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opencv/modules/highgui/src/cap_gstreamer.cpp

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/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// Intel License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2008, 2011, Nils Hasler, all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's 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.
//
// * The name of Intel Corporation may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// 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 Intel Corporation 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.
//
//M*/
/*!
* \file cap_gstreamer.cpp
* \author Nils Hasler <hasler@mpi-inf.mpg.de>
* Max-Planck-Institut Informatik
* \author Dirk Van Haerenborgh <vhdirk@gmail.com>
*
* \brief Use GStreamer to read/write video
*/
#include "precomp.hpp"
#include <unistd.h>
#include <string.h>
#include <gst/gst.h>
#include <gst/gstbuffer.h>
#include <gst/video/video.h>
#include <gst/app/gstappsink.h>
#include <gst/app/gstappsrc.h>
#include <gst/riff/riff-media.h>
#include <gst/pbutils/missing-plugins.h>
#define VERSION_NUM(major, minor, micro) (major * 1000000 + minor * 1000 + micro)
#define FULL_GST_VERSION VERSION_NUM(GST_VERSION_MAJOR, GST_VERSION_MINOR, GST_VERSION_MICRO)
#if FULL_GST_VERSION >= VERSION_NUM(0,10,32)
#include <gst/pbutils/encoding-profile.h>
//#include <gst/base/gsttypefindhelper.h>
#endif
#ifdef NDEBUG
#define CV_WARN(message)
#else
#define CV_WARN(message) fprintf(stderr, "warning: %s (%s:%d)\n", message, __FILE__, __LINE__)
#endif
#if GST_VERSION_MAJOR > 0
#define COLOR_ELEM "videoconvert"
#else
#define COLOR_ELEM "ffmpegcolorspace"
#endif
void toFraction(double decimal, double &numerator, double &denominator);
void handleMessage(GstElement * pipeline);
static cv::Mutex gst_initializer_mutex;
/*!
* \brief The gst_initializer class
* Initializes gstreamer once in the whole process
*/
class gst_initializer
{
public:
static void init()
{
gst_initializer_mutex.lock();
static gst_initializer init;
gst_initializer_mutex.unlock();
}
private:
gst_initializer()
{
gst_init(NULL, NULL);
// gst_debug_set_active(1);
// gst_debug_set_colored(1);
// gst_debug_set_default_threshold(GST_LEVEL_INFO);
}
};
/*!
* \brief The CvCapture_GStreamer class
* Use GStreamer to capture video
*/
class CvCapture_GStreamer : public CvCapture
{
public:
CvCapture_GStreamer() { init(); }
virtual ~CvCapture_GStreamer() { close(); }
virtual bool open( int type, const char* filename );
virtual void close();
virtual double getProperty(int);
virtual bool setProperty(int, double);
virtual bool grabFrame();
virtual IplImage* retrieveFrame(int);
protected:
void init();
bool reopen();
bool isPipelinePlaying();
void startPipeline();
void stopPipeline();
void restartPipeline();
void setFilter(const char* prop, int type, int v1, int v2 = NULL);
void removeFilter(const char *filter);
static void newPad(GstElement *myelement,
GstPad *pad,
gpointer data);
GstElement* pipeline;
GstElement* uridecodebin;
GstElement* color;
GstElement* sink;
#if GST_VERSION_MAJOR > 0
GstSample* sample;
GstMapInfo* info;
#endif
GstBuffer* buffer;
GstCaps* caps;
GstCaps* buffer_caps;
IplImage* frame;
};
/*!
* \brief CvCapture_GStreamer::init
* inits the class
*/
void CvCapture_GStreamer::init()
{
pipeline = NULL;
frame = NULL;
buffer = NULL;
buffer_caps = NULL;
#if GST_VERSION_MAJOR > 0
sample = NULL;
info = new GstMapInfo;
#endif
}
/*!
* \brief CvCapture_GStreamer::close
* Closes the pipeline and destroys all instances
*/
void CvCapture_GStreamer::close()
{
if (isPipelinePlaying())
this->stopPipeline();
if(pipeline) {
gst_element_set_state(GST_ELEMENT(pipeline), GST_STATE_NULL);
gst_object_unref(GST_OBJECT(pipeline));
}
if(uridecodebin){
gst_object_unref(GST_OBJECT(uridecodebin));
}
if(color){
gst_object_unref(GST_OBJECT(color));
}
if(sink){
gst_object_unref(GST_OBJECT(sink));
}
if(buffer)
gst_buffer_unref(buffer);
if(frame) {
frame->imageData = 0;
cvReleaseImage(&frame);
}
if(caps){
gst_caps_unref(caps);
}
if(buffer_caps){
gst_caps_unref(buffer_caps);
}
#if GST_VERSION_MAJOR > 0
if(sample){
gst_sample_unref(sample);
}
#endif
}
/*!
* \brief CvCapture_GStreamer::grabFrame
* \return
* Grabs a sample from the pipeline, awaiting consumation by retreiveFrame.
* The pipeline is started if it was not running yet
*/
bool CvCapture_GStreamer::grabFrame()
{
if(!pipeline)
return false;
// start the pipeline if it was not in playing state yet
if(!this->isPipelinePlaying())
this->startPipeline();
// bail out if EOS
if(gst_app_sink_is_eos(GST_APP_SINK(sink)))
return false;
#if GST_VERSION_MAJOR == 0
if(buffer)
gst_buffer_unref(buffer);
buffer = gst_app_sink_pull_buffer(GST_APP_SINK(sink));
#else
if(sample)
gst_sample_unref(sample);
sample = gst_app_sink_pull_sample(GST_APP_SINK(sink));
if(!sample)
return false;
buffer = gst_sample_get_buffer(sample);
#endif
if(!buffer)
return false;
return true;
}
/*!
* \brief CvCapture_GStreamer::retrieveFrame
* \return IplImage pointer. [Transfer Full]
* Retreive the previously grabbed buffer, and wrap it in an IPLImage structure
*/
IplImage * CvCapture_GStreamer::retrieveFrame(int)
{
if(!buffer)
return 0;
//construct a frame header if we did not have any yet
if(!frame)
{
gint height, width;
//reuse the caps ptr
if (buffer_caps)
gst_caps_unref(buffer_caps);
#if GST_VERSION_MAJOR == 0
buffer_caps = gst_buffer_get_caps(buffer);
#else
buffer_caps = gst_sample_get_caps(sample);
#endif
// bail out in no caps
assert(gst_caps_get_size(buffer_caps) == 1);
GstStructure* structure = gst_caps_get_structure(buffer_caps, 0);
// bail out if width or height are 0
if(!gst_structure_get_int(structure, "width", &width) ||
!gst_structure_get_int(structure, "height", &height))
{
return 0;
}
int depth = 3;
#if GST_VERSION_MAJOR > 0
depth = 0;
const gchar* name = gst_structure_get_name(structure);
const gchar* format = gst_structure_get_string(structure, "format");
if (!name || !format)
return 0;
// we support 3 types of data:
// video/x-raw, format=BGR -> 8bit, 3 channels
// video/x-raw, format=GRAY8 -> 8bit, 1 channel
// video/x-bayer -> 8bit, 1 channel
// bayer data is never decoded, the user is responsible for that
// everything is 8 bit, so we just test the caps for bit depth
if (strcasecmp(name, "video/x-raw") == 0)
{
if (strcasecmp(format, "BGR") == 0) {
depth = 3;
}
else if(strcasecmp(format, "GRAY8") == 0){
depth = 1;
}
}
else if (strcasecmp(name, "video/x-bayer") == 0)
{
depth = 1;
}
#endif
if (depth > 0) {
frame = cvCreateImageHeader(cvSize(width, height), IPL_DEPTH_8U, depth);
}else{
return 0;
}
}
// gstreamer expects us to handle the memory at this point
// so we can just wrap the raw buffer and be done with it
#if GST_VERSION_MAJOR == 0
frame->imageData = (char *)GST_BUFFER_DATA(buffer);
#else
// the data ptr in GstMapInfo is only valid throughout the mapifo objects life.
// TODO: check if reusing the mapinfo object is ok.
gboolean success = gst_buffer_map(buffer,info, (GstMapFlags)GST_MAP_READ);
if (!success){
//something weird went wrong here. abort. abort.
//fprintf(stderr,"GStreamer: unable to map buffer");
return 0;
}
frame->imageData = (char*)info->data;
gst_buffer_unmap(buffer,info);
#endif
return frame;
}
/*!
* \brief CvCapture_GStreamer::isPipelinePlaying
* \return if the pipeline is currently playing.
*/
bool CvCapture_GStreamer::isPipelinePlaying()
{
GstState current, pending;
GstClockTime timeout = 5*GST_SECOND;
if(!GST_IS_ELEMENT(pipeline)){
return false;
}
GstStateChangeReturn ret = gst_element_get_state(GST_ELEMENT(pipeline),&current, &pending, timeout);
if (!ret){
//fprintf(stderr, "GStreamer: unable to query pipeline state\n");
return false;
}
return current == GST_STATE_PLAYING;
}
/*!
* \brief CvCapture_GStreamer::startPipeline
* Start the pipeline by setting it to the playing state
*/
void CvCapture_GStreamer::startPipeline()
{
CV_FUNCNAME("icvStartPipeline");
__BEGIN__;
//fprintf(stderr, "relinked, pausing\n");
if(gst_element_set_state(GST_ELEMENT(pipeline), GST_STATE_PLAYING) ==
GST_STATE_CHANGE_FAILURE) {
CV_ERROR(CV_StsError, "GStreamer: unable to start pipeline\n");
gst_object_unref(pipeline);
return;
}
//printf("state now playing\n");
handleMessage(pipeline);
__END__;
}
/*!
* \brief CvCapture_GStreamer::stopPipeline
* Stop the pipeline by setting it to NULL
*/
void CvCapture_GStreamer::stopPipeline()
{
CV_FUNCNAME("icvStopPipeline");
__BEGIN__;
//fprintf(stderr, "restarting pipeline, going to ready\n");
if(gst_element_set_state(GST_ELEMENT(pipeline), GST_STATE_NULL) ==
GST_STATE_CHANGE_FAILURE) {
CV_ERROR(CV_StsError, "GStreamer: unable to stop pipeline\n");
gst_object_unref(pipeline);
return;
}
__END__;
}
/*!
* \brief CvCapture_GStreamer::restartPipeline
* Restart the pipeline
*/
void CvCapture_GStreamer::restartPipeline()
{
handleMessage(pipeline);
this->stopPipeline();
this->startPipeline();
}
/*!
* \brief CvCapture_GStreamer::setFilter
* \param prop the property name
* \param type glib property type
* \param v1 the value
* \param v2 second value of property type requires it, else NULL
* Filter the output formats by setting appsink caps properties
*/
void CvCapture_GStreamer::setFilter(const char *prop, int type, int v1, int v2)
{
//printf("GStreamer: setFilter \n");
if(!caps || !( GST_IS_CAPS (caps) ))
{
if(type == G_TYPE_INT)
{
#if GST_VERSION_MAJOR == 0
caps = gst_caps_new_simple("video/x-raw-rgb", prop, type, v1, NULL);
#else
caps = gst_caps_new_simple("video/x-raw","format",G_TYPE_STRING,"BGR", prop, type, v1, NULL);
#endif
}
else
{
#if GST_VERSION_MAJOR == 0
caps = gst_caps_new_simple("video/x-raw-rgb", prop, type, v1, v2, NULL);
#else
caps = gst_caps_new_simple("video/x-raw","format",G_TYPE_STRING,"BGR", prop, type, v1, v2, NULL);
#endif
}
}
else
{
#if GST_VERSION_MAJOR > 0
if (! gst_caps_is_writable(caps))
caps = gst_caps_make_writable (caps);
#endif
if(type == G_TYPE_INT){
gst_caps_set_simple(caps, prop, type, v1, NULL);
}else{
gst_caps_set_simple(caps, prop, type, v1, v2, NULL);
}
}
#if GST_VERSION_MAJOR > 0
caps = gst_caps_fixate(caps);
#endif
gst_app_sink_set_caps(GST_APP_SINK(sink), caps);
//printf("filtering with %s\n", gst_caps_to_string(caps));
}
/*!
* \brief CvCapture_GStreamer::removeFilter
* \param filter filter to remove
* remove the specified filter from the appsink template caps
*/
void CvCapture_GStreamer::removeFilter(const char *filter)
{
if(!caps)
return;
#if GST_VERSION_MAJOR > 0
if (! gst_caps_is_writable(caps))
caps = gst_caps_make_writable (caps);
#endif
GstStructure *s = gst_caps_get_structure(caps, 0);
gst_structure_remove_field(s, filter);
gst_app_sink_set_caps(GST_APP_SINK(sink), caps);
}
/*!
* \brief CvCapture_GStreamer::newPad link dynamic padd
* \param pad
* \param data
* decodebin creates pads based on stream information, which is not known upfront
* on receiving the pad-added signal, we connect it to the colorspace conversion element
*/
void CvCapture_GStreamer::newPad(GstElement * /*elem*/,
GstPad *pad,
gpointer data)
{
GstPad *sinkpad;
GstElement *color = (GstElement *) data;
sinkpad = gst_element_get_static_pad (color, "sink");
if (!sinkpad){
//fprintf(stderr, "Gstreamer: no pad named sink\n");
return;
}
gst_pad_link (pad, sinkpad);
gst_object_unref (sinkpad);
}
/*!
* \brief CvCapture_GStreamer::open Open the given file with gstreamer
* \param type CvCapture type. One of CV_CAP_GSTREAMER_*
* \param filename Filename to open in case of CV_CAP_GSTREAMER_FILE
* \return boolean. Specifies if opening was succesful.
*
* In case of CV_CAP_GSTREAMER_V4L(2), a pipelin is constructed as follows:
* v4l2src ! autoconvert ! appsink
*
*
* The 'filename' parameter is not limited to filesystem paths, and may be one of the following:
*
* - a normal filesystem path:
* e.g. video.avi or /path/to/video.avi or C:\\video.avi
* - an uri:
* e.g. file:///path/to/video.avi or rtsp:///path/to/stream.asf
* - a gstreamer pipeline description:
* e.g. videotestsrc ! videoconvert ! appsink
* the appsink name should be either 'appsink0' (the default) or 'opencvsink'
*
* When dealing with a file, CvCapture_GStreamer will not drop frames if the grabbing interval
* larger than the framerate period. (Unlike the uri or manual pipeline description, which assume
* a live source)
*
* The pipeline will only be started whenever the first frame is grabbed. Setting pipeline properties
* is really slow if we need to restart the pipeline over and over again.
*
* TODO: the 'type' parameter is imo unneeded. for v4l2, filename 'v4l2:///dev/video0' can be used.
* I expect this to be the same for CV_CAP_GSTREAMER_1394. Is anyone actually still using v4l (v1)?
*
*/
bool CvCapture_GStreamer::open( int type, const char* filename )
{
CV_FUNCNAME("cvCaptureFromCAM_GStreamer");
__BEGIN__;
gst_initializer::init();
bool stream = false;
bool manualpipeline = false;
char *uri = NULL;
uridecodebin = NULL;
GstElementFactory * testfac;
if (type == CV_CAP_GSTREAMER_V4L){
testfac = gst_element_factory_find("v4lsrc");
if (!testfac){
return false;
}
g_object_unref(G_OBJECT(testfac));
filename = "v4lsrc ! "COLOR_ELEM" ! appsink";
}
if (type == CV_CAP_GSTREAMER_V4L2){
testfac = gst_element_factory_find("v4l2src");
if (!testfac){
return false;
}
g_object_unref(G_OBJECT(testfac));
filename = "v4l2src ! "COLOR_ELEM" ! appsink";
}
// test if we have a valid uri. If so, open it with an uridecodebin
// else, we might have a file or a manual pipeline.
// if gstreamer cannot parse the manual pipeline, we assume we were given and
// ordinary file path.
if(!gst_uri_is_valid(filename))
{
uri = realpath(filename, NULL);
stream = false;
if(uri)
{
uri = g_filename_to_uri(uri, NULL, NULL);
if(!uri) {
CV_WARN("GStreamer: Error opening file\n");
close();
return false;
}
}
else
{
GError *err = NULL;
uridecodebin = gst_parse_launch(filename, &err);
if(!uridecodebin) {
//fprintf(stderr, "GStreamer: Error opening bin: %s\n", err->message);
//close();
return false;
}
stream = true;
manualpipeline = true;
}
} else {
stream = true;
uri = g_strdup(filename);
}
bool element_from_uri = false;
if(!uridecodebin)
{
// At this writing, the v4l2 element (and maybe others too) does not support caps renegotiation.
// This means that we cannot use an uridecodebin when dealing with v4l2, since setting
// capture properties will not work.
// The solution (probably only until gstreamer 1.2) is to make an element from uri when dealing with v4l2.
gchar * protocol = gst_uri_get_protocol(uri);
if (!strcasecmp(protocol , "v4l2"))
{
#if GST_VERSION_MAJOR == 0
uridecodebin = gst_element_make_from_uri(GST_URI_SRC, uri, "src");
#else
uridecodebin = gst_element_make_from_uri(GST_URI_SRC, uri, "src", NULL);
#endif
element_from_uri = true;
}else{
uridecodebin = gst_element_factory_make ("uridecodebin", NULL);
g_object_set(G_OBJECT(uridecodebin),"uri",uri, NULL);
}
g_free(protocol);
if(!uridecodebin) {
//fprintf(stderr, "GStreamer: Error opening bin: %s\n", err->message);
close();
return false;
}
}
if(manualpipeline)
{
GstIterator *it = NULL;
#if GST_VERSION_MAJOR == 0
it = gst_bin_iterate_sinks(GST_BIN(uridecodebin));
if(gst_iterator_next(it, (gpointer *)&sink) != GST_ITERATOR_OK) {
CV_ERROR(CV_StsError, "GStreamer: cannot find appsink in manual pipeline\n");
return false;
}
#else
it = gst_bin_iterate_sinks (GST_BIN(uridecodebin));
gboolean done = FALSE;
GstElement *element = NULL;
gchar* name = NULL;
GValue value = G_VALUE_INIT;
while (!done) {
switch (gst_iterator_next (it, &value)) {
case GST_ITERATOR_OK:
element = GST_ELEMENT (g_value_get_object (&value));
name = gst_element_get_name(element);
if (name){
if(strstr(name, "opencvsink") != NULL || strstr(name, "appsink") != NULL) {
sink = GST_ELEMENT ( gst_object_ref (element) );
done = TRUE;
}
g_free(name);
}
g_value_unset (&value);
break;
case GST_ITERATOR_RESYNC:
gst_iterator_resync (it);
break;
case GST_ITERATOR_ERROR:
case GST_ITERATOR_DONE:
done = TRUE;
break;
}
}
gst_iterator_free (it);
if (!sink){
CV_ERROR(CV_StsError, "GStreamer: cannot find appsink in manual pipeline\n");
return false;
}
#endif
pipeline = uridecodebin;
}
else
{
pipeline = gst_pipeline_new (NULL);
// videoconvert (in 0.10: ffmpegcolorspace) automatically selects the correct colorspace
// conversion based on caps.
color = gst_element_factory_make(COLOR_ELEM, NULL);
sink = gst_element_factory_make("appsink", NULL);
gst_bin_add_many(GST_BIN(pipeline), uridecodebin, color, sink, NULL);
if(element_from_uri) {
if(!gst_element_link(uridecodebin, color)) {
CV_ERROR(CV_StsError, "GStreamer: cannot link color -> sink\n");
gst_object_unref(pipeline);
return false;
}
}else{
g_signal_connect(uridecodebin, "pad-added", G_CALLBACK(newPad), color);
}
if(!gst_element_link(color, sink)) {
CV_ERROR(CV_StsError, "GStreamer: cannot link color -> sink\n");
gst_object_unref(pipeline);
return false;
}
}
//TODO: is 1 single buffer really high enough?
gst_app_sink_set_max_buffers (GST_APP_SINK(sink), 1);
gst_app_sink_set_drop (GST_APP_SINK(sink), stream);
//do not emit signals: all calls will be synchronous and blocking
gst_app_sink_set_emit_signals (GST_APP_SINK(sink), 0);
#if GST_VERSION_MAJOR == 0
caps = gst_caps_new_simple("video/x-raw-rgb",
"red_mask", G_TYPE_INT, 0x0000FF,
"green_mask", G_TYPE_INT, 0x00FF00,
"blue_mask", G_TYPE_INT, 0xFF0000,
NULL);
#else
// support 1 and 3 channel 8 bit data, as well as bayer (also 1 channel, 8bit)
caps = gst_caps_from_string("video/x-raw, format=(string){BGR, GRAY8}; video/x-bayer,format=(string){rggb,bggr,grbg,gbrg}");
#endif
gst_app_sink_set_caps(GST_APP_SINK(sink), caps);
gst_caps_unref(caps);
//we do not start recording here just yet.
// the user probably wants to set capture properties first, so start recording whenever the first frame is requested
__END__;
return true;
}
/*!
* \brief CvCapture_GStreamer::getProperty retreive the requested property from the pipeline
* \param propId requested property
* \return property value
*
* There are two ways the properties can be retreived. For seek-based properties we can query the pipeline.
* For frame-based properties, we use the caps of the lasst receivef sample. This means that some properties
* are not available until a first frame was received
*/
double CvCapture_GStreamer::getProperty( int propId )
{
GstFormat format;
gint64 value;
gboolean status;
#if GST_VERSION_MAJOR == 0
#define FORMAT &format
#else
#define FORMAT format
#endif
if(!pipeline) {
CV_WARN("GStreamer: no pipeline");
return false;
}
switch(propId) {
case CV_CAP_PROP_POS_MSEC:
format = GST_FORMAT_TIME;
status = gst_element_query_position(sink, FORMAT, &value);
if(!status) {
CV_WARN("GStreamer: unable to query position of stream");
return false;
}
return value * 1e-6; // nano seconds to milli seconds
case CV_CAP_PROP_POS_FRAMES:
format = GST_FORMAT_DEFAULT;
status = gst_element_query_position(sink, FORMAT, &value);
if(!status) {
CV_WARN("GStreamer: unable to query position of stream");
return false;
}
return value;
case CV_CAP_PROP_POS_AVI_RATIO:
format = GST_FORMAT_PERCENT;
status = gst_element_query_position(sink, FORMAT, &value);
if(!status) {
CV_WARN("GStreamer: unable to query position of stream");
return false;
}
return ((double) value) / GST_FORMAT_PERCENT_MAX;
case CV_CAP_PROP_FRAME_WIDTH: {
if (!buffer_caps){
CV_WARN("GStreamer: unable to query width of frame; no frame grabbed yet");
return 0;
}
GstStructure* structure = gst_caps_get_structure(buffer_caps, 0);
gint width = 0;
if(!gst_structure_get_int(structure, "width", &width)){
CV_WARN("GStreamer: unable to query width of frame");
return 0;
}
return width;
break;
}
case CV_CAP_PROP_FRAME_HEIGHT: {
if (!buffer_caps){
CV_WARN("GStreamer: unable to query height of frame; no frame grabbed yet");
return 0;
}
GstStructure* structure = gst_caps_get_structure(buffer_caps, 0);
gint height = 0;
if(!gst_structure_get_int(structure, "height", &height)){
CV_WARN("GStreamer: unable to query height of frame");
return 0;
}
return height;
break;
}
case CV_CAP_PROP_FPS: {
if (!buffer_caps){
CV_WARN("GStreamer: unable to query framerate of stream; no frame grabbed yet");
return 0;
}
GstStructure* structure = gst_caps_get_structure(buffer_caps, 0);
gint num = 0, denom=1;
if(!gst_structure_get_fraction(structure, "framerate", &num, &denom)){
CV_WARN("GStreamer: unable to query framerate of stream");
return 0;
}
return (double)num/(double)denom;
break;
}
case CV_CAP_PROP_FOURCC:
break;
case CV_CAP_PROP_FRAME_COUNT:
format = GST_FORMAT_DEFAULT;
status = gst_element_query_position(sink, FORMAT, &value);
if(!status) {
CV_WARN("GStreamer: unable to query position of stream");
return false;
}
return value;
case CV_CAP_PROP_FORMAT:
case CV_CAP_PROP_MODE:
case CV_CAP_PROP_BRIGHTNESS:
case CV_CAP_PROP_CONTRAST:
case CV_CAP_PROP_SATURATION:
case CV_CAP_PROP_HUE:
case CV_CAP_PROP_GAIN:
case CV_CAP_PROP_CONVERT_RGB:
break;
case CV_CAP_GSTREAMER_QUEUE_LENGTH:
if(!sink) {
CV_WARN("GStreamer: there is no sink yet");
return false;
}
return gst_app_sink_get_max_buffers(GST_APP_SINK(sink));
default:
CV_WARN("GStreamer: unhandled property");
break;
}
#undef FORMAT
return false;
}
/*!
* \brief CvCapture_GStreamer::setProperty
* \param propId
* \param value
* \return success
* Sets the desired property id with val. If the pipeline is running,
* it is briefly stopped and started again after the property was set
*/
bool CvCapture_GStreamer::setProperty( int propId, double value )
{
GstFormat format;
GstSeekFlags flags;
if(!pipeline) {
CV_WARN("GStreamer: no pipeline");
return false;
}
bool wasPlaying = this->isPipelinePlaying();
if (wasPlaying)
this->stopPipeline();
switch(propId) {
case CV_CAP_PROP_POS_MSEC:
format = GST_FORMAT_TIME;
flags = (GstSeekFlags) (GST_SEEK_FLAG_FLUSH|GST_SEEK_FLAG_ACCURATE);
if(!gst_element_seek_simple(GST_ELEMENT(pipeline), format,
flags, (gint64) (value * GST_MSECOND))) {
CV_WARN("GStreamer: unable to seek");
}
break;
case CV_CAP_PROP_POS_FRAMES:
format = GST_FORMAT_DEFAULT;
flags = (GstSeekFlags) (GST_SEEK_FLAG_FLUSH|GST_SEEK_FLAG_ACCURATE);
if(!gst_element_seek_simple(GST_ELEMENT(pipeline), format,
flags, (gint64) value)) {
CV_WARN("GStreamer: unable to seek");
}
break;
case CV_CAP_PROP_POS_AVI_RATIO:
format = GST_FORMAT_PERCENT;
flags = (GstSeekFlags) (GST_SEEK_FLAG_FLUSH|GST_SEEK_FLAG_ACCURATE);
if(!gst_element_seek_simple(GST_ELEMENT(pipeline), format,
flags, (gint64) (value * GST_FORMAT_PERCENT_MAX))) {
CV_WARN("GStreamer: unable to seek");
}
break;
case CV_CAP_PROP_FRAME_WIDTH:
if(value > 0)
setFilter("width", G_TYPE_INT, (int) value, 0);
else
removeFilter("width");
break;
case CV_CAP_PROP_FRAME_HEIGHT:
if(value > 0)
setFilter("height", G_TYPE_INT, (int) value, 0);
else
removeFilter("height");
break;
case CV_CAP_PROP_FPS:
if(value > 0) {
double num=0, denom = 1;
toFraction(value, num, denom);
setFilter("framerate", GST_TYPE_FRACTION, value, denom);
} else
removeFilter("framerate");
break;
case CV_CAP_PROP_FOURCC:
case CV_CAP_PROP_FRAME_COUNT:
case CV_CAP_PROP_FORMAT:
case CV_CAP_PROP_MODE:
case CV_CAP_PROP_BRIGHTNESS:
case CV_CAP_PROP_CONTRAST:
case CV_CAP_PROP_SATURATION:
case CV_CAP_PROP_HUE:
case CV_CAP_PROP_GAIN:
case CV_CAP_PROP_CONVERT_RGB:
break;
case CV_CAP_GSTREAMER_QUEUE_LENGTH:
if(!sink)
break;
gst_app_sink_set_max_buffers(GST_APP_SINK(sink), (guint) value);
break;
default:
CV_WARN("GStreamer: unhandled property");
}
if (wasPlaying)
this->startPipeline();
return false;
}
/*!
* \brief cvCreateCapture_GStreamer
* \param type
* \param filename
* \return
*/
CvCapture* cvCreateCapture_GStreamer(int type, const char* filename )
{
CvCapture_GStreamer* capture = new CvCapture_GStreamer;
if( capture->open( type, filename ))
return capture;
delete capture;
return 0;
}
/*!
* \brief The CvVideoWriter_GStreamer class
* Use Gstreamer to write video
*/
class CvVideoWriter_GStreamer : public CvVideoWriter
{
public:
CvVideoWriter_GStreamer() { init(); }
virtual ~CvVideoWriter_GStreamer() { close(); }
virtual bool open( const char* filename, int fourcc,
double fps, CvSize frameSize, bool isColor );
virtual void close();
virtual bool writeFrame( const IplImage* image );
protected:
void init();
const char* filenameToMimetype(const char* filename);
GstElement* pipeline;
GstElement* source;
GstElement* encodebin;
GstElement* file;
GstBuffer* buffer;
int input_pix_fmt;
int num_frames;
double framerate;
};
/*!
* \brief CvVideoWriter_GStreamer::init
* initialise all variables
*/
void CvVideoWriter_GStreamer::init()
{
pipeline = NULL;
source = NULL;
encodebin = NULL;
file = NULL;
buffer = NULL;
num_frames = 0;
framerate = 0;
}
/*!
* \brief CvVideoWriter_GStreamer::close
* ends the pipeline by sending EOS and destroys the pipeline and all
* elements afterwards
*/
void CvVideoWriter_GStreamer::close()
{
if (pipeline)
{
gst_app_src_end_of_stream(GST_APP_SRC(source));
//wait for EOS to trickle down the pipeline. This will let all elements finish properly
GstBus* bus = gst_element_get_bus(pipeline);
GstMessage *msg = gst_bus_timed_pop_filtered(bus, GST_CLOCK_TIME_NONE, (GstMessageType)(GST_MESSAGE_ERROR | GST_MESSAGE_EOS));
if(msg != NULL){
gst_message_unref(msg);
g_object_unref(G_OBJECT(bus));
}
gst_element_set_state (pipeline, GST_STATE_NULL);
handleMessage(pipeline);
gst_object_unref (GST_OBJECT (pipeline));
if (source)
gst_object_unref (GST_OBJECT (source));
if (file)
gst_object_unref (GST_OBJECT (file));
}
}
/*!
* \brief CvVideoWriter_GStreamer::filenameToMimetype
* \param filename
* \return mimetype
* Resturns a container mime type for a given filename by looking at it's extension
*/
const char* CvVideoWriter_GStreamer::filenameToMimetype(const char *filename)
{
//get extension
const char *ext = strrchr(filename, '.');
if(!ext || ext == filename) return NULL;
ext += 1; //exclude the dot
// return a container mime based on the given extension.
// gstreamer's function returns too much possibilities, which is not useful to us
//return the appropriate mime
if (strncasecmp(ext,"avi", 3) == 0)
return (const char*)"video/x-msvideo";
if (strncasecmp(ext,"mkv", 3) == 0 || strncasecmp(ext,"mk3d",4) == 0 || strncasecmp(ext,"webm",4) == 0 )
return (const char*)"video/x-matroska";
if (strncasecmp(ext,"wmv", 3) == 0)
return (const char*)"video/x-ms-asf";
if (strncasecmp(ext,"mov", 3) == 0)
return (const char*)"video/x-quicktime";
if (strncasecmp(ext,"ogg", 3) == 0 || strncasecmp(ext,"ogv", 3) == 0)
return (const char*)"application/ogg";
if (strncasecmp(ext,"rm", 3) == 0)
return (const char*)"vnd.rn-realmedia";
if (strncasecmp(ext,"swf", 3) == 0)
return (const char*)"application/x-shockwave-flash";
if (strncasecmp(ext,"mp4", 3) == 0)
return (const char*)"video/x-quicktime, variant=(string)iso";
//default to avi
return (const char*)"video/x-msvideo";
}
/*!
* \brief CvVideoWriter_GStreamer::open
* \param filename filename to output to
* \param fourcc desired codec fourcc
* \param fps desired framerate
* \param frameSize the size of the expected frames
* \param is_color color or grayscale
* \return success
*
* We support 2 modes of operation. Either the user enters a filename and a fourcc
* code, or enters a manual pipeline description like in CvVideoCapture_Gstreamer.
* In the latter case, we just push frames on the appsink with appropriate caps.
* In the former case, we try to deduce the correct container from the filename,
* and the correct encoder from the fourcc profile.
*
* If the file extension did was not recognize, an avi container is used
*
*/
bool CvVideoWriter_GStreamer::open( const char * filename, int fourcc,
double fps, CvSize frameSize, bool is_color )
{
CV_FUNCNAME("CvVideoWriter_GStreamer::open");
// check arguments
assert (filename);
assert (fps > 0);
assert (frameSize.width > 0 && frameSize.height > 0);
// init gstreamer
gst_initializer::init();
// init vars
bool manualpipeline = true;
int bufsize = 0;
GError *err = NULL;
const char* mime = NULL;
GstStateChangeReturn stateret;
GstCaps* caps = NULL;
GstCaps* videocaps = NULL;
#if FULL_GST_VERSION >= VERSION_NUM(0,10,32)
GstCaps* containercaps = NULL;
GstEncodingContainerProfile* containerprofile = NULL;
GstEncodingVideoProfile* videoprofile = NULL;
#endif
GstIterator *it = NULL;
// we first try to construct a pipeline from the given string.
// if that fails, we assume it is an ordinary filename
__BEGIN__;
encodebin = gst_parse_launch(filename, &err);
if(!encodebin) {
manualpipeline = false;
}
if(manualpipeline)
{
#if GST_VERSION_MAJOR == 0
it = gst_bin_iterate_sources(GST_BIN(encodebin));
if(gst_iterator_next(it, (gpointer *)&source) != GST_ITERATOR_OK) {
CV_ERROR(CV_StsError, "GStreamer: cannot find appsink in manual pipeline\n");
return false;
}
#else
it = gst_bin_iterate_sources (GST_BIN(encodebin));
gboolean done = FALSE;
GstElement *element = NULL;
gchar* name = NULL;
GValue value = G_VALUE_INIT;
while (!done) {
switch (gst_iterator_next (it, &value)) {
case GST_ITERATOR_OK:
element = GST_ELEMENT (g_value_get_object (&value));
name = gst_element_get_name(element);
if (name){
if(strstr(name, "opencvsrc") != NULL || strstr(name, "appsrc") != NULL) {
source = GST_ELEMENT ( gst_object_ref (element) );
done = TRUE;
}
g_free(name);
}
g_value_unset (&value);
break;
case GST_ITERATOR_RESYNC:
gst_iterator_resync (it);
break;
case GST_ITERATOR_ERROR:
case GST_ITERATOR_DONE:
done = TRUE;
break;
}
}
gst_iterator_free (it);
if (!source){
CV_ERROR(CV_StsError, "GStreamer: cannot find appsrc in manual pipeline\n");
return false;
}
#endif
pipeline = encodebin;
}
else
{
pipeline = gst_pipeline_new (NULL);
// we just got a filename and a fourcc code.
// first, try to guess the container from the filename
//encodebin = gst_element_factory_make("encodebin", NULL);
//proxy old non existing fourcc ids. These were used in previous opencv versions,
//but do not even exist in gstreamer any more
if (fourcc == CV_FOURCC('M','P','1','V')) fourcc = CV_FOURCC('M', 'P', 'G' ,'1');
if (fourcc == CV_FOURCC('M','P','2','V')) fourcc = CV_FOURCC('M', 'P', 'G' ,'2');
if (fourcc == CV_FOURCC('D','R','A','C')) fourcc = CV_FOURCC('d', 'r', 'a' ,'c');
//create encoder caps from fourcc
videocaps = gst_riff_create_video_caps(fourcc, NULL, NULL, NULL, NULL, NULL);
if (!videocaps){
CV_ERROR( CV_StsUnsupportedFormat, "Gstreamer Opencv backend does not support this codec.");
}
//create container caps from file extension
mime = filenameToMimetype(filename);
if (!mime) {
CV_ERROR( CV_StsUnsupportedFormat, "Gstreamer Opencv backend does not support this file type.");
}
#if FULL_GST_VERSION >= VERSION_NUM(0,10,32)
containercaps = gst_caps_from_string(mime);
//create encodebin profile
containerprofile = gst_encoding_container_profile_new("container", "container", containercaps, NULL);
videoprofile = gst_encoding_video_profile_new(videocaps, NULL, NULL, 1);
gst_encoding_container_profile_add_profile(containerprofile, (GstEncodingProfile *) videoprofile);
#endif
//create pipeline elements
encodebin = gst_element_factory_make("encodebin", NULL);
#if FULL_GST_VERSION >= VERSION_NUM(0,10,32)
g_object_set(G_OBJECT(encodebin), "profile", containerprofile, NULL);
#endif
source = gst_element_factory_make("appsrc", NULL);
file = gst_element_factory_make("filesink", NULL);
g_object_set(G_OBJECT(file), "location", filename, NULL);
}
if (is_color)
{
input_pix_fmt = GST_VIDEO_FORMAT_BGR;
bufsize = frameSize.width * frameSize.height * 3;
#if GST_VERSION_MAJOR == 0
caps = gst_video_format_new_caps(GST_VIDEO_FORMAT_BGR,
frameSize.width,
frameSize.height,
int(fps), 1,
1, 1);
#else
caps = gst_caps_new_simple("video/x-raw",
"format", G_TYPE_STRING, "BGR",
"width", G_TYPE_INT, frameSize.width,
"height", G_TYPE_INT, frameSize.height,
"framerate", GST_TYPE_FRACTION, int(fps), 1,
NULL);
caps = gst_caps_fixate(caps);
#endif
}
else
{
#if FULL_GST_VERSION >= VERSION_NUM(0,10,29)
input_pix_fmt = GST_VIDEO_FORMAT_GRAY8;
bufsize = frameSize.width * frameSize.height;
#if GST_VERSION_MAJOR == 0
caps = gst_video_format_new_caps(GST_VIDEO_FORMAT_GRAY8,
frameSize.width,
frameSize.height,
int(fps), 1,
1, 1);
#else
caps = gst_caps_new_simple("video/x-raw",
"format", G_TYPE_STRING, "GRAY8",
"width", G_TYPE_INT, frameSize.width,
"height", G_TYPE_INT, frameSize.height,
"framerate", GST_TYPE_FRACTION, int(fps), 1,
NULL);
caps = gst_caps_fixate(caps);
#endif
#else
CV_Assert(!"Gstreamer 0.10.29 or newer is required for grayscale input");
#endif
}
gst_app_src_set_caps(GST_APP_SRC(source), caps);
gst_app_src_set_stream_type(GST_APP_SRC(source), GST_APP_STREAM_TYPE_STREAM);
gst_app_src_set_size (GST_APP_SRC(source), -1);
g_object_set(G_OBJECT(source), "format", GST_FORMAT_TIME, NULL);
g_object_set(G_OBJECT(source), "block", 1, NULL);
g_object_set(G_OBJECT(source), "is-live", 0, NULL);
g_object_set(G_OBJECT(source), "emit-signals", 1, NULL);
if(!manualpipeline)
{
g_object_set(G_OBJECT(file), "buffer-size", bufsize, NULL);
gst_bin_add_many(GST_BIN(pipeline), source, encodebin, file, NULL);
if(!gst_element_link_many(source, encodebin, file, NULL)) {
CV_ERROR(CV_StsError, "GStreamer: cannot link elements\n");
}
}
stateret = gst_element_set_state(GST_ELEMENT(pipeline), GST_STATE_PLAYING);
if(stateret == GST_STATE_CHANGE_FAILURE) {
CV_ERROR(CV_StsError, "GStreamer: cannot put pipeline to play\n");
}
handleMessage(pipeline);
framerate = fps;
num_frames = 0;
__END__;
return true;
}
/*!
* \brief CvVideoWriter_GStreamer::writeFrame
* \param image
* \return
* Pushes the given frame on the pipeline.
* The timestamp for the buffer is generated from the framerate set in open
* and ensures a smooth video
*/
bool CvVideoWriter_GStreamer::writeFrame( const IplImage * image )
{
CV_FUNCNAME("CvVideoWriter_GStreamer::writerFrame");
GstClockTime duration, timestamp;
GstFlowReturn ret;
int size;
__BEGIN__;
handleMessage(pipeline);
if (input_pix_fmt == GST_VIDEO_FORMAT_BGR) {
if (image->nChannels != 3 || image->depth != IPL_DEPTH_8U) {
CV_ERROR(CV_StsUnsupportedFormat, "cvWriteFrame() needs images with depth = IPL_DEPTH_8U and nChannels = 3.");
}
}
#if FULL_GST_VERSION >= VERSION_NUM(0,10,29)
else if (input_pix_fmt == GST_VIDEO_FORMAT_GRAY8) {
if (image->nChannels != 1 || image->depth != IPL_DEPTH_8U) {
CV_ERROR(CV_StsUnsupportedFormat, "cvWriteFrame() needs images with depth = IPL_DEPTH_8U and nChannels = 1.");
}
}
#endif
else {
assert(false);
}
size = image->imageSize;
duration = ((double)1/framerate) * GST_SECOND;
timestamp = num_frames * duration;
//gst_app_src_push_buffer takes ownership of the buffer, so we need to supply it a copy
#if GST_VERSION_MAJOR == 0
buffer = gst_buffer_new_and_alloc (size);
memcpy(GST_BUFFER_DATA (buffer), (guint8*)image->imageData, size);
GST_BUFFER_DURATION(buffer) = duration;
GST_BUFFER_TIMESTAMP(buffer) = timestamp;
#else
buffer = gst_buffer_new_allocate (NULL, size, NULL);
GstMapInfo info;
gst_buffer_map(buffer, &info, (GstMapFlags)GST_MAP_READ);
memcpy(info.data, (guint8*)image->imageData, size);
gst_buffer_unmap(buffer, &info);
GST_BUFFER_DURATION(buffer) = duration;
GST_BUFFER_PTS(buffer) = timestamp;
GST_BUFFER_DTS(buffer) = timestamp;
#endif
//set the current number in the frame
GST_BUFFER_OFFSET(buffer) = num_frames;
ret = gst_app_src_push_buffer(GST_APP_SRC(source), buffer);
if (ret != GST_FLOW_OK) {
/* something wrong, stop pushing */
assert(false);
}
//gst_debug_bin_to_dot_file (GST_BIN(pipeline), GST_DEBUG_GRAPH_SHOW_ALL, "pipeline");
++num_frames;
__END__;
return true;
}
/*!
* \brief cvCreateVideoWriter_GStreamer
* \param filename
* \param fourcc
* \param fps
* \param frameSize
* \param isColor
* \return
* Constructor
*/
CvVideoWriter* cvCreateVideoWriter_GStreamer(const char* filename, int fourcc, double fps,
CvSize frameSize, int isColor )
{
CvVideoWriter_GStreamer* wrt = new CvVideoWriter_GStreamer;
if( wrt->open(filename, fourcc, fps,frameSize, isColor))
return wrt;
delete wrt;
return 0;
}
// utility functions
/*!
* \brief toFraction
* \param decimal
* \param numerator
* \param denominator
* Split a floating point value into numerator and denominator
*/
void toFraction(double decimal, double &numerator, double &denominator)
{
double dummy;
double whole;
decimal = modf (decimal, &whole);
for (denominator = 1; denominator<=100; denominator++){
if (modf(denominator * decimal, &dummy) < 0.001f)
break;
}
numerator = denominator * decimal;
}
/*!
* \brief handleMessage
* Handles gstreamer bus messages. Mainly for debugging purposes and ensuring clean shutdown on error
*/
void handleMessage(GstElement * pipeline)
{
CV_FUNCNAME("handlemessage");
GError *err = NULL;
gchar *debug = NULL;
GstBus* bus = NULL;
GstStreamStatusType tp;
GstElement * elem = NULL;
GstMessage* msg = NULL;
__BEGIN__;
bus = gst_element_get_bus(pipeline);
while(gst_bus_have_pending(bus)) {
msg = gst_bus_pop(bus);
//printf("Got %s message\n", GST_MESSAGE_TYPE_NAME(msg));
if(gst_is_missing_plugin_message(msg))
{
CV_ERROR(CV_StsError, "GStreamer: your gstreamer installation is missing a required plugin\n");
}
else
{
switch (GST_MESSAGE_TYPE (msg)) {
case GST_MESSAGE_STATE_CHANGED:
GstState oldstate, newstate, pendstate;
gst_message_parse_state_changed(msg, &oldstate, &newstate, &pendstate);
//fprintf(stderr, "state changed from %s to %s (pending: %s)\n", gst_element_state_get_name(oldstate),
// gst_element_state_get_name(newstate), gst_element_state_get_name(pendstate));
break;
case GST_MESSAGE_ERROR:
gst_message_parse_error(msg, &err, &debug);
//fprintf(stderr, "GStreamer Plugin: Embedded video playback halted; module %s reported: %s\n",
// gst_element_get_name(GST_MESSAGE_SRC (msg)), err->message);
g_error_free(err);
g_free(debug);
gst_element_set_state(GST_ELEMENT(pipeline), GST_STATE_NULL);
break;
case GST_MESSAGE_EOS:
//fprintf(stderr, "reached the end of the stream.");
break;
case GST_MESSAGE_STREAM_STATUS:
gst_message_parse_stream_status(msg,&tp,&elem);
//fprintf(stderr, "stream status: elem %s, %i\n", GST_ELEMENT_NAME(elem), tp);
break;
default:
//fprintf(stderr, "unhandled message\n");
break;
}
}
gst_message_unref(msg);
}
gst_object_unref(GST_OBJECT(bus));
__END__
}