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opencv/modules/videoio/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 <opencv2/core/utils/logger.hpp>
#include <opencv2/core/utils/filesystem.hpp>
#include <iostream>
#include <string.h>
#include <thread>
#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)
#include <gst/pbutils/encoding-profile.h>
//#include <gst/base/gsttypefindhelper.h>
#define CV_WARN(...) CV_LOG_WARNING(NULL, "OpenCV | GStreamer warning: " << __VA_ARGS__)
#define COLOR_ELEM "videoconvert"
#define COLOR_ELEM_NAME COLOR_ELEM
#define CV_GST_FORMAT(format) (format)
namespace cv {
static void toFraction(double decimal, CV_OUT int& numerator, CV_OUT int& denominator);
static void handleMessage(GstElement * pipeline);
namespace {
#if defined __clang__
# pragma clang diagnostic push
# pragma clang diagnostic ignored "-Wunused-function"
#endif
template<typename T> static inline void GSafePtr_addref(T* ptr)
{
if (ptr)
g_object_ref_sink(ptr);
}
template<typename T> static inline void GSafePtr_release(T** pPtr);
template<> inline void GSafePtr_release<GError>(GError** pPtr) { g_clear_error(pPtr); }
template<> inline void GSafePtr_release<GstElement>(GstElement** pPtr) { if (pPtr) { gst_object_unref(G_OBJECT(*pPtr)); *pPtr = NULL; } }
template<> inline void GSafePtr_release<GstElementFactory>(GstElementFactory** pPtr) { if (pPtr) { gst_object_unref(G_OBJECT(*pPtr)); *pPtr = NULL; } }
template<> inline void GSafePtr_release<GstPad>(GstPad** pPtr) { if (pPtr) { gst_object_unref(G_OBJECT(*pPtr)); *pPtr = NULL; } }
template<> inline void GSafePtr_release<GstCaps>(GstCaps** pPtr) { if (pPtr) { gst_caps_unref(*pPtr); *pPtr = NULL; } }
template<> inline void GSafePtr_release<GstBuffer>(GstBuffer** pPtr) { if (pPtr) { gst_buffer_unref(*pPtr); *pPtr = NULL; } }
template<> inline void GSafePtr_release<GstSample>(GstSample** pPtr) { if (pPtr) { gst_sample_unref(*pPtr); *pPtr = NULL; } }
template<> inline void GSafePtr_release<GstBus>(GstBus** pPtr) { if (pPtr) { gst_object_unref(G_OBJECT(*pPtr)); *pPtr = NULL; } }
template<> inline void GSafePtr_release<GstMessage>(GstMessage** pPtr) { if (pPtr) { gst_message_unref(*pPtr); *pPtr = NULL; } }
template<> inline void GSafePtr_release<GMainLoop>(GMainLoop** pPtr) { if (pPtr) { g_main_loop_unref(*pPtr); *pPtr = NULL; } }
template<> inline void GSafePtr_release<GstEncodingVideoProfile>(GstEncodingVideoProfile** pPtr) { if (pPtr) { gst_encoding_profile_unref(*pPtr); *pPtr = NULL; } }
template<> inline void GSafePtr_release<GstEncodingContainerProfile>(GstEncodingContainerProfile** pPtr) { if (pPtr) { gst_object_unref(G_OBJECT(*pPtr)); *pPtr = NULL; } }
template<> inline void GSafePtr_addref<char>(char* pPtr); // declaration only. not defined. should not be used
template<> inline void GSafePtr_release<char>(char** pPtr) { if (pPtr) { g_free(*pPtr); *pPtr = NULL; } }
#if defined __clang__
# pragma clang diagnostic pop
#endif
template <typename T>
class GSafePtr
{
protected:
T* ptr;
public:
inline GSafePtr() CV_NOEXCEPT : ptr(NULL) { }
inline ~GSafePtr() CV_NOEXCEPT { release(); }
inline void release() CV_NOEXCEPT
{
#if 0
printf("release: %s:%d: %p\n", CV__TRACE_FUNCTION, __LINE__, ptr);
if (ptr) {
printf(" refcount: %d\n", (int)GST_OBJECT_REFCOUNT_VALUE(ptr)); \
}
#endif
if (ptr)
GSafePtr_release<T>(&ptr);
}
inline operator T* () CV_NOEXCEPT { return ptr; }
inline operator /*const*/ T* () const CV_NOEXCEPT { return (T*)ptr; } // there is no const correctness in Gst C API
T* get() { CV_Assert(ptr); return ptr; }
/*const*/ T* get() const { CV_Assert(ptr); return (T*)ptr; } // there is no const correctness in Gst C API
const T* operator -> () const { CV_Assert(ptr); return ptr; }
inline operator bool () const CV_NOEXCEPT { return ptr != NULL; }
inline bool operator ! () const CV_NOEXCEPT { return ptr == NULL; }
T** getRef() { CV_Assert(ptr == NULL); return &ptr; }
inline GSafePtr& reset(T* p) CV_NOEXCEPT // pass result of functions with "transfer floating" ownership
{
//printf("reset: %s:%d: %p\n", CV__TRACE_FUNCTION, __LINE__, p);
release();
if (p)
{
GSafePtr_addref<T>(p);
ptr = p;
}
return *this;
}
inline GSafePtr& attach(T* p) CV_NOEXCEPT // pass result of functions with "transfer full" ownership
{
//printf("attach: %s:%d: %p\n", CV__TRACE_FUNCTION, __LINE__, p);
release(); ptr = p; return *this;
}
inline T* detach() CV_NOEXCEPT { T* p = ptr; ptr = NULL; return p; }
inline void swap(GSafePtr& o) CV_NOEXCEPT { std::swap(ptr, o.ptr); }
private:
GSafePtr(const GSafePtr&); // = disabled
GSafePtr& operator=(const T*); // = disabled
};
} // namespace
/*!
* \brief The gst_initializer class
* Initializes gstreamer once in the whole process
*/
class gst_initializer
{
public:
static gst_initializer& init()
{
static gst_initializer g_init;
if (g_init.isFailed)
CV_Error(Error::StsError, "Can't initialize GStreamer");
return g_init;
}
private:
bool isFailed;
bool call_deinit;
bool start_loop;
GSafePtr<GMainLoop> loop;
std::thread thread;
gst_initializer() :
isFailed(false)
{
call_deinit = utils::getConfigurationParameterBool("OPENCV_VIDEOIO_GSTREAMER_CALL_DEINIT", false);
start_loop = utils::getConfigurationParameterBool("OPENCV_VIDEOIO_GSTREAMER_START_MAINLOOP", false);
GSafePtr<GError> err;
gst_init_check(NULL, NULL, err.getRef());
if (err)
{
CV_WARN("Can't initialize GStreamer: " << err->message);
isFailed = true;
return;
}
guint major, minor, micro, nano;
gst_version(&major, &minor, &micro, &nano);
if (GST_VERSION_MAJOR != major)
{
CV_WARN("incompatible GStreamer version");
isFailed = true;
return;
}
if (start_loop)
{
loop.attach(g_main_loop_new (NULL, FALSE));
thread = std::thread([this](){
g_main_loop_run (loop);
});
}
}
~gst_initializer()
{
if (call_deinit)
{
// Debug leaks: GST_LEAKS_TRACER_STACK_TRACE=1 GST_DEBUG="GST_TRACER:7" GST_TRACERS="leaks"
gst_deinit();
}
if (start_loop)
{
g_main_loop_quit(loop);
thread.join();
}
}
};
inline static
std::string get_gst_propname(int propId)
{
switch (propId)
{
case CV_CAP_PROP_BRIGHTNESS: return "brightness";
case CV_CAP_PROP_CONTRAST: return "contrast";
case CV_CAP_PROP_SATURATION: return "saturation";
case CV_CAP_PROP_HUE: return "hue";
default: return std::string();
}
}
inline static
bool is_gst_element_exists(const std::string& name)
{
GSafePtr<GstElementFactory> testfac; testfac.attach(gst_element_factory_find(name.c_str()));
return (bool)testfac;
}
//==================================================================================================
class GStreamerCapture CV_FINAL : public IVideoCapture
{
private:
GSafePtr<GstElement> pipeline;
GSafePtr<GstElement> v4l2src;
GSafePtr<GstElement> sink;
GSafePtr<GstSample> sample;
GSafePtr<GstCaps> caps;
gint64 duration;
gint width;
gint height;
double fps;
bool isPosFramesSupported;
bool isPosFramesEmulated;
gint64 emulatedFrameNumber;
public:
GStreamerCapture();
virtual ~GStreamerCapture() CV_OVERRIDE;
virtual bool grabFrame() CV_OVERRIDE;
virtual bool retrieveFrame(int /*unused*/, OutputArray dst) CV_OVERRIDE;
virtual double getProperty(int propId) const CV_OVERRIDE;
virtual bool setProperty(int propId, double value) CV_OVERRIDE;
virtual bool isOpened() const CV_OVERRIDE { return (bool)pipeline; }
virtual int getCaptureDomain() CV_OVERRIDE { return cv::CAP_GSTREAMER; }
bool open(int id);
bool open(const String &filename_);
static void newPad(GstElement * /*elem*/, GstPad *pad, gpointer data);
protected:
bool determineFrameDims(CV_OUT Size& sz, CV_OUT gint& channels, CV_OUT bool& isOutputByteBuffer);
bool isPipelinePlaying();
void startPipeline();
void stopPipeline();
void restartPipeline();
void setFilter(const char *prop, int type, int v1, int v2);
void removeFilter(const char *filter);
};
GStreamerCapture::GStreamerCapture() :
duration(-1), width(-1), height(-1), fps(-1),
isPosFramesSupported(false),
isPosFramesEmulated(false),
emulatedFrameNumber(-1)
{
}
/*!
* \brief CvCapture_GStreamer::close
* Closes the pipeline and destroys all instances
*/
GStreamerCapture::~GStreamerCapture()
{
if (isPipelinePlaying())
stopPipeline();
if (pipeline && GST_IS_ELEMENT(pipeline.get()))
{
gst_element_set_state(pipeline, GST_STATE_NULL);
pipeline.release();
}
}
/*!
* \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 GStreamerCapture::grabFrame()
{
if (!pipeline || !GST_IS_ELEMENT(pipeline.get()))
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.get())))
return false;
sample.attach(gst_app_sink_pull_sample(GST_APP_SINK(sink.get())));
if (!sample)
return false;
if (isPosFramesEmulated)
emulatedFrameNumber++;
return true;
}
/*!
* \brief CvCapture_GStreamer::retrieveFrame
* \return IplImage pointer. [Transfer Full]
* Retrieve the previously grabbed buffer, and wrap it in an IPLImage structure
*/
bool GStreamerCapture::retrieveFrame(int, OutputArray dst)
{
if (!sample)
return false;
Size sz;
gint channels = 0;
bool isOutputByteBuffer = false;
if (!determineFrameDims(sz, channels, isOutputByteBuffer))
return false;
// gstreamer expects us to handle the memory at this point
// so we can just wrap the raw buffer and be done with it
GstBuffer* buf = gst_sample_get_buffer(sample); // no lifetime transfer
if (!buf)
return false;
GstMapInfo info = {};
if (!gst_buffer_map(buf, &info, GST_MAP_READ))
{
//something weird went wrong here. abort. abort.
CV_WARN("Failed to map GStreamer buffer to system memory");
return false;
}
try
{
Mat src;
if (isOutputByteBuffer)
src = Mat(Size(info.size, 1), CV_8UC1, info.data);
else
src = Mat(sz, CV_MAKETYPE(CV_8U, channels), info.data);
CV_Assert(src.isContinuous());
src.copyTo(dst);
}
catch (...)
{
gst_buffer_unmap(buf, &info);
throw;
}
gst_buffer_unmap(buf, &info);
return true;
}
bool GStreamerCapture::determineFrameDims(Size &sz, gint& channels, bool& isOutputByteBuffer)
{
GstCaps * frame_caps = gst_sample_get_caps(sample); // no lifetime transfer
// bail out in no caps
if (!GST_CAPS_IS_SIMPLE(frame_caps))
return false;
GstStructure* structure = gst_caps_get_structure(frame_caps, 0); // no lifetime transfer
// bail out if width or height are 0
if (!gst_structure_get_int(structure, "width", &width)
|| !gst_structure_get_int(structure, "height", &height))
{
CV_WARN("Can't query frame size from GStreeamer buffer");
return false;
}
sz = Size(width, height);
const gchar* name_ = gst_structure_get_name(structure);
if (!name_)
return false;
std::string name = toLowerCase(std::string(name_));
// we support 11 types of data:
// video/x-raw, format=BGR -> 8bit, 3 channels
// video/x-raw, format=GRAY8 -> 8bit, 1 channel
// video/x-raw, format=UYVY -> 8bit, 2 channel
// video/x-raw, format=YUY2 -> 8bit, 2 channel
// video/x-raw, format=YVYU -> 8bit, 2 channel
// video/x-raw, format=NV12 -> 8bit, 1 channel (height is 1.5x larger than true height)
// video/x-raw, format=NV21 -> 8bit, 1 channel (height is 1.5x larger than true height)
// video/x-raw, format=YV12 -> 8bit, 1 channel (height is 1.5x larger than true height)
// video/x-raw, format=I420 -> 8bit, 1 channel (height is 1.5x larger than true height)
// video/x-bayer -> 8bit, 1 channel
// image/jpeg -> 8bit, mjpeg: buffer_size x 1 x 1
// 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 (name == "video/x-raw")
{
const gchar* format_ = gst_structure_get_string(structure, "format");
if (!format_)
return false;
std::string format = toUpperCase(std::string(format_));
if (format == "BGR")
{
channels = 3;
}
else if (format == "UYVY" || format == "YUY2" || format == "YVYU")
{
channels = 2;
}
else if (format == "NV12" || format == "NV21" || format == "YV12" || format == "I420")
{
channels = 1;
sz.height = sz.height * 3 / 2;
}
else if (format == "GRAY8")
{
channels = 1;
}
else
{
CV_Error_(Error::StsNotImplemented, ("Unsupported GStreamer format: %s", format.c_str()));
}
}
else if (name == "video/x-bayer")
{
channels = 1;
}
else if (name == "image/jpeg")
{
// the correct size will be set once the first frame arrives
channels = 1;
isOutputByteBuffer = true;
}
else
{
CV_Error_(Error::StsNotImplemented, ("Unsupported GStreamer layer type: %s", name.c_str()));
}
return true;
}
bool GStreamerCapture::isPipelinePlaying()
{
if (!pipeline || !GST_IS_ELEMENT(pipeline.get()))
{
CV_WARN("GStreamer: pipeline have not been created");
return false;
}
GstState current, pending;
GstClockTime timeout = 5*GST_SECOND;
GstStateChangeReturn ret = gst_element_get_state(pipeline, &current, &pending, timeout);
if (!ret)
{
CV_WARN("unable to query pipeline state");
return false;
}
return current == GST_STATE_PLAYING;
}
/*!
* \brief CvCapture_GStreamer::startPipeline
* Start the pipeline by setting it to the playing state
*/
void GStreamerCapture::startPipeline()
{
if (!pipeline || !GST_IS_ELEMENT(pipeline.get()))
{
CV_WARN("GStreamer: pipeline have not been created");
return;
}
GstStateChangeReturn status = gst_element_set_state(pipeline, GST_STATE_PLAYING);
if (status == GST_STATE_CHANGE_ASYNC)
{
// wait for status update
status = gst_element_get_state(pipeline, NULL, NULL, GST_CLOCK_TIME_NONE);
}
if (status == GST_STATE_CHANGE_FAILURE)
{
handleMessage(pipeline);
pipeline.release();
CV_WARN("unable to start pipeline");
return;
}
if (isPosFramesEmulated)
emulatedFrameNumber = 0;
handleMessage(pipeline);
}
void GStreamerCapture::stopPipeline()
{
if (!pipeline || !GST_IS_ELEMENT(pipeline.get()))
{
CV_WARN("GStreamer: pipeline have not been created");
return;
}
if (gst_element_set_state(pipeline, GST_STATE_NULL) == GST_STATE_CHANGE_FAILURE)
{
CV_WARN("unable to stop pipeline");
pipeline.release();
}
}
/*!
* \brief CvCapture_GStreamer::restartPipeline
* Restart the pipeline
*/
void GStreamerCapture::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 GStreamerCapture::setFilter(const char *prop, int type, int v1, int v2)
{
if (!caps || !(GST_IS_CAPS(caps.get())))
{
if (type == G_TYPE_INT)
{
caps.attach(gst_caps_new_simple("video/x-raw", "format", G_TYPE_STRING, "BGR", prop, type, v1, NULL));
}
else
{
caps.attach(gst_caps_new_simple("video/x-raw", "format", G_TYPE_STRING, "BGR", prop, type, v1, v2, NULL));
}
}
else
{
if (!gst_caps_is_writable(caps.get()))
caps.attach(gst_caps_make_writable(caps.detach()));
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);
}
}
caps.attach(gst_caps_fixate(caps.detach()));
gst_app_sink_set_caps(GST_APP_SINK(sink.get()), caps);
GST_LOG("filtering with caps: %" GST_PTR_FORMAT, caps.get());
}
/*!
* \brief CvCapture_GStreamer::removeFilter
* \param filter filter to remove
* remove the specified filter from the appsink template caps
*/
void GStreamerCapture::removeFilter(const char *filter)
{
if(!caps)
return;
if (!gst_caps_is_writable(caps.get()))
caps.attach(gst_caps_make_writable(caps.detach()));
GstStructure *s = gst_caps_get_structure(caps, 0); // no lifetime transfer
gst_structure_remove_field(s, filter);
caps.attach(gst_caps_fixate(caps.detach()));
gst_app_sink_set_caps(GST_APP_SINK(sink.get()), 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 GStreamerCapture::newPad(GstElement *, GstPad *pad, gpointer data)
{
GSafePtr<GstPad> sinkpad;
GstElement* color = (GstElement*)data;
sinkpad.attach(gst_element_get_static_pad(color, "sink"));
if (!sinkpad) {
CV_WARN("no pad named sink");
return;
}
gst_pad_link(pad, sinkpad.get());
}
/*!
* \brief Create GStreamer pipeline
* \param filename Filename to open in case of CV_CAP_GSTREAMER_FILE
* \return boolean. Specifies if opening was successful.
*
* In case of camera 'index', a pipeline 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'
*
* GStreamer will not drop frames if the grabbing interval larger than the framerate period.
* To support dropping for live streams add appsink 'drop' parameter into your custom pipeline.
*
* 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.
*
*/
bool GStreamerCapture::open(int id)
{
gst_initializer::init();
if (!is_gst_element_exists("v4l2src"))
return false;
std::ostringstream desc;
desc << "v4l2src device=/dev/video" << id
<< " ! " << COLOR_ELEM
<< " ! appsink drop=true";
return open(desc.str());
}
bool GStreamerCapture::open(const String &filename_)
{
gst_initializer::init();
const gchar* filename = filename_.c_str();
bool file = false;
bool manualpipeline = false;
GSafePtr<char> uri;
GSafePtr<GstElement> uridecodebin;
GSafePtr<GstElement> color;
GstStateChangeReturn status;
// 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.
CV_LOG_INFO(NULL, "OpenCV | GStreamer: " << filename);
if (!gst_uri_is_valid(filename))
{
if (utils::fs::exists(filename_))
{
GSafePtr<GError> err;
uri.attach(gst_filename_to_uri(filename, err.getRef()));
if (uri)
{
file = true;
}
else
{
CV_WARN("Error opening file: " << filename << " (" << err->message << ")");
return false;
}
}
else
{
GSafePtr<GError> err;
uridecodebin.attach(gst_parse_launch(filename, err.getRef()));
if (err)
{
CV_WARN("Error opening bin: " << err->message);
return false;
}
manualpipeline = true;
}
}
else
{
uri.attach(g_strdup(filename));
}
CV_LOG_INFO(NULL, "OpenCV | GStreamer: mode - " << (file ? "FILE" : manualpipeline ? "MANUAL" : "URI"));
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.
GSafePtr<gchar> protocol_; protocol_.attach(gst_uri_get_protocol(uri));
CV_Assert(protocol_);
std::string protocol = toLowerCase(std::string(protocol_.get()));
if (protocol == "v4l2")
{
uridecodebin.reset(gst_element_make_from_uri(GST_URI_SRC, uri.get(), "src", NULL));
CV_Assert(uridecodebin);
element_from_uri = true;
}
else
{
uridecodebin.reset(gst_element_factory_make("uridecodebin", NULL));
CV_Assert(uridecodebin);
g_object_set(G_OBJECT(uridecodebin.get()), "uri", uri.get(), NULL);
}
if (!uridecodebin)
{
CV_WARN("Can not parse GStreamer URI bin");
return false;
}
}
if (manualpipeline)
{
GstIterator *it = gst_bin_iterate_elements(GST_BIN(uridecodebin.get()));
gboolean done = false;
GValue value = G_VALUE_INIT;
while (!done)
{
GstElement *element = NULL;
GSafePtr<gchar> name;
switch (gst_iterator_next (it, &value))
{
case GST_ITERATOR_OK:
element = GST_ELEMENT (g_value_get_object (&value));
name.attach(gst_element_get_name(element));
if (name)
{
if (strstr(name, "opencvsink") != NULL || strstr(name, "appsink") != NULL)
{
sink.attach(GST_ELEMENT(gst_object_ref(element)));
}
else if (strstr(name, COLOR_ELEM_NAME) != NULL)
{
color.attach(GST_ELEMENT(gst_object_ref(element)));
}
else if (strstr(name, "v4l") != NULL)
{
v4l2src.attach(GST_ELEMENT(gst_object_ref(element)));
}
name.release();
done = sink && color && v4l2src;
}
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_WARN("cannot find appsink in manual pipeline");
return false;
}
pipeline.swap(uridecodebin);
}
else
{
pipeline.reset(gst_pipeline_new(NULL));
CV_Assert(pipeline);
// videoconvert (in 0.10: ffmpegcolorspace, in 1.x autovideoconvert)
//automatically selects the correct colorspace conversion based on caps.
color.reset(gst_element_factory_make(COLOR_ELEM, NULL));
CV_Assert(color);
sink.reset(gst_element_factory_make("appsink", NULL));
CV_Assert(sink);
gst_bin_add_many(GST_BIN(pipeline.get()), uridecodebin.get(), color.get(), sink.get(), NULL);
if (element_from_uri)
{
if(!gst_element_link(uridecodebin, color.get()))
{
CV_WARN("cannot link color -> sink");
pipeline.release();
return false;
}
}
else
{
g_signal_connect(uridecodebin, "pad-added", G_CALLBACK(newPad), color.get());
}
if (!gst_element_link(color.get(), sink.get()))
{
CV_WARN("GStreamer: cannot link color -> sink");
pipeline.release();
return false;
}
}
if (!manualpipeline || strstr(filename, " max-buffers=") == NULL)
{
//TODO: is 1 single buffer really high enough?
gst_app_sink_set_max_buffers(GST_APP_SINK(sink.get()), 1);
}
if (!manualpipeline)
{
gst_base_sink_set_sync(GST_BASE_SINK(sink.get()), FALSE);
}
//do not emit signals: all calls will be synchronous and blocking
gst_app_sink_set_emit_signals (GST_APP_SINK(sink.get()), FALSE);
caps.attach(gst_caps_from_string("video/x-raw, format=(string){BGR, GRAY8}; video/x-bayer,format=(string){rggb,bggr,grbg,gbrg}; image/jpeg"));
if (manualpipeline)
{
GSafePtr<GstCaps> peer_caps;
GSafePtr<GstPad> sink_pad;
sink_pad.attach(gst_element_get_static_pad(sink, "sink"));
peer_caps.attach(gst_pad_peer_query_caps(sink_pad, NULL));
if (!gst_caps_can_intersect(caps, peer_caps)) {
caps.attach(gst_caps_from_string("video/x-raw, format=(string){UYVY,YUY2,YVYU,NV12,NV21,YV12,I420}"));
CV_Assert(caps);
}
}
gst_app_sink_set_caps(GST_APP_SINK(sink.get()), caps);
caps.release();
{
GST_DEBUG_BIN_TO_DOT_FILE(GST_BIN(pipeline.get()), GST_DEBUG_GRAPH_SHOW_ALL, "pipeline-init");
status = gst_element_set_state(GST_ELEMENT(pipeline.get()),
file ? GST_STATE_PAUSED : GST_STATE_PLAYING);
if (status == GST_STATE_CHANGE_ASYNC)
{
// wait for status update
status = gst_element_get_state(pipeline, NULL, NULL, GST_CLOCK_TIME_NONE);
}
if (status == GST_STATE_CHANGE_FAILURE)
{
GST_DEBUG_BIN_TO_DOT_FILE(GST_BIN(pipeline.get()), GST_DEBUG_GRAPH_SHOW_ALL, "pipeline-error");
handleMessage(pipeline);
pipeline.release();
CV_WARN("unable to start pipeline");
return false;
}
GstFormat format;
format = GST_FORMAT_DEFAULT;
if(!gst_element_query_duration(sink, format, &duration))
{
handleMessage(pipeline);
CV_WARN("unable to query duration of stream");
duration = -1;
}
handleMessage(pipeline);
GSafePtr<GstPad> pad;
pad.attach(gst_element_get_static_pad(sink, "sink"));
GSafePtr<GstCaps> buffer_caps;
buffer_caps.attach(gst_pad_get_current_caps(pad));
const GstStructure *structure = gst_caps_get_structure(buffer_caps, 0); // no lifetime transfer
if (!gst_structure_get_int (structure, "width", &width) ||
!gst_structure_get_int (structure, "height", &height))
{
CV_WARN("cannot query video width/height");
}
gint num = 0, denom=1;
if (!gst_structure_get_fraction(structure, "framerate", &num, &denom))
{
CV_WARN("cannot query video fps");
}
fps = (double)num/(double)denom;
{
GstFormat format_;
gint64 value_ = -1;
gboolean status_;
format_ = GST_FORMAT_DEFAULT;
status_ = gst_element_query_position(sink, CV_GST_FORMAT(format_), &value_);
if (!status_ || value_ != 0 || duration < 0)
{
CV_WARN("Cannot query video position: status=" << status_ << ", value=" << value_ << ", duration=" << duration);
isPosFramesSupported = false;
isPosFramesEmulated = true;
emulatedFrameNumber = 0;
}
else
isPosFramesSupported = true;
}
GST_DEBUG_BIN_TO_DOT_FILE(GST_BIN(pipeline.get()), GST_DEBUG_GRAPH_SHOW_ALL, "pipeline");
}
return true;
}
/*!
* \brief CvCapture_GStreamer::getProperty retrieve the requested property from the pipeline
* \param propId requested property
* \return property value
*
* There are two ways the properties can be retrieved. For seek-based properties we can query the pipeline.
* For frame-based properties, we use the caps of the last receivef sample. This means that some properties
* are not available until a first frame was received
*/
double GStreamerCapture::getProperty(int propId) const
{
GstFormat format;
gint64 value;
gboolean status;
if(!pipeline) {
CV_WARN("GStreamer: no pipeline");
return 0;
}
switch(propId)
{
case CV_CAP_PROP_POS_MSEC:
CV_LOG_ONCE_WARNING(NULL, "OpenCV | GStreamer: CAP_PROP_POS_MSEC property result may be unrealiable: "
"https://github.com/opencv/opencv/issues/19025");
format = GST_FORMAT_TIME;
status = gst_element_query_position(sink.get(), CV_GST_FORMAT(format), &value);
if(!status) {
handleMessage(pipeline);
CV_WARN("GStreamer: unable to query position of stream");
return 0;
}
return value * 1e-6; // nano seconds to milli seconds
case CV_CAP_PROP_POS_FRAMES:
if (!isPosFramesSupported)
{
if (isPosFramesEmulated)
return emulatedFrameNumber;
return 0; // TODO getProperty() "unsupported" value should be changed
}
format = GST_FORMAT_DEFAULT;
status = gst_element_query_position(sink.get(), CV_GST_FORMAT(format), &value);
if(!status) {
handleMessage(pipeline);
CV_WARN("GStreamer: unable to query position of stream");
return 0;
}
return value;
case CV_CAP_PROP_POS_AVI_RATIO:
format = GST_FORMAT_PERCENT;
status = gst_element_query_position(sink.get(), CV_GST_FORMAT(format), &value);
if(!status) {
handleMessage(pipeline);
CV_WARN("GStreamer: unable to query position of stream");
return 0;
}
return ((double) value) / GST_FORMAT_PERCENT_MAX;
case CV_CAP_PROP_FRAME_WIDTH:
return width;
case CV_CAP_PROP_FRAME_HEIGHT:
return height;
case CV_CAP_PROP_FPS:
return fps;
case CV_CAP_PROP_FRAME_COUNT:
return duration;
case CV_CAP_PROP_BRIGHTNESS:
case CV_CAP_PROP_CONTRAST:
case CV_CAP_PROP_SATURATION:
case CV_CAP_PROP_HUE:
if (v4l2src)
{
std::string propName = get_gst_propname(propId);
if (!propName.empty())
{
gint32 val = 0;
g_object_get(G_OBJECT(v4l2src.get()), propName.c_str(), &val, NULL);
return static_cast<double>(val);
}
}
break;
case CV_CAP_GSTREAMER_QUEUE_LENGTH:
if(!sink)
{
CV_WARN("there is no sink yet");
return 0;
}
return gst_app_sink_get_max_buffers(GST_APP_SINK(sink.get()));
default:
CV_WARN("unhandled property: " << propId);
break;
}
return 0;
}
/*!
* \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 GStreamerCapture::setProperty(int propId, double value)
{
const GstSeekFlags flags = (GstSeekFlags)(GST_SEEK_FLAG_FLUSH | GST_SEEK_FLAG_ACCURATE);
if(!pipeline)
{
CV_WARN("no pipeline");
return false;
}
bool wasPlaying = this->isPipelinePlaying();
if (wasPlaying)
this->stopPipeline();
switch(propId)
{
case CV_CAP_PROP_POS_MSEC:
if(!gst_element_seek_simple(GST_ELEMENT(pipeline.get()), GST_FORMAT_TIME,
flags, (gint64) (value * GST_MSECOND))) {
handleMessage(pipeline);
CV_WARN("GStreamer: unable to seek");
}
else
{
if (isPosFramesEmulated)
{
if (value == 0)
{
emulatedFrameNumber = 0;
return true;
}
else
{
isPosFramesEmulated = false; // reset frame counter emulation
}
}
}
break;
case CV_CAP_PROP_POS_FRAMES:
{
if (!isPosFramesSupported)
{
if (isPosFramesEmulated)
{
if (value == 0)
{
restartPipeline();
emulatedFrameNumber = 0;
return true;
}
}
return false;
CV_WARN("unable to seek");
}
if(!gst_element_seek_simple(GST_ELEMENT(pipeline.get()), GST_FORMAT_DEFAULT,
flags, (gint64) value)) {
handleMessage(pipeline);
CV_WARN("GStreamer: unable to seek");
break;
}
// wait for status update
gst_element_get_state(pipeline, NULL, NULL, GST_CLOCK_TIME_NONE);
return true;
}
case CV_CAP_PROP_POS_AVI_RATIO:
if(!gst_element_seek_simple(GST_ELEMENT(pipeline.get()), GST_FORMAT_PERCENT,
flags, (gint64) (value * GST_FORMAT_PERCENT_MAX))) {
handleMessage(pipeline);
CV_WARN("GStreamer: unable to seek");
}
else
{
if (isPosFramesEmulated)
{
if (value == 0)
{
emulatedFrameNumber = 0;
return true;
}
else
{
isPosFramesEmulated = false; // reset frame counter emulation
}
}
}
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) {
int num = 0, denom = 1;
toFraction(value, num, denom);
setFilter("framerate", GST_TYPE_FRACTION, value, denom);
} else
removeFilter("framerate");
break;
case CV_CAP_PROP_BRIGHTNESS:
case CV_CAP_PROP_CONTRAST:
case CV_CAP_PROP_SATURATION:
case CV_CAP_PROP_HUE:
if (v4l2src)
{
std::string propName = get_gst_propname(propId);
if (!propName.empty())
{
gint32 val = cv::saturate_cast<gint32>(value);
g_object_set(G_OBJECT(v4l2src.get()), propName.c_str(), &val, NULL);
return true;
}
}
return false;
case CV_CAP_PROP_GAIN:
case CV_CAP_PROP_CONVERT_RGB:
break;
case CV_CAP_GSTREAMER_QUEUE_LENGTH:
{
if(!sink)
{
CV_WARN("there is no sink yet");
return false;
}
gst_app_sink_set_max_buffers(GST_APP_SINK(sink.get()), (guint) value);
return true;
}
default:
CV_WARN("GStreamer: unhandled property");
}
if (wasPlaying)
this->startPipeline();
return false;
}
Ptr<IVideoCapture> createGStreamerCapture_file(const String& filename)
{
Ptr<GStreamerCapture> cap = makePtr<GStreamerCapture>();
if (cap && cap->open(filename))
return cap;
return Ptr<IVideoCapture>();
}
Ptr<IVideoCapture> createGStreamerCapture_cam(int index)
{
Ptr<GStreamerCapture> cap = makePtr<GStreamerCapture>();
if (cap && cap->open(index))
return cap;
return Ptr<IVideoCapture>();
}
//==================================================================================================
/*!
* \brief The CvVideoWriter_GStreamer class
* Use GStreamer to write video
*/
class CvVideoWriter_GStreamer : public CvVideoWriter
{
public:
CvVideoWriter_GStreamer()
: ipl_depth(CV_8U)
, input_pix_fmt(0), num_frames(0), framerate(0)
{
}
virtual ~CvVideoWriter_GStreamer() CV_OVERRIDE
{
try
{
close();
}
catch (const std::exception& e)
{
CV_WARN("C++ exception in writer destructor: " << e.what());
}
catch (...)
{
CV_WARN("Unknown exception in writer destructor. Ignore");
}
}
int getCaptureDomain() const CV_OVERRIDE { return cv::CAP_GSTREAMER; }
bool open(const std::string &filename, int fourcc,
double fps, const Size &frameSize, bool isColor, int depth );
void close();
bool writeFrame( const IplImage* image ) CV_OVERRIDE;
int getIplDepth() const { return ipl_depth; }
protected:
const char* filenameToMimetype(const char* filename);
GSafePtr<GstElement> pipeline;
GSafePtr<GstElement> source;
int ipl_depth;
int input_pix_fmt;
int num_frames;
double framerate;
void close_();
};
/*!
* \brief CvVideoWriter_GStreamer::close
* ends the pipeline by sending EOS and destroys the pipeline and all
* elements afterwards
*/
void CvVideoWriter_GStreamer::close_()
{
GstStateChangeReturn status;
if (pipeline)
{
handleMessage(pipeline);
if (!(bool)source)
{
CV_WARN("No source in GStreamer pipeline. Ignore");
}
else if (gst_app_src_end_of_stream(GST_APP_SRC(source.get())) != GST_FLOW_OK)
{
CV_WARN("Cannot send EOS to GStreamer pipeline");
}
else
{
//wait for EOS to trickle down the pipeline. This will let all elements finish properly
GSafePtr<GstBus> bus; bus.attach(gst_element_get_bus(pipeline));
if (bus)
{
GSafePtr<GstMessage> msg; msg.attach(gst_bus_timed_pop_filtered(bus, GST_CLOCK_TIME_NONE, (GstMessageType)(GST_MESSAGE_ERROR | GST_MESSAGE_EOS)));
if (!msg || GST_MESSAGE_TYPE(msg.get()) == GST_MESSAGE_ERROR)
{
CV_WARN("Error during VideoWriter finalization");
handleMessage(pipeline);
}
}
else
{
CV_WARN("can't get GstBus");
}
}
status = gst_element_set_state (pipeline, GST_STATE_NULL);
if (status == GST_STATE_CHANGE_ASYNC)
{
// wait for status update
GstState st1;
GstState st2;
status = gst_element_get_state(pipeline, &st1, &st2, GST_CLOCK_TIME_NONE);
}
if (status == GST_STATE_CHANGE_FAILURE)
{
handleMessage (pipeline);
CV_WARN("Unable to stop writer pipeline");
}
}
}
void CvVideoWriter_GStreamer::close()
{
close_();
source.release();
pipeline.release();
}
/*!
* \brief filenameToMimetype
* \param filename
* \return mimetype
* Returns 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
std::string ext(ext_);
ext = toLowerCase(ext);
// 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 (ext == "avi")
return "video/x-msvideo";
if (ext == "mkv" || ext == "mk3d" || ext == "webm")
return "video/x-matroska";
if (ext == "wmv")
return "video/x-ms-asf";
if (ext == "mov")
return "video/x-quicktime";
if (ext == "ogg" || ext == "ogv")
return "application/ogg";
if (ext == "rm")
return "vnd.rn-realmedia";
if (ext == "swf")
return "application/x-shockwave-flash";
if (ext == "mp4")
return "video/x-quicktime, variant=(string)iso";
//default to avi
return "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
* \param depth the depth of the expected frames
* \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 std::string &filename, int fourcc,
double fps, const cv::Size &frameSize,
bool is_color, int depth )
{
// check arguments
CV_Assert(!filename.empty());
CV_Assert(fps > 0);
CV_Assert(frameSize.width > 0 && frameSize.height > 0);
// init gstreamer
gst_initializer::init();
// init vars
GSafePtr<GstElement> file;
GSafePtr<GstElement> encodebin;
bool manualpipeline = true;
int bufsize = 0;
GSafePtr<GError> err;
GstStateChangeReturn stateret;
GSafePtr<GstCaps> caps;
GstIterator* it = NULL;
gboolean done = FALSE;
// we first try to construct a pipeline from the given string.
// if that fails, we assume it is an ordinary filename
encodebin.attach(gst_parse_launch(filename.c_str(), err.getRef()));
manualpipeline = (bool)encodebin;
if (manualpipeline)
{
if (err)
{
CV_WARN("error opening writer pipeline: " << err->message);
if (encodebin)
{
gst_element_set_state(encodebin, GST_STATE_NULL);
}
handleMessage(encodebin);
encodebin.release();
return false;
}
it = gst_bin_iterate_sources (GST_BIN(encodebin.get()));
while (!done)
{
GValue value = G_VALUE_INIT;
GSafePtr<gchar> name;
GstElement* element = NULL;
switch (gst_iterator_next (it, &value)) {
case GST_ITERATOR_OK:
element = GST_ELEMENT (g_value_get_object (&value)); // no lifetime transfer
name.attach(gst_element_get_name(element));
if (name)
{
if (strstr(name.get(), "opencvsrc") != NULL || strstr(name.get(), "appsrc") != NULL)
{
source.attach(GST_ELEMENT(gst_object_ref(element)));
done = TRUE;
}
}
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_WARN("GStreamer: cannot find appsrc in manual pipeline\n");
return false;
}
pipeline.swap(encodebin);
}
else
{
err.release();
pipeline.reset(gst_pipeline_new(NULL));
// we just got a filename and a fourcc code.
// first, try to guess the container from the filename
//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
GSafePtr<GstCaps> videocaps;
videocaps.attach(gst_riff_create_video_caps(fourcc, NULL, NULL, NULL, NULL, NULL));
if (!videocaps)
{
CV_WARN("OpenCV backend does not support passed FOURCC value");
return false;
}
//create container caps from file extension
const char* mime = filenameToMimetype(filename.c_str());
if (!mime)
{
CV_WARN("OpenCV backend does not support this file type (extension): " << filename);
return false;
}
//create pipeline elements
encodebin.reset(gst_element_factory_make("encodebin", NULL));
GSafePtr<GstCaps> containercaps;
GSafePtr<GstEncodingContainerProfile> containerprofile;
GSafePtr<GstEncodingVideoProfile> videoprofile;
containercaps.attach(gst_caps_from_string(mime));
//create encodebin profile
containerprofile.attach(gst_encoding_container_profile_new("container", "container", containercaps.get(), NULL));
videoprofile.reset(gst_encoding_video_profile_new(videocaps.get(), NULL, NULL, 1));
gst_encoding_container_profile_add_profile(containerprofile.get(), (GstEncodingProfile*)videoprofile.get());
g_object_set(G_OBJECT(encodebin.get()), "profile", containerprofile.get(), NULL);
source.reset(gst_element_factory_make("appsrc", NULL));
file.reset(gst_element_factory_make("filesink", NULL));
g_object_set(G_OBJECT(file.get()), "location", (const char*)filename.c_str(), NULL);
}
int fps_num = 0, fps_denom = 1;
toFraction(fps, fps_num, fps_denom);
if (fourcc == CV_FOURCC('M','J','P','G') && frameSize.height == 1)
{
CV_Assert(depth == CV_8U);
ipl_depth = IPL_DEPTH_8U;
input_pix_fmt = GST_VIDEO_FORMAT_ENCODED;
caps.attach(gst_caps_new_simple("image/jpeg",
"framerate", GST_TYPE_FRACTION, int(fps_num), int(fps_denom),
NULL));
caps.attach(gst_caps_fixate(caps.detach()));
}
else if (is_color)
{
CV_Assert(depth == CV_8U);
ipl_depth = IPL_DEPTH_8U;
input_pix_fmt = GST_VIDEO_FORMAT_BGR;
bufsize = frameSize.width * frameSize.height * 3;
caps.attach(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, gint(fps_num), gint(fps_denom),
NULL));
CV_Assert(caps);
caps.attach(gst_caps_fixate(caps.detach()));
CV_Assert(caps);
}
else if (!is_color && depth == CV_8U)
{
ipl_depth = IPL_DEPTH_8U;
input_pix_fmt = GST_VIDEO_FORMAT_GRAY8;
bufsize = frameSize.width * frameSize.height;
caps.attach(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, gint(fps_num), gint(fps_denom),
NULL));
caps.attach(gst_caps_fixate(caps.detach()));
}
else if (!is_color && depth == CV_16U)
{
ipl_depth = IPL_DEPTH_16U;
input_pix_fmt = GST_VIDEO_FORMAT_GRAY16_LE;
bufsize = frameSize.width * frameSize.height * 2;
caps.attach(gst_caps_new_simple("video/x-raw",
"format", G_TYPE_STRING, "GRAY16_LE",
"width", G_TYPE_INT, frameSize.width,
"height", G_TYPE_INT, frameSize.height,
"framerate", GST_TYPE_FRACTION, gint(fps_num), gint(fps_denom),
NULL));
caps.attach(gst_caps_fixate(caps.detach()));
}
else
{
CV_WARN("unsupported depth=" << depth <<", and is_color=" << is_color << " combination");
pipeline.release();
return false;
}
gst_app_src_set_caps(GST_APP_SRC(source.get()), caps);
gst_app_src_set_stream_type(GST_APP_SRC(source.get()), GST_APP_STREAM_TYPE_STREAM);
gst_app_src_set_size (GST_APP_SRC(source.get()), -1);
g_object_set(G_OBJECT(source.get()), "format", GST_FORMAT_TIME, NULL);
g_object_set(G_OBJECT(source.get()), "block", 1, NULL);
g_object_set(G_OBJECT(source.get()), "is-live", 0, NULL);
if (!manualpipeline)
{
g_object_set(G_OBJECT(file.get()), "buffer-size", bufsize, NULL);
gst_bin_add_many(GST_BIN(pipeline.get()), source.get(), encodebin.get(), file.get(), NULL);
if (!gst_element_link_many(source.get(), encodebin.get(), file.get(), NULL))
{
CV_WARN("cannot link elements");
pipeline.release();
return false;
}
}
GST_DEBUG_BIN_TO_DOT_FILE(GST_BIN(pipeline.get()), GST_DEBUG_GRAPH_SHOW_ALL, "write-pipeline");
stateret = gst_element_set_state(GST_ELEMENT(pipeline.get()), GST_STATE_PLAYING);
if (stateret == GST_STATE_CHANGE_FAILURE)
{
handleMessage(pipeline);
CV_WARN("GStreamer: cannot put pipeline to play\n");
pipeline.release();
return false;
}
framerate = fps;
num_frames = 0;
handleMessage(pipeline);
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 )
{
GstClockTime duration, timestamp;
GstFlowReturn ret;
int size;
handleMessage(pipeline);
if (input_pix_fmt == GST_VIDEO_FORMAT_ENCODED) {
if (image->nChannels != 1 || image->depth != IPL_DEPTH_8U || image->height != 1) {
CV_WARN("cvWriteFrame() needs images with depth = IPL_DEPTH_8U, nChannels = 1 and height = 1.");
return false;
}
}
else
if(input_pix_fmt == GST_VIDEO_FORMAT_BGR) {
if (image->nChannels != 3 || image->depth != IPL_DEPTH_8U) {
CV_WARN("cvWriteFrame() needs images with depth = IPL_DEPTH_8U and nChannels = 3.");
return false;
}
}
else if (input_pix_fmt == GST_VIDEO_FORMAT_GRAY8) {
if (image->nChannels != 1 || image->depth != IPL_DEPTH_8U) {
CV_WARN("cvWriteFrame() needs images with depth = IPL_DEPTH_8U and nChannels = 1.");
return false;
}
}
else if (input_pix_fmt == GST_VIDEO_FORMAT_GRAY16_LE) {
if (image->nChannels != 1 || image->depth != IPL_DEPTH_16U) {
CV_WARN("cvWriteFrame() needs images with depth = IPL_DEPTH_16U and nChannels = 1.");
return false;
}
}
else {
CV_WARN("cvWriteFrame() needs BGR or grayscale images\n");
return 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
GstBuffer *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;
//set the current number in the frame
GST_BUFFER_OFFSET(buffer) = num_frames;
ret = gst_app_src_push_buffer(GST_APP_SRC(source.get()), buffer);
if (ret != GST_FLOW_OK)
{
CV_WARN("Error pushing buffer to GStreamer pipeline");
return false;
}
//GST_DEBUG_BIN_TO_DOT_FILE(GST_BIN(pipeline), GST_DEBUG_GRAPH_SHOW_ALL, "pipeline");
++num_frames;
return true;
}
Ptr<IVideoWriter> create_GStreamer_writer(const std::string& filename, int fourcc, double fps,
const cv::Size& frameSize, const VideoWriterParameters& params)
{
CvVideoWriter_GStreamer* wrt = new CvVideoWriter_GStreamer;
const bool isColor = params.get(VIDEOWRITER_PROP_IS_COLOR, true);
const int depth = params.get(VIDEOWRITER_PROP_DEPTH, CV_8U);
try
{
if (wrt->open(filename, fourcc, fps, frameSize, isColor, depth))
return makePtr<LegacyWriter>(wrt);
delete wrt;
}
catch (...)
{
delete wrt;
throw;
}
return 0;
}
// utility functions
void toFraction(const double decimal, int &numerator_i, int &denominator_i)
{
double err = 1.0;
int denominator = 1;
double numerator = 0;
for (int check_denominator = 1; ; check_denominator++)
{
double check_numerator = (double)check_denominator * decimal;
double dummy;
double check_err = modf(check_numerator, &dummy);
if (check_err < err)
{
err = check_err;
denominator = check_denominator;
numerator = check_numerator;
if (err < FLT_EPSILON)
break;
}
if (check_denominator == 100) // limit
break;
}
numerator_i = cvRound(numerator);
denominator_i = denominator;
//printf("%g: %d/%d (err=%g)\n", decimal, numerator_i, denominator_i, err);
}
/*!
* \brief handleMessage
* Handles gstreamer bus messages. Mainly for debugging purposes and ensuring clean shutdown on error
*/
void handleMessage(GstElement * pipeline)
{
GSafePtr<GstBus> bus;
GstStreamStatusType tp;
GstElement * elem = NULL;
bus.attach(gst_element_get_bus(pipeline));
while (gst_bus_have_pending(bus))
{
GSafePtr<GstMessage> msg;
msg.attach(gst_bus_pop(bus));
if (!msg || !GST_IS_MESSAGE(msg.get()))
continue;
if (gst_is_missing_plugin_message(msg))
{
CV_WARN("your GStreamer installation is missing a required plugin");
}
else
{
switch (GST_MESSAGE_TYPE (msg)) {
case GST_MESSAGE_STATE_CHANGED:
GstState oldstate, newstate, pendstate;
gst_message_parse_state_changed(msg, &oldstate, &newstate, &pendstate);
break;
case GST_MESSAGE_ERROR:
{
GSafePtr<GError> err;
GSafePtr<gchar> debug;
gst_message_parse_error(msg, err.getRef(), debug.getRef());
GSafePtr<gchar> name; name.attach(gst_element_get_name(GST_MESSAGE_SRC (msg)));
CV_WARN("Embedded video playback halted; module " << name.get() <<
" reported: " << err->message);
CV_LOG_DEBUG(NULL, "GStreamer debug: " << debug.get());
gst_element_set_state(GST_ELEMENT(pipeline), GST_STATE_NULL);
break;
}
case GST_MESSAGE_EOS:
break;
case GST_MESSAGE_STREAM_STATUS:
gst_message_parse_stream_status(msg,&tp,&elem);
break;
default:
break;
}
}
}
}
} // namespace cv
//==================================================================================================
#if defined(BUILD_PLUGIN)
#define ABI_VERSION 0
#define API_VERSION 1
#include "plugin_api.hpp"
namespace cv {
static
CvResult CV_API_CALL cv_capture_open(const char* filename, int camera_index, CV_OUT CvPluginCapture* handle)
{
if (!handle)
return CV_ERROR_FAIL;
*handle = NULL;
if (!filename)
return CV_ERROR_FAIL;
GStreamerCapture *cap = 0;
try
{
cap = new GStreamerCapture();
bool res;
if (filename)
res = cap->open(std::string(filename));
else
res = cap->open(camera_index);
if (res)
{
*handle = (CvPluginCapture)cap;
return CV_ERROR_OK;
}
}
catch (...)
{
}
if (cap)
delete cap;
return CV_ERROR_FAIL;
}
static
CvResult CV_API_CALL cv_capture_release(CvPluginCapture handle)
{
if (!handle)
return CV_ERROR_FAIL;
GStreamerCapture* instance = (GStreamerCapture*)handle;
delete instance;
return CV_ERROR_OK;
}
static
CvResult CV_API_CALL cv_capture_get_prop(CvPluginCapture handle, int prop, CV_OUT double* val)
{
if (!handle)
return CV_ERROR_FAIL;
if (!val)
return CV_ERROR_FAIL;
try
{
GStreamerCapture* instance = (GStreamerCapture*)handle;
*val = instance->getProperty(prop);
return CV_ERROR_OK;
}
catch (...)
{
return CV_ERROR_FAIL;
}
}
static
CvResult CV_API_CALL cv_capture_set_prop(CvPluginCapture handle, int prop, double val)
{
if (!handle)
return CV_ERROR_FAIL;
try
{
GStreamerCapture* instance = (GStreamerCapture*)handle;
return instance->setProperty(prop, val) ? CV_ERROR_OK : CV_ERROR_FAIL;
}
catch(...)
{
return CV_ERROR_FAIL;
}
}
static
CvResult CV_API_CALL cv_capture_grab(CvPluginCapture handle)
{
if (!handle)
return CV_ERROR_FAIL;
try
{
GStreamerCapture* instance = (GStreamerCapture*)handle;
return instance->grabFrame() ? CV_ERROR_OK : CV_ERROR_FAIL;
}
catch(...)
{
return CV_ERROR_FAIL;
}
}
static
CvResult CV_API_CALL cv_capture_retrieve(CvPluginCapture handle, int stream_idx, cv_videoio_retrieve_cb_t callback, void* userdata)
{
if (!handle)
return CV_ERROR_FAIL;
try
{
GStreamerCapture* instance = (GStreamerCapture*)handle;
Mat img;
// TODO: avoid unnecessary copying - implement lower level GStreamerCapture::retrieve
if (instance->retrieveFrame(stream_idx, img))
return callback(stream_idx, img.data, img.step, img.cols, img.rows, img.channels(), userdata);
return CV_ERROR_FAIL;
}
catch(...)
{
return CV_ERROR_FAIL;
}
}
static
CvResult CV_API_CALL cv_writer_open_with_params(
const char* filename, int fourcc, double fps, int width, int height,
int* params, unsigned n_params,
CV_OUT CvPluginWriter* handle)
{
CvVideoWriter_GStreamer* wrt = 0;
try
{
CvSize sz = { width, height };
bool isColor = true;
int depth = CV_8U;
if (params)
{
for (unsigned i = 0; i < n_params; ++i)
{
const int prop = params[i*2];
const int value = params[i*2 + 1];
switch (prop)
{
case VIDEOWRITER_PROP_IS_COLOR:
isColor = value != 0;
break;
case VIDEOWRITER_PROP_DEPTH:
depth = value;
break;
default:
// TODO emit message about non-recognized propert
// FUTURE: there should be mandatory and optional properties
return CV_ERROR_FAIL;
}
}
}
wrt = new CvVideoWriter_GStreamer();
if (wrt && wrt->open(filename, fourcc, fps, sz, isColor, depth))
{
*handle = (CvPluginWriter)wrt;
return CV_ERROR_OK;
}
}
catch(...)
{
}
if (wrt)
delete wrt;
return CV_ERROR_FAIL;
}
static
CvResult CV_API_CALL cv_writer_open(const char* filename, int fourcc, double fps, int width, int height, int isColor,
CV_OUT CvPluginWriter* handle)
{
int params[2] = { VIDEOWRITER_PROP_IS_COLOR, isColor };
return cv_writer_open_with_params(filename, fourcc, fps, width, height, params, 1, handle);
}
static
CvResult CV_API_CALL cv_writer_release(CvPluginWriter handle)
{
if (!handle)
return CV_ERROR_FAIL;
CvVideoWriter_GStreamer* instance = (CvVideoWriter_GStreamer*)handle;
delete instance;
return CV_ERROR_OK;
}
static
CvResult CV_API_CALL cv_writer_get_prop(CvPluginWriter /*handle*/, int /*prop*/, CV_OUT double* /*val*/)
{
return CV_ERROR_FAIL;
}
static
CvResult CV_API_CALL cv_writer_set_prop(CvPluginWriter /*handle*/, int /*prop*/, double /*val*/)
{
return CV_ERROR_FAIL;
}
static
CvResult CV_API_CALL cv_writer_write(CvPluginWriter handle, const unsigned char *data, int step, int width, int height, int cn)
{
if (!handle)
return CV_ERROR_FAIL;
try
{
CvVideoWriter_GStreamer* instance = (CvVideoWriter_GStreamer*)handle;
CvSize sz = { width, height };
IplImage img;
cvInitImageHeader(&img, sz, instance->getIplDepth(), cn);
cvSetData(&img, const_cast<unsigned char*>(data), step);
return instance->writeFrame(&img) ? CV_ERROR_OK : CV_ERROR_FAIL;
}
catch(...)
{
return CV_ERROR_FAIL;
}
}
static const OpenCV_VideoIO_Plugin_API_preview plugin_api =
{
{
sizeof(OpenCV_VideoIO_Plugin_API_preview), ABI_VERSION, API_VERSION,
CV_VERSION_MAJOR, CV_VERSION_MINOR, CV_VERSION_REVISION, CV_VERSION_STATUS,
"GStreamer OpenCV Video I/O plugin"
},
{
/* 1*/CAP_GSTREAMER,
/* 2*/cv_capture_open,
/* 3*/cv_capture_release,
/* 4*/cv_capture_get_prop,
/* 5*/cv_capture_set_prop,
/* 6*/cv_capture_grab,
/* 7*/cv_capture_retrieve,
/* 8*/cv_writer_open,
/* 9*/cv_writer_release,
/* 10*/cv_writer_get_prop,
/* 11*/cv_writer_set_prop,
/* 12*/cv_writer_write
},
{
/* 13*/cv_writer_open_with_params
}
};
} // namespace
const OpenCV_VideoIO_Plugin_API_preview* opencv_videoio_plugin_init_v0(int requested_abi_version, int requested_api_version, void* /*reserved=NULL*/) CV_NOEXCEPT
{
if (requested_abi_version == ABI_VERSION && requested_api_version <= API_VERSION)
return &cv::plugin_api;
return NULL;
}
#endif // BUILD_PLUGIN
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