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Commit 790470f

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Ross Newman
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New raw RTP streaming class and pure virtual base class.
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‎camera/camera.h

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/*
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* camera base class
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*/
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#ifndef __CAMERA_H__
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#define __CAMERA_H__
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#include <climits>
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class camera
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{
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public:
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camera(int height, int width) { mWidth = width; mHeight = height; };
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~camera() {};
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virtual bool Open() = 0;
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virtual void Close() = 0;
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// Capture frame
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virtual bool Capture( void** cpu, void** cuda, unsigned long timeout=ULONG_MAX ) = 0;
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inline uint32_t GetWidth() const { return mWidth; }
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inline uint32_t GetHeight() const { return mHeight; }
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inline uint32_t GetPixelDepth() const { return mDepth; }
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inline uint32_t GetSize() const { return mSize; }
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protected:
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uint32_t mWidth;
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uint32_t mHeight;
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uint32_t mDepth;
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uint32_t mSize;
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};
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#endif

‎camera/rtpStream.cpp

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#include "rtpStream.h"
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typedef struct float4 {
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float x;
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float y;
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float z;
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float w;
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} float4;
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/*
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* error - wrapper for perror
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*/
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void error(char *msg) {
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perror(msg);
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exit(0);
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}
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void rgbtoyuv(int y, int x, char* yuv, char* rgb)
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{
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int c,cc,R,G,B,Y,U,V;
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int size;
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cc=0;
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size = x*3;
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for (c=0;c<size;c+=3)
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{
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R=rgb[c];
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G=rgb[c+1];
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B=rgb[c+2];
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/* sample luma for every pixel */
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Y = (0.257 * R) + (0.504 * G) + (0.098 * B) + 16;
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yuv[cc]=Y;
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if (c % 2 == 0)
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{
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V = (0.439 * R) - (0.368 * G) - (0.071 * B) + 128;
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yuv[cc+1]=V;
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}
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else
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{
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U = -(0.148 * R) - (0.291 * G) + (0.439 * B) + 128;
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yuv[cc+1]=U;
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}
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cc+=2;
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}
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}
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/* Broadcast the stream to port 5004 */
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rtpStream::rtpStream(int height, int width, char* hostname, int portno) :
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camera(height, width)
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{
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strcpy(mHostname, hostname);
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mPortNo = portno;
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mFrame = 0;
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}
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bool rtpStream::Open()
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{
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/* socket: create the socket */
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mSockfd = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP);
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if (mSockfd < 0)
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{
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printf("ERROR opening socket");
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return error;
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}
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/* gethostbyname: get the server's DNS entry */
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mServer = gethostbyname(mHostname);
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if (mServer == NULL) {
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fprintf(stderr,"ERROR, no such host as %s\n", mHostname);
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exit(0);
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}
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/* build the server's Internet address */
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bzero((char *) &mServeraddr, sizeof(mServeraddr));
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mServeraddr.sin_family = AF_INET;
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bcopy((char *)mServer->h_addr,
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(char *)&mServeraddr.sin_addr.s_addr, mServer->h_length);
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mServeraddr.sin_port = htons(mPortNo);
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/* send the message to the server */
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mServerlen = sizeof(mServeraddr);
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return true;
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}
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void rtpStream::Close()
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{
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close(mSockfd);
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}
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#if ARM
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void rtpStream::endianswap32(uint32_t *data, int length)
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{
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int c = 0;
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for (c=0;c<length;c++)
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data[c] = __bswap_32 (data[c]);
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}
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void rtpStream::endianswap16(uint16_t *data, int length)
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{
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int c = 0;
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for (c=0;c<length;c++)
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data[c] = __bswap_16 (data[c]);
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}
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#endif
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void rtpStream::update_header(header *packet, int line, int last, int32_t timestamp, int32_t source)
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{
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bzero((char *)packet, sizeof(header));
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packet->rtp.protocol = RTP_VERSION << 30;
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packet->rtp.protocol = packet->rtp.protocol | RTP_PAYLOAD_TYPE << 16;
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packet->rtp.protocol = packet->rtp.protocol | sequence_number++;
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/* leaving other fields as zero TODO Fix*/
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packet->rtp.timestamp = timestamp += (Hz90 / RTP_FRAMERATE);
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packet->rtp.source = source;
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packet->payload.extended_sequence_number = 0; /* TODO : Fix extended seq numbers */
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packet->payload.line[0].length = MAX_BUFSIZE;
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packet->payload.line[0].line_number = line;
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packet->payload.line[0].offset = 0;
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if (last==1)
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{
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packet->rtp.protocol = packet->rtp.protocol | 1 << 23;
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}
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#if 0
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printf("0x%x, 0x%x, 0x%x \n", packet->rtp.protocol, packet->rtp.timestamp, packet->rtp.source);
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printf("0x%x, 0x%x, 0x%x \n", packet->payload.line[0].length, packet->payload.line[0].line_number, packet->payload.line[0].offset);
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#endif
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}
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int rtpStream::Transmit(char* rgbframe)
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{
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rtp_packet packet;
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char *yuv;
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int c=0;
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int n=0;
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sequence_number=0;
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#if 0
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#if 0
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float4 *RGBAf = (float4*)rgbframe;
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// RGBAf to RGB
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for( int y=0; y < 100; y++ )
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{
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for( int x=0; x < mWidth; x++ )
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{
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rgbframe[(y*(mWidth*3))+(x*3)] = (char)RGBAf[(y*mWidth)+x].x;
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rgbframe[(y*(mWidth*3))+(x*3)+1] = (char)RGBAf[(y*mWidth)+x].y;
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rgbframe[(y*(mWidth*3))+(x*3)+2] = (char)RGBAf[(y*mWidth)+x].z;
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}
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}
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#else
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for( int y=0; y < mHeight; y++ )
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{
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for( int x=0; x < mWidth; x+=3 )
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{
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rgbframe[(y*(mWidth*3))+(x*3)] = (char)0xff;
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rgbframe[(y*(mWidth*3))+(x*3)+1] = (char)0;
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rgbframe[(y*(mWidth*3))+(x*3)+2] = (char)0;
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}
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}
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#endif
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#endif
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/* get a message from the user */
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bzero(packet.data, MAX_BUFSIZE);
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/* send a frame */
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{
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struct timeval NTP_value;
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int32_t time = 10000;
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for (c=0;c<(mHeight);c++)
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{
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int x,last = 0;
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if (c==mHeight-1) last=1;
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update_header((header*)&packet, c, last, time, RTP_SOURCE);
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x = c * (mWidth * 3);
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#if 1
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rgbtoyuv(mHeight, mWidth, packet.data, (char*)&rgbframe[x]);
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#else
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memcpy((char*)packet.data, (char*)&rgbframe[x], mWidth* 3);
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#endif
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#if ARM
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endianswap32((uint32_t *)&packet, sizeof(rtp_header)/4);
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endianswap16((uint16_t *)&packet.head.payload, sizeof(payload_header)/2);
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#endif
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n = sendto(mSockfd, (char *)&packet, sizeof(rtp_packet), 0, (const sockaddr*)&mServeraddr, mServerlen);
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if (n < 0)
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fprintf(stderr, "ERROR in sendto");
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}
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printf("Sent frame %d\n", mFrame++);
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}
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return 0;
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}
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‎camera/rtpStream.h

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/* Example RTP packet from wireshark
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Real-Time Transport Protocol
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10.. .... = Version: RFC 1889 Version (2)
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..0. .... = Padding: False
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...0 .... = Extension: False
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.... 0000 = Contributing source identifiers count: 0
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0... .... = Marker: False
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Payload type: DynamicRTP-Type-96 (96)
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Sequence number: 34513
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Timestamp: 2999318601
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Synchronization Source identifier: 0xdccae7a8 (3704285096)
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Payload: 000003c000a08000019e00a2000029292929f06e29292929...
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*/
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/*
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Gstreamer1.0 working example UYVY streaming
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===========================================
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gst-launch-1.0 videotestsrc num_buffers ! video/x-raw, format=UYVY, framerate=25/1, width=640, height=480 ! queue ! rtpvrawpay ! udpsink host=127.0.0.1 port=5004
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gst-launch-1.0 udpsrc port=5004 caps="application/x-rtp, media=(string)video, clock-rate=(int)90000, encoding-name=(string)RAW, sampling=(string)YCbCr-4:2:2, depth=(string)8, width=(string)480, height=(string)480, payload=(int)96" ! queue ! rtpvrawdepay ! queue ! xvimagesink sync=false
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Use his program to stream data to the udpsc example above on the tegra X1
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*/
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#ifndef __RTP_STREAM_H__
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#define __RTP_STREAM_H__
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#include <byteswap.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <unistd.h>
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#include <sys/types.h>
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#include <sys/socket.h>
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#include <netinet/in.h>
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#include <netdb.h>
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#include "camera.h"
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#define ARM 1 /* Perform endian swap */
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#define RTP_VERSION 0x2 /* RFC 1889 Version 2 */
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#define RTP_PADDING 0x0
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#define RTP_EXTENSION 0x0
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#define RTP_MARKER 0x0
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#define RTP_PAYLOAD_TYPE 0x60 /* 96 Dynamic Type */
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#define RTP_SOURCE 0x12345678 /* Sould be unique */
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#define RTP_FRAMERATE 25
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#define Hz90 90000
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#define NUM_LINES_PER_PACKET 1 /* can have more that one line in a packet */
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#define MAX_BUFSIZE 1280 * 3 /* allow for RGB data upto 1280 pixels wide */
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static unsigned long sequence_number;
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/* 12 byte RTP Raw video header */
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typedef struct
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{
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int32_t protocol;
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int32_t timestamp;
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int32_t source;
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} rtp_header;
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typedef struct __attribute__((__packed__))
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{
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int16_t length;
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int16_t line_number;
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int16_t offset;
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} line_header;
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typedef struct __attribute__((__packed__))
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{
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int16_t extended_sequence_number;
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line_header line[NUM_LINES_PER_PACKET];
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} payload_header;
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typedef struct __attribute__((__packed__))
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{
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rtp_header rtp;
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payload_header payload;
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} header;
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typedef struct
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{
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header head;
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char data[MAX_BUFSIZE];
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} rtp_packet;
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/**
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* rtpstream RGB data
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*/
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class rtpStream : public camera
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{
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public:
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rtpStream(int height, int width, char* hosstname, int port);
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int Transmit(char* rgbframe);
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bool Open();
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void Close();
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bool Capture( void** cpu, void** cuda, unsigned long timeout=ULONG_MAX ) { return false; };
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private:
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int mSockfd;
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int mPortNo;
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struct sockaddr_in mServeraddr;
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struct hostent *mServer;
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int mServerlen;
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unsigned int mFrame;
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char mHostname[100];
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void update_header(header *packet, int line, int last, int32_t timestamp, int32_t source);
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#if ARM
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void endianswap32(uint32_t *data, int length);
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void endianswap16(uint16_t *data, int length);
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#endif
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};
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#endif

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