POSITION_INDEPENDENT_CODE=ON -) -hunter_config( - PNG - VERSION ${HUNTER_PNG_VERSION} - CMAKE_ARGS - CMAKE_POSITION_INDEPENDENT_CODE=ON -) -hunter_config( - ippicv - VERSION ${HUNTER_ippicv_VERSION} - CMAKE_ARGS - CMAKE_POSITION_INDEPENDENT_CODE=ON -) -hunter_config( - giflib - VERSION ${HUNTER_giflib_VERSION} - CMAKE_ARGS - CMAKE_POSITION_INDEPENDENT_CODE=ON -) -hunter_config( - Eigen - VERSION ${HUNTER_Eigen_VERSION} - CMAKE_ARGS - CMAKE_POSITION_INDEPENDENT_CODE=ON -) diff --git a/docs/.nojekyll b/docs/.nojekyll deleted file mode 100644 index e69de29bb..000000000 diff --git a/docs/Makefile b/docs/Makefile deleted file mode 100644 index d0c3cbf10..000000000 --- a/docs/Makefile +++ /dev/null @@ -1,20 +0,0 @@ -# Minimal makefile for Sphinx documentation -# - -# You can set these variables from the command line, and also -# from the environment for the first two. -SPHINXOPTS ?= -SPHINXBUILD ?= sphinx-build -SOURCEDIR = source -BUILDDIR = build - -# Put it first so that "make" without argument is like "make help". -help: - @$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O) - -.PHONY: help Makefile - -# Catch-all target: route all unknown targets to Sphinx using the new -# "make mode" option. $(O) is meant as a shortcut for $(SPHINXOPTS). -%: Makefile - @$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O) 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- - -
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- -
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CUDA Kernel Programming Guide

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Performance Guide

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Very important and useful. Follow the CUDA Documentation instead of other sources.

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Coalesced Access to Global Memory

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Coalesced Access to Global Memory

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    -
  • -
    Refer OverlayKernel.cu and EffectsKernel.cu
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    uchar4 (4 bytes) - 32x32 threads per block - 4x32x32 - 4K bytes
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    A big difference - like 2x in Performance
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Math Library

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NVIDIA CUDA Math API

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    multiplication use from here
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    big difference
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__device__ functions

-

For writing clean/reusable code, I was using __device__ function - but the Performance dropped by half. So, I started using macros. I didn’t investigate more on why?

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- - - - \ No newline at end of file diff --git a/docs/build/html/Framework.html b/docs/build/html/Framework.html deleted file mode 100644 index ec379b82d..000000000 --- a/docs/build/html/Framework.html +++ /dev/null @@ -1,480 +0,0 @@ - - - - - - Framework — Apra Pipes v0 documentation - - - - - - - - - - - - - - - - -
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Framework

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ModuleProps

-

Base Properties class for all modules

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int fps; // can be updated during runtime with setProps
-size_t qlen; // run time changing doesn't effect this
-bool logHealth; // can be updated during runtime with setProps
-int logHealthFrequency; // 1000 by default - logs the health stats frequency
-
-// used for VimbaSource where we want to create the max frames and keep recycling it
-// for the VimbaDrive we announce frames after init - 100/200
-// see VimbaSource.cpp on how it is used
-size_t maxConcurrentFrames;
-
-// 0/1 - skipN == 0 -  don't skip any - process all
-// 1/1 - skipN == skipD - skip all - don't process any
-// 1/2 skips every alternate frame
-// 1/3 skips 1 out of every 3 frames
-// 2/3 skips 2 out of every 3 frames
-// 5/6 skips 5 out of every 6 frames
-// skipD >= skipN
-int skipN = 0;
-int skipD = 1;
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-
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-

QuePushStrategyType

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enum QuePushStrategyType {
-     BLOCKING,
-     NON_BLOCKING_ANY, // try push independently to child modules
-     NON_BLOCKING_ALL_OR_NONE // try push only if all the child modules have the que free or don't push to any of the modules
-};
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Module

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Base class for all the modules

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void addOutputPin(framemetadata_sp& metadata, string& pinId);
-bool setNext(boost::shared_ptr<Module> next);
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Pipeline

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PipeLine(string name)
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-/*
-   call appendModule on only the topmost module - source (camera/file)
-   call appendModule only after connecting all the modules -
-   if any modules are connected (module1->setNext(module2)) after appendModule then these modules will not be added to the pipeline
-   best practice is to first make the connections - all modules - then call appendModule
-*/
-bool appendModule(boost::shared_ptr<Module> pModule);
-bool init();
-void run_all_threaded();
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-void stop();
-void term();
-void wait_for_all();
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ExternalSourceModule

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std::pair<bool, uint64_t> produceExternalFrame(ApraData* data)
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  • if data->fIndex != 0 fIndex is same as data->fIndex
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bool stop()
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FileReaderModuleProps

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FileReaderModuleProps(const std::string& strFullFileNameWithPattern, int startIndex = 0, int maxIndex = -1);
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FileReaderModule

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FileReaderModule(FileReaderModuleProps props);
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JPEGDecoderIMProps

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JPEGDecoderIMProps(bool sw);
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JPEGDecoderIM

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JPEGDecoderIM(JPEGDecoderIMProps props);
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CalcHistogramCVProps

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CalcHistogramCVProps(int bins);
-// All the properties can be updated during run time using setProps
-int bins;
-vector<int> roi;
-string maskImgPath;
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  • bins number of histogram bins

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CalcHistogramCV

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CalcHistogramCV(CalcHistogramCVProps props);
-CalcHistogramCVProps getProps();
-void setProps(CalcHistogramCVProps props);
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-// Example on how to change Properties dynamically
-auto histogram = new CalcHistogramCV(CalcHistogramCVProps(32));
-auto newHistProps = histogram->getProps();
-newHistProps.bins = newHistProps.bins = 16;
-histogram->setProps(newHistProps);
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ChangeDetectionProps

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ChangeDetectionProps(int refWindoweLength, int refDelayLength, int insWindowLength, double threshold, int compareMethod);
-// All the properties can be updated during run time using setProps
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    refWindowLength Number of frames to average
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    Assume fps = 30 and you want to average 2 seconds then specify refWindowLength as 60
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    refDelayLength Number of frames to delay from the current frame
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    default -1 - Static reference
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    if moving average is required speicfy the delay
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    Assume fps = 30 and you want to delay 2 minutes then specify refDelayLength as 3600
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    insWindowLength Number of frames to average
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    Assume fps = 30 and you want to average 0.5 seconds then specify insWindowLength as 15
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    HISTCMP_CHISQR (1) works for all the datasets provided
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ChangeDetection

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Sends ChangeDetectionResult to the next module

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ChangeDetection(ChangeDetectionProps props);
-ChangeDetectionProps getProps();
-void setProps(ChangeDetectionProps props);
-
-// Example on how to change Properties dynamically
-auto module = new ChangeDetection(ChangeDetectionProps(60, -1, 30, 1, 1));
-auto newProps = module->getProps();
-newProps.threshold = 2;
-module->setProps(newProps);
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JPEGEncoderIMProps

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bool sw; // software or hardware mode
-unsigned short quality; // range 1-100 JPEG Compression quality - 100 means best quality but more file size
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JPEGEncoderIM

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Intel Media SDK based encoder

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JPEGEncoderIM(JPEGEncoderProps props);
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  • Currently only supports single channel as input
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FileWriterModuleProps

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FileWriterModuleProps(const std::string& strFullFileNameWithPattern);
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-// Example
-auto props = new FileWriterModuleProps("C:/Users/developer/Downloads/Sai/temp/enc/frame_????.jpg");
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FileWriterModule

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Basic FileWriter

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FileWriterModule(FileWriterModuleProps props);
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JPEGDecoderL4TM

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JPEGDecoderL4TMProps();
-JPEGDecoderL4TM(JPEGDecoderL4TMProps props);
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JPEGEncoderL4TM

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JPEGEncoderL4TMProps();
-unsigned short quality; // range 1-100 JPEG Compression quality - 100 means best quality but more file size
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-JPEGEncoderL4TM(JPEGEncoderL4TMProps props);
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VimbaSource

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VimbaSourceProps(size_t _maxConcurrentFrames); // 2*fps of the camera is a good value
-// _maxConcurrentFrames is used to announceFrames to the vimbaDriver Camera
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-VimbaSource(VimbaSourceProps _props);
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EdgeDefectAnalysis

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Sends EdgeDefectAnalysisResult to the next module

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class EdgeDefectAnalysisConfig
-{
-public:
-   std::vector<int> roi;
-   std::string edgePos; // "R" "L"
-
-   int gaussianKernelSize;
-   int edgeDefectWidth;
-
-   // parameters for edge localization
-   // https://docs.opencv.org/2.4/modules/imgproc/doc/feature_detection.html?highlight=canny#canny
-   int lowThresh;
-   int highThresh;
-   int phaseLowThresh;
-   int phaseHighThresh;
-   //https://docs.opencv.org/2.4/modules/imgproc/doc/feature_detection.html?highlight=houghlinesp#houghlinesp
-   int lineThreshold;
-   int minLineLength;
-   int maxLineGap;
-
-   // parameters for defect detection
-   // https://docs.opencv.org/2.4/modules/imgproc/doc/feature_detection.html?highlight=canny#canny
-   int lowThresh2;
-   int highThresh2;
-   int phaseLowThresh2;
-   int phaseHighThresh2;
-   //https://docs.opencv.org/2.4/modules/imgproc/doc/feature_detection.html?highlight=houghlinesp#houghlinesp
-   int lineThreshold2;
-   int minLineLength2;
-   int maxLineGap2;
-
-   bool enableDebug; // saves the intermediate results
-}
-
-class EdgeDefectAnalysisProps: ModuleProps
-{
-public:
-   EdgeDefectAnalysisConfig config;
-}
-
-EdgeDefectAnalysis(EdgeDefectAnalysisProps props);
-
-class EdgeDefectAnalysisResult
-{
-public:
-     bool isEdgeFound;
-      bool isDefect;
-      uint64_t fIndex;
-      uint64_t timestamp;
-}
-
-
-
-
-

LoggerProps

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bool enableConsoleLog;
-bool enableFileLog;
-std::string fileLogPath;
-boost::log::trivial::severity_level logLevel;
-
-
-
-
-

Logger

-
static void initLogger(LoggerProps props); // valid only once - if called second time - nothing happens. Use the set methods for changes during runtime
-void setLogLevel(boost::log::trivial::severity_level severity);
-void setConsoleLog(bool enableLog);
-void setFileLog(bool enableLog);
-
-The below macros are available for logging
-LOG_TRACE << "A trace severity message";
-LOG_DEBUG << "A debug severity message";
-LOG_INFO << "An informational severity message";
-LOG_WARNING << "A warning severity message";
-LOG_ERROR << "An error severity message";
-LOG_FATAL << "A fatal severity message";
-
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- -
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- - - - \ No newline at end of file diff --git a/docs/build/html/Introduction.html b/docs/build/html/Introduction.html deleted file mode 100644 index 0a27d8f7f..000000000 --- a/docs/build/html/Introduction.html +++ /dev/null @@ -1,401 +0,0 @@ - - - - - - Introduction — Apra Pipes v0 documentation - - - - - - - - - - - - - - - - -
- - -
- -
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Introduction

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ApraPipes is a pipeline framework.

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Design

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    Reusable Modules
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    Easy to Test
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    Memory Management
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    Thread Management
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    Parallel Processing
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Stack

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    C++
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    CUDA
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    CMake
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Libraries

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    Boost C++
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    Nvidia
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      CudaToolkit
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      NPPI
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      NvJPEG
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      NvENC
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      Jetson MultiMedia API
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    Intel Media SDK
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Core Concepts

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Module

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Base class

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Pins

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Two modules are connected using pins

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Queue

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Blocking, NonBlocking

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FrameMetadata

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Properties of a pin. Width, Height, MemType, FrameType

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FrameFactory

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Responsible for reusing memory

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Frame

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Data is transported using frame

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FrameContainer

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Has multiple frames

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ModuleProps

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fps, Queue Strategy

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Module Functions

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    addOutputPin
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    validateOuputPins
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    setNext
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    validateInputPins
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    init
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    term
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    processSOS
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    processEOS
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    produce
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    process
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    send
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PipeLine

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Responsible for lifecycle events

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    appendModule
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    init
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    run_all_threaded
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Unit Tests

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BOOST Tests

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Basic Modules

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    FileReaderModule
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    FileWriterModule
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    ExternalSourceModule
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    ExternalSinkModule
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    CudaMemCopy
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    Decoder (JPEGDecoderL4TM, JPEGDecoderNVJPEG)
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    Encoder (JPEGEncoderL4TM, JPEGEncoderNVJPEG)
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    StatSink
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    FramesMuxer
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    Split
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Sample Cuda Modules

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    ResizeNPPI
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    CCNPPI
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- - - - \ No newline at end of file diff --git a/docs/build/html/NvidiaCUDAModules.html b/docs/build/html/NvidiaCUDAModules.html deleted file mode 100644 index 0fd49f9cc..000000000 --- a/docs/build/html/NvidiaCUDAModules.html +++ /dev/null @@ -1,700 +0,0 @@ - - - - - - NVIDIA CUDA Modules — Apra Pipes v0 documentation - - - - - - - - - - - - - - - - -
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NVIDIA CUDA Modules

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Getting Started

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Nvidia CUDA Modules

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cudaStream_t

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Checkout CUDA DOCUMENTATION -and CUDA WEBINAR

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    A sequence of operations that execute in issue-order on the GPU
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    Programming model used to effect concurrency
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    CUDA operations in different streams may run concurrently
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cudaStream_t has to be passed as props to all the CUDA modules. -cudaStreamCreate and cudaStreamDestroy is mandatory.

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CudaMemCopyProps

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      sync is set to true internally
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    sync - if sync is true, stream will be synchronized - don’t set it to true until you know what you are doing- |
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JPEGDecoderNVJPEG

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    Input is HOST memory
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    Output is CUDA_DEVICE memory
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    Output ImageMetadata::ImageType - MONO, YUV420, YUV444 is currently supported
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JPEGEncoderNVJPEG

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    Input is CUDA_DEVICE memory
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    Output is HOST memory
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    quality - default is 90
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    Input ImageMetadata::ImageType - MONO, YUV420, YUV444 is currently supported
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ResizeNPPI

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    Input ImageMetadata::ImageType - MONO, YUV444, YUV420, BGR, BGRA, RGB, RGBA
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CCNPPI

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    Input is CUDA_DEVICE memory
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    Output is CUDA_DEVICE memory
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    Supported Color Conversions
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      MONO, YUV420 To BGRA
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      YUV420 To BGRA
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      YUV411_I To YUV444
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OverlayNPPI

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    Output is CUDA_DEVICE memory
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    Input ImageMetadata::ImageType - BGRA/RGBA or YUV420
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    Accepts two images - Source and Overlay
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    OVERLAY_HINT has to be set to tell the module which of the two input images is the overlay image
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EffectsNPPI

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    Output is CUDA_DEVICE memory
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    Input ImageMetadata::ImageType - MONO/BGR/RGB/RGBA/BGRA/YUV420
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double hue;            // 0/255 no change [0 255]
-double saturation;     // 1 no change
-double contrast;       // 1 no change
-int brightness;     // 0 no change [-100 - 100]
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H264EncoderNVCodec

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    Input is CUDA_DEVICE memory
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    apracucontext_sp must be passed
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GaussianBlur

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NonmaxSuppression

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Sobel followed by nonmax suppression is applied.

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HysteresisThreshold

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HoughLinesCV

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Building Pipelines

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Example 1

-_images/nvidiacudamodules_1.jpg -
auto width = 1920;
-auto height = 1080;
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-auto fileReader = boost::shared_ptr<FileReaderModule>(new FileReaderModule(FileReaderModuleProps("./data/mono_1920x1080.raw")));
-auto metadata = framemetadata_sp(new RawImageMetadata(width, height, ImageMetadata::ImageType::MONO, CV_8UC1, 0, CV_8U, FrameMetadata::HOST, true));
-fileReader->addOutputPin(metadata);
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-cudaStream_t stream;
-cudaStreamCreate(&stream);
-auto copy = boost::shared_ptr<Module>(new CudaMemCopy(CudaMemCopyProps(cudaMemcpyHostToDevice, stream)));
-fileReader->setNext(copy);
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-auto encoder = boost::shared_ptr<JPEGEncoderNVJPEG>(new JPEGEncoderNVJPEG(JPEGEncoderNVJPEGProps(stream)));
-copy->setNext(encoder);
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-auto fileWriter = boost::shared_ptr<Module>(new FileWriterModule("./data/testOutput/mono_1920x1080.jpg"));
-encoder->setNext(fileWriter);
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-...
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-cudaStreamDestroy(stream);
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Example 2

-_images/nvidiacudamodules_2.jpg -
auto fileReader = boost::shared_ptr<Module>(new FileReaderModule(FileReaderModuleProps("./data/mono_1920x960.jpg")));
-auto metadata = framemetadata_sp(new FrameMetadata(FrameMetadata::ENCODED_IMAGE));
-fileReader->addOutputPin(metadata);
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-cudaStream_t stream;
-cudaStreamCreate(&stream);
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-auto decoder = boost::shared_ptr<JPEGDecoderNVJPEG>(new JPEGDecoderNVJPEG(JPEGDecoderNVJPEGProps(stream)));
-fileReader->setNext(decoder);
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-auto resize = boost::shared_ptr<Module>(new ResizeNPPI(ResizeNPPIProps(960, 480, stream)));
-decoder->setNext(resize);
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-auto copy = boost::shared_ptr<Module>(new CudaMemCopy(CudaMemCopyProps(cudaMemcpyDeviceToHost, stream)));
-resize->setNext(copy);
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-auto fileWriter = boost::shared_ptr<Module>(new FileWriterModule("./data/testOutput/mono_1920x960_to_mono_960x480.raw"));
-encoder->setNext(fileWriter);
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-...
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-cudaStreamDestroy(stream);
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Example 3

-_images/nvidiacudamodules_3.jpg -
cudaStream_t stream;
-cudaStreamCreate(&stream);
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-// making source pipeline - JPEGDecoderNVJPEG -> ResizeNPPI -> CCNPPI
-auto fileReader = boost::shared_ptr<Module>(new FileReaderModule(FileReaderModuleProps("./data/mono_1920x960.jpg")));
-auto metadata = framemetadata_sp(new FrameMetadata(FrameMetadata::ENCODED_IMAGE));
-fileReader->addOutputPin(metadata);
-
-auto decoder = boost::shared_ptr<JPEGDecoderNVJPEG>(new JPEGDecoderNVJPEG(JPEGDecoderNVJPEGProps(stream)));
-fileReader->setNext(decoder);
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-auto resize = boost::shared_ptr<Module>(new ResizeNPPI(ResizeNPPIProps(960, 480, stream)));
-decoder->setNext(resize);
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-auto source_cc = boost::shared_ptr<Module>(new CCNPPI(CCNPPIProps(ImageMetadata::BGRA, stream)));
-resize->setNext(source_cc);
-
-// making overlay pipeline - CudaMemCopy -> ResizeNPPI
-auto overlay_host = boost::shared_ptr<FileReaderModule>(new FileReaderModule(FileReaderModuleProps("./data/overlay_1920x960_BGRA.raw")));
-auto overlay_metadata = framemetadata_sp(new RawImageMetadata(1920, 960, ImageMetadata::ImageType::BGRA, CV_8UC4, 0, CV_8U, FrameMetadata::HOST, true));
-overlay_metadata->setHint(OVERLAY_HINT);
-overlay_host->addOutputPin(overlay_metadata);
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-auto overlay_copy = boost::shared_ptr<Module>(new CudaMemCopy(CudaMemCopyProps(cudaMemcpyHostToDevice, stream)));
-overlay_host->setNext(overlay_copy);
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-auto overlay_resize = boost::shared_ptr<Module>(new ResizeNPPI(ResizeNPPIProps(960, 480, stream)));
-overlay_copy->setNext(overlay_resize);
-
-// Connecting source and overlay pipelines
-auto overlay = boost::shared_ptr<Module>(new OverlayNPPI(OverlayNPPIProps(stream)));
-overlay_resize->setNext(overlay);
-source_cc->setNext(overlay);
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-auto encoder = boost::shared_ptr<Module>(new JPEGEncoderNVJPEG(JPEGEncoderNVJPEGProps(stream)));
-overlay->setNext(encoder);
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-auto fileWriter = boost::shared_ptr<Module>(new FileWriterModule("./data/testOutput/out.jpg"));
-encoder->setNext(fileWriter);
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-...
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-cudaStreamDestroy(stream);
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- - - - \ No newline at end of file diff --git a/docs/build/html/Tutorial_Adding_New_Module.html b/docs/build/html/Tutorial_Adding_New_Module.html deleted file mode 100644 index 30d43186c..000000000 --- a/docs/build/html/Tutorial_Adding_New_Module.html +++ /dev/null @@ -1,310 +0,0 @@ - - - - - - Adding New Module — Apra Pipes v0 documentation - - - - - - - - - - - - - - - - -
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Adding New Module

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ChangeDetection Module

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  • Input is histogram bins
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  • Output is ChangeDetectionResult
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Define Module Properties

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class ChangeDetectionProps: public ModuleProps
-{
-public:
-   ChangeDetectionProps(): ModuleProps()
-   {
-      refWindowLength = 1;
-      refDelayLength = -1;
-      insWindowLength = 1;
-      threshold = 1;
-      compareMethod = 1;
-   }
-
-   ChangeDetectionProps(int _refWindowLength, int _refDelayLength, int _insWindowLength, double _threshold, int _compareMethod): ModuleProps()
-   {
-      refWindowLength = _refWindowLength;
-      refDelayLength = _refDelayLength;
-      insWindowLength = _insWindowLength;
-      threshold = _threshold;
-      compareMethod = _compareMethod;
-   }
-
-   // All the properties can be updated during run time using setProps
-   int refWindowLength;
-   int refDelayLength;
-   int insWindowLength;
-   double threshold;
-   int compareMethod;
-
-private:
-   friend class boost::serialization::access;
-
-   template<class Archive>
-   void serialize(Archive &ar, const unsigned int version)
-   {
-      ar & boost::serialization::base_object<ModuleProps>(*this);
-      ar & refWindowLength;
-      ar & refDelayLength;
-      ar & insWindowLength;
-      ar & threshold;
-      ar & compareMethod;
-   }
-};
-
-
-
-
-

Validating the input and output

-
bool ChangeDetection::validateInputOutputPins()
-{
-   // one and only 1 array should exist
-   auto count = getNumberOfInputsByType(FrameMetadata::ARRAY);
-   if (count != 1)
-   {
-      LOG_ERROR << "Input pin of type ARRAY is expected.";
-      return false;
-   }
-
-   // output CHANGE_DETECTION pin should exist
-   count = getNumberOfOutputsByType(FrameMetadata::CHANGE_DETECTION);
-   if (count != 1)
-   {
-      LOG_ERROR << "Input pin of type CHANGE_DETECTION is expected.";
-      return false;
-   }
-
-   return true;
-}
-
-
-
-
-

Initialization

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bool ChangeDetection::init()
-{
-   if (!Module::init())
-   {
-      return false;
-   }
-
-   // any initialization here
-
-   return true;
-}
-
-
-
-
-

Handling the first frame and using the input metadata

-
bool ChangeDetection::processSOS(frame_sp& frame)
-{
-   auto metadata = frame->getMetadata();
-   if (metadata->getFrameType() != FrameMetadata::ARRAY)
-   {
-      return true;
-   }
-
-   // metadata has width, height, type depending on the frame type
-
-   return true;
-}
-
-
-
-
-

Output

-
class ChangeDetectionResult
-{
-public:
-
-   ChangeDetectionResult(bool changeDetected, double distance, uint64_t index)
-   {
-      mChangeDetected = changeDetected;
-      mDistance = distance;
-      fIndex = index;
-   }
-
-   ChangeDetectionResult() {}
-
-   static boost::shared_ptr<ChangeDetectionResult> deSerialize(frame_container& frames)
-   {
-      auto frameType = FrameMetadata::CHANGE_DETECTION;
-
-      auto frame = frame_sp();
-      for (auto it = frames.cbegin(); it != frames.cend(); it++)
-      {
-         auto tempFrame = it->second;
-         if (tempFrame->getMetadata()->getFrameType() == frameType)
-         {
-            frame = tempFrame;
-         }
-      }
-
-      if (!frame.get())
-      {
-         return boost::shared_ptr<ChangeDetectionResult>();
-      }
-
-      auto result = boost::shared_ptr<ChangeDetectionResult>(new ChangeDetectionResult(false, 0, 0));
-      auto& obj = *result.get();
-      Utils::deSerialize<ChangeDetectionResult>(obj, frame->data(), frame->size());
-
-      return result;
-   }
-
-   static void serialize(bool changeDetected, double distance, uint64_t index, void* buffer, size_t size)
-   {
-      auto result = ChangeDetectionResult(changeDetected, distance, index);
-      Utils::serialize<ChangeDetectionResult>(result, buffer, size);
-   }
-
-   static size_t getSerializeSize()
-   {
-      return 1024 + sizeof(mChangeDetected) + sizeof(mDistance) + sizeof(fIndex);
-   }
-
-   bool mChangeDetected;
-   double mDistance;
-   uint64_t fIndex;
-
-private:
-   friend class boost::serialization::access;
-   template<class Archive>
-   void serialize(Archive & ar, const unsigned int /* file_version */) {
-      ar & mChangeDetected & mDistance & fIndex;
-   }
-};
-
-
-
-
-

Consuming the input and send output

-
bool ChangeDetection::process(frame_container& frames)
-{
-   auto inFrame = getFrameByType(frames, FrameMetadata::ARRAY);
-   auto metadata = mDetail->getOutputMetadata();
-   auto outFrame = makeFrame(ChangeDetectionResult::getSerializeSize(), metadata);
-
-   // do the computation here
-
-   auto pinId = getOutputPinIdByType(FrameMetadata::CHANGE_DETECTION);
-   frames.insert(make_pair(pinId, outFrame));
-   send(frames);
-
-   return true;
-}
-
-
-
-
- - -
-
- -
-
-
-
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Follow the `CUDA Documentation `_ instead of other sources. - - -Coalesced Access to Global Memory -""""""""""""""""""""""""""""""""" -`Coalesced Access to Global Memory `_ - -- | Refer OverlayKernel.cu and EffectsKernel.cu -- | uchar4 (4 bytes) - 32x32 threads per block - 4x32x32 - 4K bytes -- | A big difference - like 2x in Performance - -Math Library -"""""""""""" -`NVIDIA CUDA Math API `_ - -- | multiplication use from here -- | big difference - -__device__ functions -"""""""""""""""""""" -For writing clean/reusable code, I was using __device__ function - but the Performance dropped by half. So, I started using macros. I didn't investigate more on why? \ No newline at end of file diff --git a/docs/build/html/_sources/Framework.rst.txt b/docs/build/html/_sources/Framework.rst.txt deleted file mode 100644 index 78b2c673c..000000000 --- a/docs/build/html/_sources/Framework.rst.txt +++ /dev/null @@ -1,350 +0,0 @@ -Framework -========= - -ModuleProps -^^^^^^^^^^^ -Base Properties class for all modules - -.. code-block:: c++ - - int fps; // can be updated during runtime with setProps - size_t qlen; // run time changing doesn't effect this - bool logHealth; // can be updated during runtime with setProps - int logHealthFrequency; // 1000 by default - logs the health stats frequency - - // used for VimbaSource where we want to create the max frames and keep recycling it - // for the VimbaDrive we announce frames after init - 100/200 - // see VimbaSource.cpp on how it is used - size_t maxConcurrentFrames; - - // 0/1 - skipN == 0 - don't skip any - process all - // 1/1 - skipN == skipD - skip all - don't process any - // 1/2 skips every alternate frame - // 1/3 skips 1 out of every 3 frames - // 2/3 skips 2 out of every 3 frames - // 5/6 skips 5 out of every 6 frames - // skipD >= skipN - int skipN = 0; - int skipD = 1; - -QuePushStrategyType -^^^^^^^^^^^^^^^^^^^ - -.. code-block:: c++ - - enum QuePushStrategyType { - BLOCKING, - NON_BLOCKING_ANY, // try push independently to child modules - NON_BLOCKING_ALL_OR_NONE // try push only if all the child modules have the que free or don't push to any of the modules - }; - -Module -^^^^^^ -Base class for all the modules - -.. code-block:: c++ - - void addOutputPin(framemetadata_sp& metadata, string& pinId); - bool setNext(boost::shared_ptr next); - -Pipeline -^^^^^^^^ - -.. code-block:: c++ - - PipeLine(string name) - - /* - call appendModule on only the topmost module - source (camera/file) - call appendModule only after connecting all the modules - - if any modules are connected (module1->setNext(module2)) after appendModule then these modules will not be added to the pipeline - best practice is to first make the connections - all modules - then call appendModule - */ - bool appendModule(boost::shared_ptr pModule); - bool init(); - void run_all_threaded(); - - void stop(); - void term(); - void wait_for_all(); - - -ExternalSourceModule -^^^^^^^^^^^^^^^^^^^^ - -.. code-block:: c++ - - std::pair produceExternalFrame(ApraData* data) - -- ``locked`` is atomically incremented and decremented -- std::pair is returned -- if data->fIndex == 0 fIndex is incremented by the framework and returns the value -- if data->fIndex != 0 fIndex is same as data->fIndex -- if ``false`` is returned, then the data is not accepted.Framework Que is full and there is no bandwidth to process more data -- it is upto the caller application to act on the response of ``produceExternalFrame`` - -.. code-block:: c++ - - bool stop() - when ExternalSourceModule is not attached to the pipeline, manually call stop to trigger a tear down of the downstream modules - - -FileReaderModuleProps -^^^^^^^^^^^^^^^^^^^^^ - -.. code-block:: c++ - - FileReaderModuleProps(const std::string& strFullFileNameWithPattern, int startIndex = 0, int maxIndex = -1); - -- loops till the ``maxIndex`` is reached - ``-1`` loop the entire pattern/directory -- starts the loop from ``startIndex`` - -FileReaderModule -^^^^^^^^^^^^^^^^ - -.. code-block:: c++ - - FileReaderModule(FileReaderModuleProps props); - - -JPEGDecoderIMProps -^^^^^^^^^^^^^^^^^^ - -.. code-block:: c++ - - JPEGDecoderIMProps(bool sw); - -- ``true`` if deocde is on software -- ``false`` if decode is on hardware - -JPEGDecoderIM -^^^^^^^^^^^^^ -.. code-block:: c++ - - JPEGDecoderIM(JPEGDecoderIMProps props); - -- Currently only supports single channel output - -CalcHistogramCVProps -^^^^^^^^^^^^^^^^^^^^ - -.. code-block:: c++ - - CalcHistogramCVProps(int bins); - // All the properties can be updated during run time using setProps - int bins; - vector roi; - string maskImgPath; - -- ``bins`` number of histogram bins -- | ``maskImgPath`` absolute path of mask image path - | Expected to be Same resolution as the dataset - | if both roi and mask_img_path is specified roi is used and mask_img_path ignored -- | ``roi`` topleft_x topleft_y width height - | if both roi and mask_img_path is specified roi is used and mask_img_path ignored - -CalcHistogramCV -^^^^^^^^^^^^^^^ - -.. code-block:: c++ - - CalcHistogramCV(CalcHistogramCVProps props); - CalcHistogramCVProps getProps(); - void setProps(CalcHistogramCVProps props); - - // Example on how to change Properties dynamically - auto histogram = new CalcHistogramCV(CalcHistogramCVProps(32)); - auto newHistProps = histogram->getProps(); - newHistProps.bins = newHistProps.bins = 16; - histogram->setProps(newHistProps); - - -ChangeDetectionProps -^^^^^^^^^^^^^^^^^^^^ - -.. code-block:: c++ - - ChangeDetectionProps(int refWindoweLength, int refDelayLength, int insWindowLength, double threshold, int compareMethod); - // All the properties can be updated during run time using setProps - -- | ``refWindowLength`` Number of frames to average - | Assume ``fps = 30`` and you want to average ``2`` seconds then specify ``refWindowLength`` as ``60`` -- | ``refDelayLength`` Number of frames to delay from the current frame - | default ``-1`` - Static reference - | if moving average is required speicfy the delay - | Assume ``fps = 30`` and you want to delay 2 minutes then specify ``refDelayLength`` as ``3600`` -- | ``insWindowLength`` Number of frames to average - | Assume ``fps = 30`` and you want to average 0.5 seconds then specify ``insWindowLength`` as ``15`` -- | ``compareMethod`` https://docs.opencv.org/4.1.1/d8/dc8/tutorial_histogram_comparison.html - | HISTCMP_CHISQR (1) works for all the datasets provided - -ChangeDetection -^^^^^^^^^^^^^^^ -Sends ChangeDetectionResult to the next module - -.. code-block:: c++ - - ChangeDetection(ChangeDetectionProps props); - ChangeDetectionProps getProps(); - void setProps(ChangeDetectionProps props); - - // Example on how to change Properties dynamically - auto module = new ChangeDetection(ChangeDetectionProps(60, -1, 30, 1, 1)); - auto newProps = module->getProps(); - newProps.threshold = 2; - module->setProps(newProps); - -JPEGEncoderIMProps -^^^^^^^^^^^^^^^^^^ - -.. code-block:: c++ - - bool sw; // software or hardware mode - unsigned short quality; // range 1-100 JPEG Compression quality - 100 means best quality but more file size - -JPEGEncoderIM -^^^^^^^^^^^^^ -Intel Media SDK based encoder - -.. code-block:: c++ - - JPEGEncoderIM(JPEGEncoderProps props); - -- Currently only supports single channel as input - -FileWriterModuleProps -^^^^^^^^^^^^^^^^^^^^^ - -.. code-block:: c++ - - FileWriterModuleProps(const std::string& strFullFileNameWithPattern); - - // Example - auto props = new FileWriterModuleProps("C:/Users/developer/Downloads/Sai/temp/enc/frame_????.jpg"); - - -FileWriterModule -^^^^^^^^^^^^^^^^ -Basic FileWriter - -.. code-block:: c++ - - FileWriterModule(FileWriterModuleProps props); - -JPEGDecoderL4TM -^^^^^^^^^^^^^^^ - -.. code-block:: c++ - - JPEGDecoderL4TMProps(); - JPEGDecoderL4TM(JPEGDecoderL4TMProps props); - -- Currently only supports single channel output - -JPEGEncoderL4TM -^^^^^^^^^^^^^^^ - -.. code-block:: c++ - - JPEGEncoderL4TMProps(); - unsigned short quality; // range 1-100 JPEG Compression quality - 100 means best quality but more file size - - JPEGEncoderL4TM(JPEGEncoderL4TMProps props); - -- Currently only supports single channel input - -VimbaSource -^^^^^^^^^^^ -.. code-block:: c++ - - VimbaSourceProps(size_t _maxConcurrentFrames); // 2*fps of the camera is a good value - // _maxConcurrentFrames is used to announceFrames to the vimbaDriver Camera - - VimbaSource(VimbaSourceProps _props); - -EdgeDefectAnalysis -^^^^^^^^^^^^^^^^^^ -Sends EdgeDefectAnalysisResult to the next module - -.. code-block:: c++ - - class EdgeDefectAnalysisConfig - { - public: - std::vector roi; - std::string edgePos; // "R" "L" - - int gaussianKernelSize; - int edgeDefectWidth; - - // parameters for edge localization - // https://docs.opencv.org/2.4/modules/imgproc/doc/feature_detection.html?highlight=canny#canny - int lowThresh; - int highThresh; - int phaseLowThresh; - int phaseHighThresh; - //https://docs.opencv.org/2.4/modules/imgproc/doc/feature_detection.html?highlight=houghlinesp#houghlinesp - int lineThreshold; - int minLineLength; - int maxLineGap; - - // parameters for defect detection - // https://docs.opencv.org/2.4/modules/imgproc/doc/feature_detection.html?highlight=canny#canny - int lowThresh2; - int highThresh2; - int phaseLowThresh2; - int phaseHighThresh2; - //https://docs.opencv.org/2.4/modules/imgproc/doc/feature_detection.html?highlight=houghlinesp#houghlinesp - int lineThreshold2; - int minLineLength2; - int maxLineGap2; - - bool enableDebug; // saves the intermediate results - } - - class EdgeDefectAnalysisProps: ModuleProps - { - public: - EdgeDefectAnalysisConfig config; - } - - EdgeDefectAnalysis(EdgeDefectAnalysisProps props); - - class EdgeDefectAnalysisResult - { - public: - bool isEdgeFound; - bool isDefect; - uint64_t fIndex; - uint64_t timestamp; - } - -LoggerProps -^^^^^^^^^^^ - -.. code-block:: c++ - - bool enableConsoleLog; - bool enableFileLog; - std::string fileLogPath; - boost::log::trivial::severity_level logLevel; - -Logger -^^^^^^ - -.. code-block:: c++ - - static void initLogger(LoggerProps props); // valid only once - if called second time - nothing happens. Use the set methods for changes during runtime - void setLogLevel(boost::log::trivial::severity_level severity); - void setConsoleLog(bool enableLog); - void setFileLog(bool enableLog); - - The below macros are available for logging - LOG_TRACE << "A trace severity message"; - LOG_DEBUG << "A debug severity message"; - LOG_INFO << "An informational severity message"; - LOG_WARNING << "A warning severity message"; - LOG_ERROR << "An error severity message"; - LOG_FATAL << "A fatal severity message"; - diff --git a/docs/build/html/_sources/Introduction.rst.txt b/docs/build/html/_sources/Introduction.rst.txt deleted file mode 100644 index d2f9cfb4a..000000000 --- a/docs/build/html/_sources/Introduction.rst.txt +++ /dev/null @@ -1,117 +0,0 @@ -Introduction -============ -ApraPipes is a pipeline framework. - -Design -^^^^^^ -- | Reusable Modules -- | Easy to Test -- | Memory Management -- | Thread Management -- | Parallel Processing - -Stack -^^^^^ -- | C++ -- | CUDA -- | CMake - -Libraries -^^^^^^^^^ -- | Boost C++ -- | Nvidia - - - | CudaToolkit - - | NPPI - - | NvJPEG - - | NvENC - - | Jetson MultiMedia API -- | Intel Media SDK -- | OpenCV -- | Live555 - -Core Concepts -^^^^^^^^^^^^^ - -.. image:: Module.jpg - - -Module -"""""" -Base class - -Pins -"""" -Two modules are connected using pins - -Queue -""""" -Blocking, NonBlocking - -FrameMetadata -""""""""""""" -Properties of a pin. Width, Height, MemType, FrameType - -FrameFactory -"""""""""""" -Responsible for reusing memory - -Frame -""""" -Data is transported using frame - -FrameContainer -"""""""""""""" -Has multiple frames - -ModuleProps -""""""""""" -fps, Queue Strategy - -Module Functions -"""""""""""""""" -- | addOutputPin -- | validateOuputPins -- | setNext -- | validateInputPins -- | init -- | term -- | processSOS -- | processEOS -- | produce -- | process -- | send - -PipeLine -"""""""" -Responsible for lifecycle events - -- | appendModule -- | init -- | run_all_threaded -- | stop -- | term -- | wait_for_all - -Unit Tests -"""""""""" -BOOST Tests - -Basic Modules -""""""""""""" -- | FileReaderModule -- | FileWriterModule -- | ExternalSourceModule -- | ExternalSinkModule -- | CudaMemCopy -- | Decoder (JPEGDecoderL4TM, JPEGDecoderNVJPEG) -- | Encoder (JPEGEncoderL4TM, JPEGEncoderNVJPEG) -- | StatSink -- | FramesMuxer -- | Split -- | Merge - -Sample Cuda Modules -""""""""""""""""""" -- | ResizeNPPI -- | CCNPPI \ No newline at end of file diff --git a/docs/build/html/_sources/NvidiaCUDAModules.rst.txt b/docs/build/html/_sources/NvidiaCUDAModules.rst.txt deleted file mode 100644 index 5dd002871..000000000 --- a/docs/build/html/_sources/NvidiaCUDAModules.rst.txt +++ /dev/null @@ -1,271 +0,0 @@ -NVIDIA CUDA Modules -=================== - -Getting Started -^^^^^^^^^^^^^^^ - -Nvidia CUDA Modules -^^^^^^^^^^^^^^^^^^^ - -cudaStream_t -"""""""""""" -Checkout `CUDA DOCUMENTATION `_ -and `CUDA WEBINAR `_ - -- | A sequence of operations that execute in issue-order on the GPU -- | Programming model used to effect concurrency -- | CUDA operations in different streams may run concurrently -- | CUDA operations from different streams may be interleaved - -cudaStream_t has to be passed as props to all the CUDA modules. -cudaStreamCreate and cudaStreamDestroy is mandatory. - -CudaMemCopyProps -"""""""""""""""" -- | cudaMemcpyKind memcpyKind - cudaMemcpyDeviceToHost - - - | Input is CUDA_DEVICE memory - - | Output is HOST memory - - | sync is set to true internally -- | cudaMemcpyKind memcpyKind - cudaMemcpyHostToDevice - - - | Input is HOST memory - - | Output is CUDA_DEVICE memory -- | sync - if sync is true, stream will be synchronized - don't set it to true until you know what you are doing- | -- | cudaStream_t has to be passed - -JPEGDecoderNVJPEG -""""""""""""""""" -- | Input is HOST memory -- | Output is CUDA_DEVICE memory -- | Output ImageMetadata::ImageType - MONO, YUV420, YUV444 is currently supported -- | cudaStream_t has to be passed - -JPEGEncoderNVJPEG -""""""""""""""""" -- | Input is CUDA_DEVICE memory -- | Output is HOST memory -- | quality - default is 90 -- | Input ImageMetadata::ImageType - MONO, YUV420, YUV444 is currently supported -- | cudaStream_t has to be passed - -ResizeNPPI -"""""""""" -- | Input is CUDA_DEVICE memory -- | Output is CUDA_DEVICE memory -- | output width and height has to be passed -- | Input ImageMetadata::ImageType - MONO, YUV444, YUV420, BGR, BGRA, RGB, RGBA -- | cudaStream_t has to be passed - -CCNPPI -"""""" -- | Input is CUDA_DEVICE memory -- | Output is CUDA_DEVICE memory -- | Supported Color Conversions - - - | MONO, YUV420 To BGRA - - | YUV420 To BGRA - - | YUV411_I To YUV444 -- | cudaStream_t has to be passed - -OverlayNPPI -""""""""""" -- | Input is CUDA_DEVICE memory -- | Output is CUDA_DEVICE memory -- | Input ImageMetadata::ImageType - BGRA/RGBA or YUV420 -- | Accepts two images - Source and Overlay -- | OVERLAY_HINT has to be set to tell the module which of the two input images is the overlay image -- | Overlay image width and height is expected to be less than or equal to the Source image -- | offsetX and offsetY can be given -- | cudaStream_t has to be passed - -EffectsNPPI -""""""""""" -- | Input is CUDA_DEVICE memory -- | Output is CUDA_DEVICE memory -- | Input ImageMetadata::ImageType - MONO/BGR/RGB/RGBA/BGRA/YUV420 -- | cudaStream_t has to be passed - -.. code-block:: c++ - - double hue; // 0/255 no change [0 255] - double saturation; // 1 no change - double contrast; // 1 no change - int brightness; // 0 no change [-100 - 100] - -H264EncoderNVCodec -"""""""""""""""""" -- | Input is CUDA_DEVICE memory -- | Output is HOST memory -- | Input ImageMetadata::ImageType - BGRA/RGBA or YUV420 -- | targetKbps can be passed -- | refer test - h264Encodernvcodec_tests -- | apracucontext_sp must be passed -- | Initialize CudaContext before constructing the pipeline. `auto cuContext = apracucontext_sp(new ApraCUcontext());` -- | cudaStreamSynchronize has to be called before this module. Use one of the below methods. - - - | sync = true for CudaMemCopyProps - - | Add CudaStreamSynchronize Module - -GaussianBlur -"""""""""""" -- | Input is CUDA_DEVICE memory -- | Output is CUDA_DEVICE memory -- | Props - - - | cudastream_sp - - | kernel size - - | ROI - -NonmaxSuppression -""""""""""""""""" -Sobel followed by nonmax suppression is applied. - -- | kernel size of sobel/scharr operator is hardcoded to 3 inside the cuda kernel -- | ideally all the parameters of opencv should be supported https://docs.opencv.org/3.4/dd/d1a/group__imgproc__feature.html#ga04723e007ed888ddf11d9ba04e2232de - - -- | Input is CUDA_DEVICE memory -- | Output is CUDA_DEVICE memory - - | Nonmax image - - | Phase image - - | Magnitude image can also be sent out with very minor changes -- | Props - - - | cudastream_sp - - | ROI - -HysteresisThreshold -""""""""""""""""""" -- | Input is CUDA_DEVICE memory -- | Output is CUDA_DEVICE memory -- | Props - - - | cudastream_sp - - | ROI - - | Low Threshold - - | High Threshold - - | Low Phase Threshold - - | High Phase Threshold - -HoughLinesCV -"""""""""""" -- | Input is CUDA_DEVICE memory -- | Output is HOST memory of type APRA_LINES -- | cudaStreamSynchronize is automatically called in this module -- | Props - - - | cudastream_sp - - | ROI - - | Minimum Line Length - - | Maximum Line Gap - -Building Pipelines -^^^^^^^^^^^^^^^^^^ - -Example 1 -""""""""" -.. image:: nvidiacudamodules_1.jpg - -.. code-block:: c++ - - auto width = 1920; - auto height = 1080; - - auto fileReader = boost::shared_ptr(new FileReaderModule(FileReaderModuleProps("./data/mono_1920x1080.raw"))); - auto metadata = framemetadata_sp(new RawImageMetadata(width, height, ImageMetadata::ImageType::MONO, CV_8UC1, 0, CV_8U, FrameMetadata::HOST, true)); - fileReader->addOutputPin(metadata); - - cudaStream_t stream; - cudaStreamCreate(&stream); - auto copy = boost::shared_ptr(new CudaMemCopy(CudaMemCopyProps(cudaMemcpyHostToDevice, stream))); - fileReader->setNext(copy); - - auto encoder = boost::shared_ptr(new JPEGEncoderNVJPEG(JPEGEncoderNVJPEGProps(stream))); - copy->setNext(encoder); - - auto fileWriter = boost::shared_ptr(new FileWriterModule("./data/testOutput/mono_1920x1080.jpg")); - encoder->setNext(fileWriter); - - ... - - cudaStreamDestroy(stream); - -Example 2 -""""""""" -.. image:: nvidiacudamodules_2.jpg - -.. code-block:: c++ - - auto fileReader = boost::shared_ptr(new FileReaderModule(FileReaderModuleProps("./data/mono_1920x960.jpg"))); - auto metadata = framemetadata_sp(new FrameMetadata(FrameMetadata::ENCODED_IMAGE)); - fileReader->addOutputPin(metadata); - - cudaStream_t stream; - cudaStreamCreate(&stream); - - auto decoder = boost::shared_ptr(new JPEGDecoderNVJPEG(JPEGDecoderNVJPEGProps(stream))); - fileReader->setNext(decoder); - - auto resize = boost::shared_ptr(new ResizeNPPI(ResizeNPPIProps(960, 480, stream))); - decoder->setNext(resize); - - auto copy = boost::shared_ptr(new CudaMemCopy(CudaMemCopyProps(cudaMemcpyDeviceToHost, stream))); - resize->setNext(copy); - - auto fileWriter = boost::shared_ptr(new FileWriterModule("./data/testOutput/mono_1920x960_to_mono_960x480.raw")); - encoder->setNext(fileWriter); - - ... - - cudaStreamDestroy(stream); - -Example 3 -""""""""" -.. image:: nvidiacudamodules_3.jpg - -.. code-block:: c++ - - cudaStream_t stream; - cudaStreamCreate(&stream); - - // making source pipeline - JPEGDecoderNVJPEG -> ResizeNPPI -> CCNPPI - auto fileReader = boost::shared_ptr(new FileReaderModule(FileReaderModuleProps("./data/mono_1920x960.jpg"))); - auto metadata = framemetadata_sp(new FrameMetadata(FrameMetadata::ENCODED_IMAGE)); - fileReader->addOutputPin(metadata); - - auto decoder = boost::shared_ptr(new JPEGDecoderNVJPEG(JPEGDecoderNVJPEGProps(stream))); - fileReader->setNext(decoder); - - auto resize = boost::shared_ptr(new ResizeNPPI(ResizeNPPIProps(960, 480, stream))); - decoder->setNext(resize); - - auto source_cc = boost::shared_ptr(new CCNPPI(CCNPPIProps(ImageMetadata::BGRA, stream))); - resize->setNext(source_cc); - - // making overlay pipeline - CudaMemCopy -> ResizeNPPI - auto overlay_host = boost::shared_ptr(new FileReaderModule(FileReaderModuleProps("./data/overlay_1920x960_BGRA.raw"))); - auto overlay_metadata = framemetadata_sp(new RawImageMetadata(1920, 960, ImageMetadata::ImageType::BGRA, CV_8UC4, 0, CV_8U, FrameMetadata::HOST, true)); - overlay_metadata->setHint(OVERLAY_HINT); - overlay_host->addOutputPin(overlay_metadata); - - auto overlay_copy = boost::shared_ptr(new CudaMemCopy(CudaMemCopyProps(cudaMemcpyHostToDevice, stream))); - overlay_host->setNext(overlay_copy); - - auto overlay_resize = boost::shared_ptr(new ResizeNPPI(ResizeNPPIProps(960, 480, stream))); - overlay_copy->setNext(overlay_resize); - - // Connecting source and overlay pipelines - auto overlay = boost::shared_ptr(new OverlayNPPI(OverlayNPPIProps(stream))); - overlay_resize->setNext(overlay); - source_cc->setNext(overlay); - - auto encoder = boost::shared_ptr(new JPEGEncoderNVJPEG(JPEGEncoderNVJPEGProps(stream))); - overlay->setNext(encoder); - - auto fileWriter = boost::shared_ptr(new FileWriterModule("./data/testOutput/out.jpg")); - encoder->setNext(fileWriter); - - ... - - cudaStreamDestroy(stream); \ No newline at end of file diff --git a/docs/build/html/_sources/Tutorial_Adding_New_IP_Module.rst.txt b/docs/build/html/_sources/Tutorial_Adding_New_IP_Module.rst.txt deleted file mode 100644 index 6d57976d5..000000000 --- a/docs/build/html/_sources/Tutorial_Adding_New_IP_Module.rst.txt +++ /dev/null @@ -1,199 +0,0 @@ -Adding New Module -================= -ChangeDetection Module - -- Input is histogram bins -- Output is ChangeDetectionResult - - -Define Module Properties -"""""""""""""""""""""""" -.. code-block:: c++ - - class ChangeDetectionProps: public ModuleProps - { - public: - ChangeDetectionProps(): ModuleProps() - { - refWindowLength = 1; - refDelayLength = -1; - insWindowLength = 1; - threshold = 1; - compareMethod = 1; - } - - ChangeDetectionProps(int _refWindowLength, int _refDelayLength, int _insWindowLength, double _threshold, int _compareMethod): ModuleProps() - { - refWindowLength = _refWindowLength; - refDelayLength = _refDelayLength; - insWindowLength = _insWindowLength; - threshold = _threshold; - compareMethod = _compareMethod; - } - - // All the properties can be updated during run time using setProps - int refWindowLength; - int refDelayLength; - int insWindowLength; - double threshold; - int compareMethod; - - private: - friend class boost::serialization::access; - - template - void serialize(Archive &ar, const unsigned int version) - { - ar & boost::serialization::base_object(*this); - ar & refWindowLength; - ar & refDelayLength; - ar & insWindowLength; - ar & threshold; - ar & compareMethod; - } - }; - -Validating the input and output -""""""""""""""""""""""""""""""" -.. code-block:: c++ - - - bool ChangeDetection::validateInputOutputPins() - { - // one and only 1 array should exist - auto count = getNumberOfInputsByType(FrameMetadata::ARRAY); - if (count != 1) - { - LOG_ERROR << "Input pin of type ARRAY is expected."; - return false; - } - - // output CHANGE_DETECTION pin should exist - count = getNumberOfOutputsByType(FrameMetadata::CHANGE_DETECTION); - if (count != 1) - { - LOG_ERROR << "Input pin of type CHANGE_DETECTION is expected."; - return false; - } - - return true; - } - -Initialization -"""""""""""""" -.. code-block:: c++ - - bool ChangeDetection::init() - { - if (!Module::init()) - { - return false; - } - - // any initialization here - - return true; - } - -Handling the first frame and using the input metadata -""""""""""""""""""""""""""""""""""""""""""""""""""""" -.. code-block:: c++ - - bool ChangeDetection::processSOS(frame_sp& frame) - { - auto metadata = frame->getMetadata(); - if (metadata->getFrameType() != FrameMetadata::ARRAY) - { - return true; - } - - // metadata has width, height, type depending on the frame type - - return true; - } - - -Output -"""""" -.. code-block:: c++ - - class ChangeDetectionResult - { - public: - - ChangeDetectionResult(bool changeDetected, double distance, uint64_t index) - { - mChangeDetected = changeDetected; - mDistance = distance; - fIndex = index; - } - - ChangeDetectionResult() {} - - static boost::shared_ptr deSerialize(frame_container& frames) - { - auto frameType = FrameMetadata::CHANGE_DETECTION; - - auto frame = frame_sp(); - for (auto it = frames.cbegin(); it != frames.cend(); it++) - { - auto tempFrame = it->second; - if (tempFrame->getMetadata()->getFrameType() == frameType) - { - frame = tempFrame; - } - } - - if (!frame.get()) - { - return boost::shared_ptr(); - } - - auto result = boost::shared_ptr(new ChangeDetectionResult(false, 0, 0)); - auto& obj = *result.get(); - Utils::deSerialize(obj, frame->data(), frame->size()); - - return result; - } - - static void serialize(bool changeDetected, double distance, uint64_t index, void* buffer, size_t size) - { - auto result = ChangeDetectionResult(changeDetected, distance, index); - Utils::serialize(result, buffer, size); - } - - static size_t getSerializeSize() - { - return 1024 + sizeof(mChangeDetected) + sizeof(mDistance) + sizeof(fIndex); - } - - bool mChangeDetected; - double mDistance; - uint64_t fIndex; - - private: - friend class boost::serialization::access; - template - void serialize(Archive & ar, const unsigned int /* file_version */) { - ar & mChangeDetected & mDistance & fIndex; - } - }; - -Consuming the input and send output -""""""""""""""""""""""""""""""""""" -.. code-block:: c++ - - bool ChangeDetection::process(frame_container& frames) - { - auto inFrame = getFrameByType(frames, FrameMetadata::ARRAY); - auto metadata = mDetail->getOutputMetadata(); - auto outFrame = makeFrame(ChangeDetectionResult::getSerializeSize(), metadata); - - // do the computation here - - auto pinId = getOutputPinIdByType(FrameMetadata::CHANGE_DETECTION); - frames.insert(make_pair(pinId, outFrame)); - send(frames); - - return true; - } diff --git a/docs/build/html/_sources/Tutorial_Adding_New_Module.rst.txt b/docs/build/html/_sources/Tutorial_Adding_New_Module.rst.txt deleted file mode 100644 index 6d57976d5..000000000 --- a/docs/build/html/_sources/Tutorial_Adding_New_Module.rst.txt +++ /dev/null @@ -1,199 +0,0 @@ -Adding New Module -================= -ChangeDetection Module - -- Input is histogram bins -- Output is ChangeDetectionResult - - -Define Module Properties -"""""""""""""""""""""""" -.. code-block:: c++ - - class ChangeDetectionProps: public ModuleProps - { - public: - ChangeDetectionProps(): ModuleProps() - { - refWindowLength = 1; - refDelayLength = -1; - insWindowLength = 1; - threshold = 1; - compareMethod = 1; - } - - ChangeDetectionProps(int _refWindowLength, int _refDelayLength, int _insWindowLength, double _threshold, int _compareMethod): ModuleProps() - { - refWindowLength = _refWindowLength; - refDelayLength = _refDelayLength; - insWindowLength = _insWindowLength; - threshold = _threshold; - compareMethod = _compareMethod; - } - - // All the properties can be updated during run time using setProps - int refWindowLength; - int refDelayLength; - int insWindowLength; - double threshold; - int compareMethod; - - private: - friend class boost::serialization::access; - - template - void serialize(Archive &ar, const unsigned int version) - { - ar & boost::serialization::base_object(*this); - ar & refWindowLength; - ar & refDelayLength; - ar & insWindowLength; - ar & threshold; - ar & compareMethod; - } - }; - -Validating the input and output -""""""""""""""""""""""""""""""" -.. code-block:: c++ - - - bool ChangeDetection::validateInputOutputPins() - { - // one and only 1 array should exist - auto count = getNumberOfInputsByType(FrameMetadata::ARRAY); - if (count != 1) - { - LOG_ERROR << "Input pin of type ARRAY is expected."; - return false; - } - - // output CHANGE_DETECTION pin should exist - count = getNumberOfOutputsByType(FrameMetadata::CHANGE_DETECTION); - if (count != 1) - { - LOG_ERROR << "Input pin of type CHANGE_DETECTION is expected."; - return false; - } - - return true; - } - -Initialization -"""""""""""""" -.. code-block:: c++ - - bool ChangeDetection::init() - { - if (!Module::init()) - { - return false; - } - - // any initialization here - - return true; - } - -Handling the first frame and using the input metadata -""""""""""""""""""""""""""""""""""""""""""""""""""""" -.. code-block:: c++ - - bool ChangeDetection::processSOS(frame_sp& frame) - { - auto metadata = frame->getMetadata(); - if (metadata->getFrameType() != FrameMetadata::ARRAY) - { - return true; - } - - // metadata has width, height, type depending on the frame type - - return true; - } - - -Output -"""""" -.. code-block:: c++ - - class ChangeDetectionResult - { - public: - - ChangeDetectionResult(bool changeDetected, double distance, uint64_t index) - { - mChangeDetected = changeDetected; - mDistance = distance; - fIndex = index; - } - - ChangeDetectionResult() {} - - static boost::shared_ptr deSerialize(frame_container& frames) - { - auto frameType = FrameMetadata::CHANGE_DETECTION; - - auto frame = frame_sp(); - for (auto it = frames.cbegin(); it != frames.cend(); it++) - { - auto tempFrame = it->second; - if (tempFrame->getMetadata()->getFrameType() == frameType) - { - frame = tempFrame; - } - } - - if (!frame.get()) - { - return boost::shared_ptr(); - } - - auto result = boost::shared_ptr(new ChangeDetectionResult(false, 0, 0)); - auto& obj = *result.get(); - Utils::deSerialize(obj, frame->data(), frame->size()); - - return result; - } - - static void serialize(bool changeDetected, double distance, uint64_t index, void* buffer, size_t size) - { - auto result = ChangeDetectionResult(changeDetected, distance, index); - Utils::serialize(result, buffer, size); - } - - static size_t getSerializeSize() - { - return 1024 + sizeof(mChangeDetected) + sizeof(mDistance) + sizeof(fIndex); - } - - bool mChangeDetected; - double mDistance; - uint64_t fIndex; - - private: - friend class boost::serialization::access; - template - void serialize(Archive & ar, const unsigned int /* file_version */) { - ar & mChangeDetected & mDistance & fIndex; - } - }; - -Consuming the input and send output -""""""""""""""""""""""""""""""""""" -.. code-block:: c++ - - bool ChangeDetection::process(frame_container& frames) - { - auto inFrame = getFrameByType(frames, FrameMetadata::ARRAY); - auto metadata = mDetail->getOutputMetadata(); - auto outFrame = makeFrame(ChangeDetectionResult::getSerializeSize(), metadata); - - // do the computation here - - auto pinId = getOutputPinIdByType(FrameMetadata::CHANGE_DETECTION); - frames.insert(make_pair(pinId, outFrame)); - send(frames); - - return true; - } diff --git a/docs/build/html/_sources/index.rst.txt b/docs/build/html/_sources/index.rst.txt deleted file mode 100644 index a5fa196f9..000000000 --- a/docs/build/html/_sources/index.rst.txt +++ /dev/null @@ -1,15 +0,0 @@ -Welcome to Apra Pipes documentation! -==================================== - -.. highlight:: c++ - -.. toctree:: - :maxdepth: 2 - :caption: Contents: - - Introduction - Framework - Tutorial_Adding_New_Module - NvidiaCUDAModules - CUDAKernelProgrammingGuide - diff --git a/docs/build/html/_static/basic.css b/docs/build/html/_static/basic.css deleted file mode 100644 index 0807176ec..000000000 --- a/docs/build/html/_static/basic.css +++ /dev/null @@ -1,676 +0,0 @@ -/* - * basic.css - * ~~~~~~~~~ - * - * Sphinx stylesheet -- basic theme. - * - * :copyright: Copyright 2007-2019 by the Sphinx team, see AUTHORS. - * :license: BSD, see LICENSE for details. - * - */ - -/* -- main layout ----------------------------------------------------------- */ - -div.clearer { - clear: both; -} - -/* -- relbar ---------------------------------------------------------------- */ - -div.related { - width: 100%; - font-size: 90%; -} - -div.related h3 { - display: none; -} - 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