--- /dev/null
+/* CODE ADAPATED FOR ARDRONE NAVIGATION FROM :
+ *
+ * Libavformat API example: Output a media file in any supported
+ * libavformat format. The default codecs are used.
+ *
+ * Copyright (c) 2003 Fabrice Bellard
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
+ * THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#include <generated_custom.h>
+
+/*#ifndef USE_FFMPEG_RECORDER
+#define USE_FFMPEG_RECORDER
+#endif*/
+
+#ifdef USE_FFMPEG_RECORDER
+
+/* From FFMPEG example */
+#include <stdlib.h>
+#include <stdio.h>
+#include <string.h>
+#include <math.h>
+
+#include <libavformat/avformat.h>
+#include <libswscale/swscale.h>
+#include <libavfilter/avfilter.h>
+#include <libavutil/avutil.h>
+#include <libavcodec/avcodec.h>
+#include <libavcodec/opt.h>
+
+
+#include <unistd.h>
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <fcntl.h>
+
+
+
+/* Should be in avutil.h but Ubuntu 10.04 package is too old
+ * http://cekirdek.pardus.org.tr/~ismail/ffmpeg-docs/libavutil_2avutil_8h-source.html
+ * */
+#if LIBAVUTIL_VERSION_MAJOR < 50
+#define AV_PKT_FLAG_KEY 0x0001
+enum AVMediaType {
+ AVMEDIA_TYPE_UNKNOWN = -1,
+ AVMEDIA_TYPE_VIDEO,
+ AVMEDIA_TYPE_AUDIO,
+ AVMEDIA_TYPE_DATA,
+ AVMEDIA_TYPE_SUBTITLE,
+ AVMEDIA_TYPE_ATTACHMENT,
+ AVMEDIA_TYPE_NB
+ };
+#endif
+
+
+#include <time.h>
+#ifndef _WIN32
+ #include <sys/time.h>
+#else
+ #include <sys/timeb.h>
+ #include <Winsock2.h> // for timeval structure
+
+ int gettimeofday (struct timeval *tp, void *tz)
+ {
+ struct _timeb timebuffer;
+ _ftime (&timebuffer);
+ tp->tv_sec = (long)timebuffer.time;
+ tp->tv_usec = (long)timebuffer.millitm * 1000;
+ return 0;
+ }
+#endif
+
+#include <VP_Os/vp_os_malloc.h>
+#include <VP_Api/vp_api_picture.h>
+
+#include <config.h>
+#include <ardrone_tool/Video/video_stage_ffmpeg_recorder.h>
+
+/*#ifdef USE_VIDEO_YUV
+#define VIDEO_FILE_EXTENSION "yuv"
+#else
+#define VIDEO_FILE_EXTENSION "y"
+#endif
+#define VIDEO_TIMESTAMPS_FILE_EXTENSION "time.txt"
+
+#ifndef VIDEO_FILE_DEFAULT_PATH
+#ifdef USE_ELINUX
+#define VIDEO_FILE_DEFAULT_PATH "/data/video"
+#else
+#define VIDEO_FILE_DEFAULT_PATH "."
+#endif
+#endif
+*/
+#define VIDEO_FILE_DEFAULT_PATH "."
+
+ /*- LibAVFormat variables */
+ const char *filename;
+ AVOutputFormat *fmt;
+ AVFormatContext *oc;
+ AVStream *video_st;
+ double video_pts;
+ int i;
+
+#define STREAM_FRAME_RATE (60)
+#define STREAM_BIT_RATE_KBITS 1600
+#define STREAM_PIX_FMT PIX_FMT_YUV420P /* default pix_fmt */
+
+static int sws_flags = SWS_BICUBIC;
+
+AVFrame *picture_to_encode=NULL, *tmp_picture=NULL;
+uint8_t *video_outbuf=NULL;
+int frame_count=0, video_outbuf_size=0;
+
+
+const vp_api_stage_funcs_t video_ffmpeg_recorder_funcs = {
+ (vp_api_stage_handle_msg_t) video_stage_ffmpeg_recorder_handle,
+ (vp_api_stage_open_t) video_stage_ffmpeg_recorder_open,
+ (vp_api_stage_transform_t) video_stage_ffmpeg_recorder_transform,
+ (vp_api_stage_close_t) video_stage_ffmpeg_recorder_close
+};
+
+char video_filename_ffmpeg[VIDEO_FILENAME_LENGTH];
+
+struct
+{
+ int width,height;
+ char* buffer;
+ unsigned long long int timestamp_us;
+ int frame_number;
+}previous_frame;
+
+
+/******************************************************************************************************************************************/
+
+void create_video_file(const char*filename,int width,int height)
+{
+/* auto detect the output format from the name. default is
+ mpeg. */
+ //fmt = av_guess_format(NULL, filename, NULL);
+
+#if (LIBAVFORMAT_VERSION_INT>=AV_VERSION_INT(52,81,0))
+ #define libavformat_guess_format av_guess_format
+#else
+ #define libavformat_guess_format guess_format
+#endif
+
+ fmt = libavformat_guess_format(NULL, filename, NULL);
+
+ if (!fmt) {
+ printf("Could not deduce output format from file extension: using MPEG.\n");
+ //fmt = av_guess_format("mpeg", NULL, NULL);
+ fmt = libavformat_guess_format("mpeg", NULL, NULL);
+ }
+ if (!fmt) {
+ fprintf(stderr, "Could not find suitable output format\n");
+ exit(1);
+ }
+
+ /* allocate the output media context */
+ oc = avformat_alloc_context();
+ if (!oc) {
+ fprintf(stderr, "Memory error\n");
+ exit(1);
+ }
+ oc->oformat = fmt;
+ snprintf(oc->filename, sizeof(oc->filename), "%s", filename);
+
+ /* add the audio and video streams using the default format codecs
+ and initialize the codecs */
+ video_st = NULL;
+
+ if (fmt->video_codec != CODEC_ID_NONE) {
+ video_st = add_video_stream(oc, fmt->video_codec,width,height);
+ }
+
+ /* set the output parameters (must be done even if no
+ parameters). */
+ if (av_set_parameters(oc, NULL) < 0) {
+ fprintf(stderr, "Invalid output format parameters\n");
+ exit(1);
+ }
+
+ dump_format(oc, 0, filename, 1);
+
+ /* now that all the parameters are set, we can open the audio and
+ video codecs and allocate the necessary encode buffers */
+ if (video_st)
+ open_video(oc, video_st);
+
+ /* open the output file, if needed */
+ if (!(fmt->flags & AVFMT_NOFILE)) {
+ if (url_fopen(&oc->pb, filename, URL_WRONLY) < 0) {
+ fprintf(stderr, "Could not open '%s'\n", filename);
+ exit(1);
+ }
+ }
+
+ /* write the stream header, if any */
+ av_write_header(oc);
+ }
+
+
+void close_video_file()
+{
+/* write the trailer, if any. the trailer must be written
+ * before you close the CodecContexts open when you wrote the
+ * header; otherwise write_trailer may try to use memory that
+ * was freed on av_codec_close() */
+ av_write_trailer(oc);
+
+ /* close each codec */
+ if (video_st)
+ close_video(oc, video_st);
+
+ /* free the streams */
+ for(i = 0; i < oc->nb_streams; i++) {
+ av_freep(&oc->streams[i]->codec);
+ av_freep(&oc->streams[i]);
+ }
+
+ if (!(fmt->flags & AVFMT_NOFILE)) {
+ /* close the output file */
+ url_fclose(oc->pb);
+ }
+
+ /* free the stream */
+ av_free(oc);
+}
+
+
+
+
+/**************************************************************/
+/* video output */
+
+
+
+/* add a video output stream */
+ AVStream *add_video_stream(AVFormatContext *oc, enum CodecID codec_id, int width, int height)
+{
+ AVCodecContext *c;
+ AVStream *st;
+
+ st = av_new_stream(oc, 0);
+ if (!st) {
+ fprintf(stderr, "Could not alloc stream\n");
+ exit(1);
+ }
+
+ c = st->codec;
+ c->codec_id = codec_id;
+ c->codec_type = AVMEDIA_TYPE_VIDEO;
+
+ /* put sample parameters */
+ c->bit_rate = (STREAM_BIT_RATE_KBITS)*1000;
+ /* resolution must be a multiple of two */
+ c->width = width;
+ c->height = height;
+ /* time base: this is the fundamental unit of time (in seconds) in terms
+ of which frame timestamps are represented. for fixed-fps content,
+ timebase should be 1/framerate and timestamp increments should be
+ identically 1. */
+ c->time_base.den = STREAM_FRAME_RATE;
+ c->time_base.num = 1;
+ c->gop_size = 12; /* emit one intra frame every twelve frames at most */
+ c->pix_fmt = STREAM_PIX_FMT;
+ if (c->codec_id == CODEC_ID_MPEG2VIDEO) {
+ /* just for testing, we also add B frames */
+ c->max_b_frames = 2;
+ }
+ if (c->codec_id == CODEC_ID_MPEG1VIDEO){
+ /* Needed to avoid using macroblocks in which some coeffs overflow.
+ This does not happen with normal video, it just happens here as
+ the motion of the chroma plane does not match the luma plane. */
+ c->mb_decision=2;
+ }
+ // some formats want stream headers to be separate
+ if(oc->oformat->flags & AVFMT_GLOBALHEADER)
+ c->flags |= CODEC_FLAG_GLOBAL_HEADER;
+
+ return st;
+}
+
+ AVFrame *alloc_picture(enum PixelFormat pix_fmt, int width, int height)
+{
+ AVFrame *picture;
+ uint8_t *picture_buf;
+ int size;
+
+ picture = avcodec_alloc_frame();
+ if (!picture)
+ return NULL;
+ size = avpicture_get_size(pix_fmt, width, height);
+ picture_buf = av_malloc(size);
+ if (!picture_buf) {
+ av_free(picture);
+ return NULL;
+ }
+ avpicture_fill((AVPicture *)picture, picture_buf,
+ pix_fmt, width, height);
+ return picture;
+}
+
+ void open_video(AVFormatContext *oc, AVStream *st)
+{
+ AVCodec *codec;
+ AVCodecContext *c;
+
+ c = st->codec;
+
+ /* find the video encoder */
+ codec = avcodec_find_encoder(c->codec_id);
+ if (!codec) {
+ fprintf(stderr, "codec not found\n");
+ exit(1);
+ }
+
+ /* open the codec */
+ if (avcodec_open(c, codec) < 0) {
+ fprintf(stderr, "could not open codec\n");
+ exit(1);
+ }
+
+ video_outbuf = NULL;
+ if (!(oc->oformat->flags & AVFMT_RAWPICTURE)) {
+ /* allocate output buffer */
+ /* XXX: API change will be done */
+ /* buffers passed into lav* can be allocated any way you prefer,
+ as long as they're aligned enough for the architecture, and
+ they're freed appropriately (such as using av_free for buffers
+ allocated with av_malloc) */
+ video_outbuf_size = 200000;
+ video_outbuf = av_malloc(video_outbuf_size);
+ }
+
+ /* allocate the encoded raw picture */
+ picture_to_encode = avcodec_alloc_frame();
+ //alloc_picture(c->pix_fmt, c->width, c->height);
+ /*if (!picture) {
+ fprintf(stderr, "Could not allocate picture\n");
+ exit(1);
+ }*/
+
+ /* if the output format is not YUV420P, then a temporary YUV420P
+ picture is needed too. It is then converted to the required
+ output format */
+ tmp_picture = NULL;
+ if (c->pix_fmt != PIX_FMT_YUV420P) {
+ tmp_picture = alloc_picture(PIX_FMT_YUV420P, c->width, c->height);
+ if (!tmp_picture) {
+ fprintf(stderr, "Could not allocate temporary picture\n");
+ exit(1);
+ }
+ }
+}
+
+
+ void write_video_frame(AVFormatContext *oc, AVStream *st)
+{
+ int out_size, ret;
+ AVCodecContext *c;
+ static struct SwsContext *img_convert_ctx;
+
+ //printf("Here0 \n");
+
+ c = st->codec;
+
+ if (c->pix_fmt != PIX_FMT_YUV420P) {
+ /* as we only generate a YUV420P picture, we must convert it
+ to the codec pixel format if needed */
+ if (img_convert_ctx == NULL) {
+
+ #if (LIBSWSCALE_VERSION_INT<AV_VERSION_INT(0,12,0))
+ img_convert_ctx = sws_getContext(c->width, c->height,
+ PIX_FMT_YUV420P,
+ c->width, c->height,
+ c->pix_fmt,
+ sws_flags, NULL, NULL, NULL);
+ #else
+ img_convert_ctx = sws_alloc_context();
+
+ if (img_convert_ctx == NULL) {
+ fprintf(stderr, "Cannot initialize the conversion context\n");
+ exit(1);
+ }
+
+ /* see http://permalink.gmane.org/gmane.comp.video.ffmpeg.devel/118362 */
+ /* see http://ffmpeg-users.933282.n4.nabble.com/Documentation-for-sws-init-context-td2956723.html */
+
+ av_set_int(img_convert_ctx, "srcw", c->width);
+ av_set_int(img_convert_ctx, "srch", c->height);
+
+ av_set_int(img_convert_ctx, "dstw", c->width);
+ av_set_int(img_convert_ctx, "dsth", c->height);
+
+ av_set_int(img_convert_ctx, "src_format", PIX_FMT_YUV420P);
+ av_set_int(img_convert_ctx, "dst_format", c->pix_fmt);
+
+ av_set_int(img_convert_ctx, "param0", 0);
+ av_set_int(img_convert_ctx, "param1", 0);
+
+ av_set_int(img_convert_ctx, "flags", sws_flags);
+
+ sws_init_context(img_convert_ctx,NULL,NULL);
+ #endif
+
+ }
+ sws_scale(img_convert_ctx, (const uint8_t* const *)tmp_picture->data,
+ tmp_picture->linesize,
+ 0, c->height, picture_to_encode->data, picture_to_encode->linesize);
+ } else {
+
+ }
+
+
+ if (oc->oformat->flags & AVFMT_RAWPICTURE) {
+ /* raw video case. The API will change slightly in the near
+ futur for that */
+ AVPacket pkt;
+ av_init_packet(&pkt);
+
+ pkt.flags |= AV_PKT_FLAG_KEY;
+ pkt.stream_index= st->index;
+ pkt.data= (uint8_t *)picture_to_encode;
+ pkt.size= sizeof(AVPicture);
+
+ ret = av_interleaved_write_frame(oc, &pkt);
+ } else {
+ /* encode the image */
+ //printf("Here1 \n");
+ out_size = avcodec_encode_video(c, video_outbuf, video_outbuf_size, picture_to_encode);
+ /* if zero size, it means the image was buffered */
+ if (out_size > 0) {
+ AVPacket pkt;
+ av_init_packet(&pkt);
+
+ if (c->coded_frame->pts != AV_NOPTS_VALUE)
+ pkt.pts= av_rescale_q(c->coded_frame->pts, c->time_base, st->time_base);
+ if(c->coded_frame->key_frame)
+ pkt.flags |= AV_PKT_FLAG_KEY;
+ pkt.stream_index= st->index;
+ pkt.data= video_outbuf;
+ pkt.size= out_size;
+
+ /* write the compressed frame in the media file */
+ ret = av_interleaved_write_frame(oc, &pkt);
+ } else {
+ ret = 0;
+ }
+ }
+ if (ret != 0) {
+ fprintf(stderr, "Error while writing video frame\n");
+ exit(1);
+ }
+ frame_count++;
+}
+
+ void close_video(AVFormatContext *oc, AVStream *st)
+{
+ avcodec_close(st->codec);
+ //av_free(picture->data[0]);
+ av_free(picture_to_encode);
+ picture_to_encode = NULL;
+ if (tmp_picture) {
+ av_free(tmp_picture->data[0]);
+ av_free(tmp_picture);
+ tmp_picture=NULL;
+ }
+ av_free(video_outbuf);
+}
+
+
+/******************************************************************************************************************************************/
+C_RESULT
+video_stage_ffmpeg_recorder_handle (video_stage_ffmpeg_recorder_config_t * cfg, PIPELINE_MSG msg_id, void *callback, void *param)
+{
+ //return (VP_SUCCESS);
+
+ printf("FFMPEG recorder message handler.\n");
+ switch (msg_id)
+ {
+ case PIPELINE_MSG_START:
+ {
+
+ if(cfg->startRec==VIDEO_RECORD_STOP)
+ cfg->startRec=VIDEO_RECORD_HOLD;
+ else
+ cfg->startRec=VIDEO_RECORD_STOP;
+ }
+ break;
+ default:
+ break;
+ }
+ return (VP_SUCCESS);
+}
+
+
+/******************************************************************************************************************************************/
+C_RESULT video_stage_ffmpeg_recorder_open(video_stage_ffmpeg_recorder_config_t *cfg)
+{
+ //return C_OK;
+
+ previous_frame.width = previous_frame.height = 0;
+ previous_frame.buffer = NULL;
+ previous_frame.timestamp_us = 0;
+ previous_frame.frame_number =0;
+
+ cfg->startRec=VIDEO_RECORD_STOP;
+
+ /* initialize libavcodec, and register all codecs and formats */
+ av_register_all();
+
+ return C_OK;
+}
+
+
+/******************************************************************************************************************************************/
+C_RESULT video_stage_ffmpeg_recorder_transform(video_stage_ffmpeg_recorder_config_t *cfg, vp_api_io_data_t *in, vp_api_io_data_t *out)
+{
+ time_t temptime;
+ struct timeval tv;
+ struct tm *atm;
+ long long int current_timestamp_us;
+ static long long int first_frame_timestamp_us=0;
+ static int frame_counter=0;
+ int i;
+ int frame_size;
+ static int flag_video_file_open=0;
+
+ vp_os_mutex_lock( &out->lock );
+ vp_api_picture_t* picture = (vp_api_picture_t *) in->buffers;
+
+ gettimeofday(&tv,NULL);
+
+ temptime = (time_t)tv.tv_sec;
+ atm = localtime(&temptime); //atm = localtime(&tv.tv_sec);
+
+ current_timestamp_us = tv.tv_sec *1000000 + tv.tv_usec;
+
+
+ if( out->status == VP_API_STATUS_INIT )
+ {
+ out->numBuffers = 1;
+ out->indexBuffer = 0;
+ out->lineSize = NULL;
+ //out->buffers = (int8_t **) vp_os_malloc( sizeof(int8_t *) );
+ }
+
+ out->size = in->size;
+ out->status = in->status;
+ out->buffers = in->buffers;
+
+ if( in->status == VP_API_STATUS_ENDED ) {
+ out->status = in->status;
+ }
+ else if(in->status == VP_API_STATUS_STILL_RUNNING) {
+ out->status = VP_API_STATUS_PROCESSING;
+ }
+ else {
+ out->status = in->status;
+ }
+
+
+
+ if(cfg->startRec==VIDEO_RECORD_HOLD)
+ {
+ /* Create a new video file */
+
+ sprintf(video_filename_ffmpeg, "%s/video_%04d%02d%02d_%02d%02d%02d_w%i_h%i.mp4",
+ VIDEO_FILE_DEFAULT_PATH,
+ atm->tm_year+1900, atm->tm_mon+1, atm->tm_mday,
+ atm->tm_hour, atm->tm_min, atm->tm_sec,
+ picture->width,
+ picture->height);
+
+ create_video_file(video_filename_ffmpeg, picture->width,picture->height);
+ flag_video_file_open=1;
+
+ cfg->startRec=VIDEO_RECORD_START;
+
+ first_frame_timestamp_us = current_timestamp_us;
+ frame_counter=1;
+ }
+
+ if( out->size > 0 && out->status == VP_API_STATUS_PROCESSING && cfg->startRec==VIDEO_RECORD_START)
+ {
+ frame_size = ( previous_frame.width * previous_frame.height )*3/2;
+
+ /* Send the previous frame to FFMPEG */
+ if (previous_frame.buffer!=NULL)
+ {
+ /* Compute the number of frames to store to achieve 60 FPS
+ * This should be computed using the timestamp of the first frame
+ * to avoid error accumulation.
+ */
+ int current_frame_number = (current_timestamp_us - first_frame_timestamp_us) / 16666;
+ int nb_frames_to_write = current_frame_number - previous_frame.frame_number;
+
+ if (picture_to_encode!=NULL){
+ picture_to_encode->data[0] = picture_to_encode->base[0] = picture->y_buf;
+ picture_to_encode->data[1] = picture_to_encode->base[1] = picture->cb_buf;
+ picture_to_encode->data[2] = picture_to_encode->base[2] = picture->cr_buf;
+
+ picture_to_encode->linesize[0] = picture->width;
+ picture_to_encode->linesize[1] = picture->width/2;
+ picture_to_encode->linesize[2] = picture->width/2;
+ }
+
+ for (i=0;i<nb_frames_to_write;i++)
+ {
+ //printf("Storing %i frames\n",nb_frames_to_write);
+ write_video_frame(oc, video_st);
+ }
+
+ /* Pass infos to next iteration */
+ previous_frame.frame_number = current_frame_number;
+ }
+
+ /* Create a buffer to hold the current frame */
+ //if (0)
+ {
+ if (previous_frame.buffer!=NULL && (previous_frame.width!=picture->width || previous_frame.height!=picture->height))
+ {
+ vp_os_free(previous_frame.buffer);
+ previous_frame.buffer=NULL;
+ }
+ if (previous_frame.buffer==NULL)
+ {
+ previous_frame.width = picture->width;
+ previous_frame.height = picture->height;
+ frame_size = ( previous_frame.width * previous_frame.height )*3/2;
+ printf("Allocating previous frame.\n");
+ previous_frame.buffer=vp_os_malloc( frame_size );
+ }
+
+ /* Copy the current frame in a buffer so it can be encoded at next stage call */
+ if (previous_frame.buffer!=NULL)
+ {
+ char * dest = previous_frame.buffer;
+ int size = picture->width*picture->height;
+ vp_os_memcpy(dest,picture->y_buf,size);
+
+ dest+=size;
+ size /= 4;
+ vp_os_memcpy(dest,picture->cb_buf,size);
+
+ dest+=size;
+ vp_os_memcpy(dest,picture->cr_buf,size);
+ }
+ }
+ }
+
+
+ else
+ {
+ if(cfg->startRec==VIDEO_RECORD_STOP && flag_video_file_open)
+ {
+ close_video_file();
+ flag_video_file_open=0;
+ }
+ }
+
+ vp_os_mutex_unlock( &out->lock );
+
+ return C_OK;
+}
+
+
+
+/******************************************************************************************************************************************/
+
+
+C_RESULT video_stage_ffmpeg_recorder_close(video_stage_ffmpeg_recorder_config_t *cfg)
+{
+ if( cfg->fp != NULL )
+ fclose( cfg->fp );
+
+ return C_OK;
+}
+
+
+
+#endif
projects / mardrone / blobdiff