树莓派4使用USB3.0 HDMI视频采集卡H.264编码测试程序

测试程序"/>

树莓派4使用USB3.0 HDMI视频采集卡H.264编码测试程序

树莓派4使用USB3.0 HDMI视频采集卡H.264编码测试程序

/*=============================================================================
# 树莓派4使用USB3.0 HDMI视频采集卡H.264编码测试程序
# 定义一个AVFrame *frame帧
# 编译：gcc ./v4l2_encode_2.c -o v4l2_encode_2  -lavcodec -lavutil 
=============================================================================*/
#include <unistd.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <stdio.h>
#include <sys/ioctl.h>
#include <stdlib.h>
#include <linux/types.h>
#include <linux/videodev2.h>
#include <malloc.h>
#include <math.h>
#include <string.h>
#include <sys/mman.h>
#include <errno.h>
#include <assert.h>
#include <sys/time.h>
#include <stdlib.h>
#include <string.h>
#include <stdint.h>
#include <stdbool.h>#include <libavcodec/avcodec.h>
#include <libavutil/opt.h>
#include <libavutil/imgutils.h>#define FILE_VIDEO  "/dev/video0"
#define WIDTH 1920
#define HEIGHT 1080
#define LOOP 30*60*60*2//2个小时
#define BIT_RATE 1024000*4typedef struct{void *start;int length;
}BUFTYPE;
BUFTYPE *usr_buf;
static unsigned int n_buffer = 0;
struct timeval first_time, second_time;//用时间差统计帧速率
int j=0;//开始计时标志const char *filename = "test.264";
const char *codec_name = "h264_omx";//libx264 软编码  h264_omx 树莓派硬编码
const AVCodec *codec;
AVCodecContext *c= NULL;FILE *f;
AVFrame *frame;
AVPacket *pkt;
uint8_t endcode[] = { 0, 0, 1, 0xb7 };//将YUYV422转换成YUV420P
void YUYV422toYUV420P(uint8_t *yuyv422, int width, int height, uint8_t *yuv420p, int length) {int i, j;uint8_t *pY = yuv420p;uint8_t *pU = yuv420p + width * height;uint8_t *pV = pU + (width * height) / 4;uint8_t *pYUVTemp = yuyv422;uint8_t *pYUVTempNext = yuyv422+width * 2;for (i = 0; i < height; i += 2) {for (j = 0; j < width; j += 2) {pY[j] = *pYUVTemp++;pY[j + width] = *pYUVTempNext++;pU[j / 2] =(*(pYUVTemp) + *(pYUVTempNext)) / 2;pYUVTemp++;pYUVTempNext++;pY[j + 1] = *pYUVTemp++;pY[j + 1 + width] = *pYUVTempNext++;pV[j / 2] =(*(pYUVTemp) + *(pYUVTempNext)) / 2;pYUVTemp++;pYUVTempNext++;}pYUVTemp += width * 2;pYUVTempNext += width * 2;pY += width * 2;pU += width / 2;pV += width / 2;}
}static void encode(AVCodecContext *enc_ctx, AVFrame *frame, AVPacket *pkt, FILE *outfile)
{int ret;int key_frame=0;ret = avcodec_send_frame(enc_ctx, frame);if (ret < 0) {fprintf(stderr, "Error sending a frame for encoding\n");exit(1);}while (ret >= 0) {ret = avcodec_receive_packet(enc_ctx, pkt);if(ret == AVERROR_EOF){return;}else if (ret == AVERROR(EAGAIN)){	return;}else if (ret < 0) {fprintf(stderr, "Error during encoding\n");exit(1);}if(pkt->flags & AV_PKT_FLAG_KEY){//by apherokey_frame=1;printf("@-");//输出的是关键帧}//if(!(pkt->pts % 30)){//30个压缩帧统计一次gettimeofday(&second_time, NULL);double time_val = (second_time.tv_sec - first_time.tv_sec) * 1000000 + second_time.tv_usec - first_time.tv_usec;//printf("time_val(ms) = %lf\n", time_val / 1000.0);printf("+encode packet %3"PRId64" (size=%7d) time(ms) = %lf fps=%lf\n", pkt->pts, pkt->size,time_val / 1000.0, (pkt->pts)*1000.0/(time_val/1000.0));//}fwrite(pkt->data, 1, pkt->size, outfile);//将编码后的h.264数据写入文件av_packet_unref(pkt);}
}int openencoder()
{int ret;avcodec_register_all();codec = avcodec_find_encoder_by_name(codec_name);if (!codec) {fprintf(stderr, "Codec '%s' not found\n", codec_name);exit(1);}c = avcodec_alloc_context3(codec);if (!c) {fprintf(stderr, "Could not allocate video codec context\n");exit(1);}pkt = av_packet_alloc();if (!pkt){printf("av_packet_alloc error\n");exit(1);}c->bit_rate = BIT_RATE; //编码速率c->width = WIDTH;		//视频宽度c->height = HEIGHT;     //视频高度c->time_base.num = 1;   //视频帧速率c->time_base.den = 30;  //视频帧速率c->thread_count = 4;    //编码线程数c->gop_size = 30;       //I帧间隔c->max_b_frames = 0;    //B帧数c->pix_fmt = AV_PIX_FMT_YUV420P;//AV_PIX_FMT_YUV420P; 树莓派在ffmpeg中不支持AV_PIX_FMT_YUYV422格式编码if (codec->id == AV_CODEC_ID_H264){av_opt_set(c->priv_data, "profile", "baseline", 0);//H.264的profile：baseline/main/hav_opt_set(c->priv_data, "zerocopy", "0", 0);//修改了ffmpeg-3.4.6中omx.c的源码，禁用了强制树莓派为1，s->input_zerocopy = 1//c->me_range = 16;//c->qmin = 10;//c->qmax = 51;//c->max_qdiff = 4;//av_opt_set(c->priv_data, "preset", "ultrafast", 0); //ultrafast,superfast, veryfast, faster, fast, medium, slow, slower, veryslow,//av_opt_set(c->priv_data, "tune", "zerolatency", 0);}//c->flags |= AV_CODEC_FLAG_GLOBAL_HEADER;//第1个包不会输出sps信息，而是将sps pps存入到extradata中ret = avcodec_open2(c, codec, NULL);if (ret < 0) {fprintf(stderr, "Could not open codec: %s\n", av_err2str(ret));exit(1);}f = fopen(filename, "wb");if (!f) {fprintf(stderr, "Could not open %s\n", filename);exit(1);}frame = av_frame_alloc();if (!frame) {fprintf(stderr, "Could not allocate video frame\n");exit(1);}frame->format = c->pix_fmt;frame->width  = c->width;frame->height = c->height;ret = av_frame_get_buffer(frame, 32);//必须设置，否则卡死if (ret < 0) {fprintf(stderr, "Could not allocate the video frame data\n");exit(1);}
}int stopencoder()
{avcodec_free_context(&c);av_frame_free(&frame);av_packet_free(&pkt);}/*set video capture ways(mmap)*/
int init_mmap(int fd)
{/*to request frame cache, contain requested counts*/struct v4l2_requestbuffers reqbufs;memset(&reqbufs, 0, sizeof(reqbufs));reqbufs.count = 3; 	 							/*the number of buffer*/reqbufs.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;    reqbufs.memory = V4L2_MEMORY_MMAP;				if(-1 == ioctl(fd,VIDIOC_REQBUFS,&reqbufs))	{perror("Fail to ioctl 'VIDIOC_REQBUFS'");exit(EXIT_FAILURE);}n_buffer = reqbufs.count;printf("n_buffer = %d\n", n_buffer);//usr_buf = calloc(reqbufs.count, sizeof(usr_buf));usr_buf = calloc(reqbufs.count, sizeof(BUFTYPE));if(usr_buf == NULL)	{printf("Out of memory\n");exit(-1);}/*map kernel cache to user process*/for(n_buffer = 0; n_buffer < reqbufs.count; ++n_buffer)	{//stand for a framestruct v4l2_buffer buf;memset(&buf, 0, sizeof(buf));buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;buf.memory = V4L2_MEMORY_MMAP;buf.index = n_buffer;/*check the information of the kernel cache requested*/if(-1 == ioctl(fd,VIDIOC_QUERYBUF,&buf)){perror("Fail to ioctl : VIDIOC_QUERYBUF");exit(EXIT_FAILURE);}usr_buf[n_buffer].length = buf.length;usr_buf[n_buffer].start = (char *)mmap(NULL,buf.length,PROT_READ | PROT_WRITE,MAP_SHARED, fd,buf.m.offset);//由原来的MAP_PRIVATE 模式改为MAP_SHARED方式if(MAP_FAILED == usr_buf[n_buffer].start){perror("Fail to mmap");exit(EXIT_FAILURE);}}
}int open_camera(void)
{int fd;struct v4l2_input inp;fd = open(FILE_VIDEO, O_RDWR | O_NONBLOCK,0);//camera 打开由阻塞打开改为了非阻塞方式打开if(fd < 0){	fprintf(stderr, "%s open err \n", FILE_VIDEO);exit(EXIT_FAILURE);}inp.index = 0;if (-1 == ioctl (fd, VIDIOC_S_INPUT, &inp))	{fprintf(stderr, "VIDIOC_S_INPUT \n");}return fd;
}int init_camera(int fd)
{struct v4l2_capability 	cap;	/* decive fuction, such as video input */struct v4l2_format 		tv_fmt; /* frame format */  struct v4l2_fmtdesc 	fmtdesc;  	/* detail control value */struct v4l2_control 	ctrl;int ret;/*show all the support format*/memset(&fmtdesc, 0, sizeof(fmtdesc));fmtdesc.index = 0 ;                 /* the number to check */fmtdesc.type=V4L2_BUF_TYPE_VIDEO_CAPTURE;/* check video decive driver capability */if(ret=ioctl(fd, VIDIOC_QUERYCAP, &cap)<0){fprintf(stderr, "fail to ioctl VIDEO_QUERYCAP \n");exit(EXIT_FAILURE);}/*judge wherher or not to be a video-get device*/if(!(cap.capabilities & V4L2_BUF_TYPE_VIDEO_CAPTURE)){fprintf(stderr, "The Current device is not a video capture device \n");exit(EXIT_FAILURE);}/*judge whether or not to supply the form of video stream*/if(!(cap.capabilities & V4L2_CAP_STREAMING)){printf("The Current device does not support streaming i/o\n");exit(EXIT_FAILURE);}printf("\ncamera driver name is : %s\n",cap.driver);printf("camera device name is : %s\n",cap.card);printf("camera bus information: %s\n",cap.bus_info);/*display the format device support*/printf("\n");while(ioctl(fd,VIDIOC_ENUM_FMT,&fmtdesc)!=-1){	printf("support device %d.%s\n",fmtdesc.index+1,fmtdesc.description);fmtdesc.index++;}printf("\n");/*set the form of camera capture data*/tv_fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;      /*v4l2_buf_typea,camera must use V4L2_BUF_TYPE_VIDEO_CAPTURE*/tv_fmt.fmt.pix.width = WIDTH;tv_fmt.fmt.pix.height = HEIGHT;tv_fmt.fmt.pix.pixelformat = V4L2_PIX_FMT_YUYV;//V4L2_PIX_FMT_YUV420;	//V4L2_PIX_FMT_YUYV hdmi采集卡的格式tv_fmt.fmt.pix.field = V4L2_FIELD_NONE;   		/*V4L2_FIELD_NONE*/if (ioctl(fd, VIDIOC_S_FMT, &tv_fmt)< 0) {fprintf(stderr,"VIDIOC_S_FMT set err\n");exit(-1);close(fd);}struct v4l2_streamparm* setfps;setfps=(struct v4l2_streamparm *) calloc(1, sizeof(struct v4l2_streamparm));memset(setfps, 0, sizeof(struct v4l2_streamparm));setfps->type = V4L2_BUF_TYPE_VIDEO_CAPTURE;setfps->parm.capture.timeperframe.numerator = 1;setfps->parm.capture.timeperframe.denominator = 30;if (-1 == ioctl(fd, VIDIOC_S_PARM, setfps)) {fprintf(stderr,"v4l2: set fps fail\n");exit(-1);close(fd);}init_mmap(fd);
}int start_capture(int fd)
{unsigned int i;enum v4l2_buf_type type;/*place the kernel cache to a queue*/for(i = 0; i < n_buffer; i++){struct v4l2_buffer buf;memset(&buf, 0, sizeof(buf));buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;buf.memory = V4L2_MEMORY_MMAP;buf.index = i;if(-1 == ioctl(fd, VIDIOC_QBUF, &buf)){perror("Fail to ioctl 'VIDIOC_QBUF'");exit(EXIT_FAILURE);}}type = V4L2_BUF_TYPE_VIDEO_CAPTURE;if(-1 == ioctl(fd, VIDIOC_STREAMON, &type))	{printf("i=%d.\n", i);perror("VIDIOC_STREAMON");close(fd);exit(EXIT_FAILURE);}return 0;
}int process_image(void *addr, int length){int  y_size;int ret;int i,x,y;unsigned char *yuv420_buf = (unsigned char *)malloc(3*WIDTH*HEIGHT/2*sizeof(unsigned char));if(j==0) gettimeofday(&first_time, NULL);//开始计时y_size  = WIDTH * HEIGHT;ret = av_frame_make_writable(frame);if (ret < 0){printf("av_frame_make_writable error\n");exit(1);}//转换色彩空间YUYV422toYUV420P(addr, WIDTH, HEIGHT,  yuv420_buf, y_size*2);frame->data[0] = yuv420_buf;frame->data[1] = yuv420_buf+y_size;frame->data[2] = yuv420_buf+5*y_size/4;//if(!(j % 30)){gettimeofday(&second_time, NULL);double time_val = (second_time.tv_sec - first_time.tv_sec) * 1000000 + second_time.tv_usec - first_time.tv_usec;//printf("time_val(ms) = %lf\n", time_val / 1000.0);printf("-capture frame %3d (size=%5d) time(ms) = %lf fps=%lf\n", j, length,time_val / 1000.0, j*1000.0/(time_val/1000.0));//}frame->pts = j;encode(c, frame, pkt, f);j++;free(yuv420_buf);return 0;
}int read_frame(int fd){struct v4l2_buffer buf;unsigned int i;memset(&buf, 0, sizeof(buf));buf.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;buf.memory = V4L2_MEMORY_MMAP;//put cache from queueif(-1 == ioctl(fd, VIDIOC_DQBUF,&buf)){perror("Fail to ioctl 'VIDIOC_DQBUF'");exit(EXIT_FAILURE);}assert(buf.index < n_buffer);//read process space's data to a fileprocess_image(usr_buf[buf.index].start, usr_buf[buf.index].length);if(-1 == ioctl(fd, VIDIOC_QBUF,&buf)){perror("Fail to ioctl 'VIDIOC_QBUF'");exit(EXIT_FAILURE);}return 1;
}int mainloop(int fd)
{int count = LOOP;while(count-- > 0){for(;;)	{fd_set fds;struct timeval tv;int r;FD_ZERO(&fds);FD_SET(fd,&fds);/*Timeout*/tv.tv_sec = 1;tv.tv_usec = 0;r = select(fd + 1,&fds,NULL,NULL,&tv);if(-1 == r){printf("rrr\n");if(EINTR == errno)continue;perror("Fail to select");exit(EXIT_FAILURE);}if(0 == r){fprintf(stderr,"select Timeout\n");exit(-1);}if(read_frame(fd)){break;}else{printf("error\n");}}}return 0;
}void stop_capture(int fd)
{enum v4l2_buf_type type;type = V4L2_BUF_TYPE_VIDEO_CAPTURE;if(-1 == ioctl(fd,VIDIOC_STREAMOFF,&type)){perror("Fail to ioctl 'VIDIOC_STREAMOFF'");exit(EXIT_FAILURE);}
}void close_camera_device(int fd)
{unsigned int i;for(i = 0;i < n_buffer; i++){if(-1 == munmap(usr_buf[i].start,usr_buf[i].length)){exit(-1);}}free(usr_buf);if(-1 == close(fd)){perror("Fail to close fd");exit(EXIT_FAILURE);}
}void main(void)
{int fd;fd = open_camera();init_camera(fd);openencoder();start_capture(fd);mainloop(fd);stop_capture(fd);close_camera_device(fd);stopencoder();
}

测试结果：(在采集1080P30fps情况下编码，编码速率26fps左右)

./v4l2_encode_2
...............
+encode packet 683 (size=   3867) time(ms) = 26053.245000 fps=26.215544
-capture frame 685 (size=4147200) time(ms) = 26082.934000 fps=26.262383
+encode packet 684 (size=   4031) time(ms) = 26091.628000 fps=26.215306
-capture frame 686 (size=4147200) time(ms) = 26120.953000 fps=26.262441
+encode packet 685 (size=    202) time(ms) = 26130.025000 fps=26.215053
-capture frame 687 (size=4147200) time(ms) = 26159.614000 fps=26.261855
+encode packet 686 (size=  27643) time(ms) = 26168.684000 fps=26.214539