patrickelectric/video_udp.cpp

## video_udp.cpp
/**
 * Based on:
 * https://stackoverflow.com/questions/10403588/adding-opencv-processing-to-gstreamer-application
 */

// Include atomic std library
#include <atomic>

// Include gstreamer library
#include <gst/gst.h>
#include <gst/app/app.h>

// Include OpenCV library
#include <opencv.hpp>

// Share frame between main loop and gstreamer callback
std::atomic<cv::Mat*> atomicFrame;

/**
 * @brief Check preroll to get a new frame using callback
 *  https://gstreamer.freedesktop.org/documentation/design/preroll.html
 * @return GstFlowReturn
 */
GstFlowReturn new_preroll(GstAppSink* /*appsink*/, gpointer /*data*/)
{
    return GST_FLOW_OK;
}

/**
 * @brief This is a callback that get a new frame when a preroll exist
 *
 * @param appsink
 * @return GstFlowReturn
 */
GstFlowReturn new_sample(GstAppSink *appsink, gpointer /*data*/)
{
    static int framecount = 0;

    // Get caps and frame
    GstSample *sample = gst_app_sink_pull_sample(appsink);
    GstCaps *caps = gst_sample_get_caps(sample);
    GstBuffer *buffer = gst_sample_get_buffer(sample);
    GstStructure *structure = gst_caps_get_structure(caps, 0);
    const int width = g_value_get_int(gst_structure_get_value(structure, "width"));
    const int height = g_value_get_int(gst_structure_get_value(structure, "height"));

    // Print dot every 30 frames
    if(!(framecount%30)) {
        g_print(".");
    }

    // Show caps on first frame
    if(!framecount) {
        g_print("caps: %s\n", gst_caps_to_string(caps));
    }
    framecount++;

    // Get frame data
    GstMapInfo map;
    gst_buffer_map(buffer, &map, GST_MAP_READ);

    // Convert gstreamer data to OpenCV Mat
    cv::Mat* prevFrame;
    prevFrame = atomicFrame.exchange(new cv::Mat(cv::Size(width, height), CV_8UC3, (char*)map.data, cv::Mat::AUTO_STEP));
    if(prevFrame) {
        delete prevFrame;
    }

    gst_buffer_unmap(buffer, &map);
    gst_sample_unref(sample);

    return GST_FLOW_OK;
}

/**
 * @brief Bus callback
 *  Print important messages
 *
 * @param bus
 * @param message
 * @param data
 * @return gboolean
 */
static gboolean my_bus_callback(GstBus *bus, GstMessage *message, gpointer data)
{
    // Debug message
    //g_print("Got %s message\n", GST_MESSAGE_TYPE_NAME(message));
    switch(GST_MESSAGE_TYPE(message)) {
        case GST_MESSAGE_ERROR: {
            GError *err;
            gchar *debug;

            gst_message_parse_error(message, &err, &debug);
            g_print("Error: %s\n", err->message);
            g_error_free(err);
            g_free(debug);
            break;
        }
        case GST_MESSAGE_EOS:
            /* end-of-stream */
            break;
        default:
            /* unhandled message */
            break;
    }
    /* we want to be notified again the next time there is a message
     * on the bus, so returning TRUE (FALSE means we want to stop watching
     * for messages on the bus and our callback should not be called again)
     */
    return true;
}

int main(int argc, char *argv[]) {
    gst_init(&argc, &argv);

    gchar *descr = g_strdup(
        "udpsrc port=5600 "
        "! application/x-rtp, payload=96 ! rtph264depay ! h264parse ! avdec_h264 "
        "! decodebin ! videoconvert ! video/x-raw,format=(string)BGR ! videoconvert "
        "! appsink name=sink emit-signals=true sync=false max-buffers=1 drop=true"
    );

    // Check pipeline
    GError *error = nullptr;
    GstElement *pipeline = gst_parse_launch(descr, &error);

    if(error) {
        g_print("could not construct pipeline: %s\n", error->message);
        g_error_free(error);
        exit(-1);
    }

    // Get sink
    GstElement *sink = gst_bin_get_by_name(GST_BIN(pipeline), "sink");

    /**
     * @brief Get sink signals and check for a preroll
     *  If preroll exists, we do have a new frame
     */
    gst_app_sink_set_emit_signals((GstAppSink*)sink, true);
    gst_app_sink_set_drop((GstAppSink*)sink, true);
    gst_app_sink_set_max_buffers((GstAppSink*)sink, 1);
    GstAppSinkCallbacks callbacks = { nullptr, new_preroll, new_sample };
    gst_app_sink_set_callbacks(GST_APP_SINK(sink), &callbacks, nullptr, nullptr);

    // Declare bus
    GstBus *bus;
    bus = gst_pipeline_get_bus(GST_PIPELINE(pipeline));
    gst_bus_add_watch(bus, my_bus_callback, nullptr);
    gst_object_unref(bus);

    gst_element_set_state(GST_ELEMENT(pipeline), GST_STATE_PLAYING);

    // Main loop
    while(1) {
        g_main_iteration(false);

        cv::Mat* frame = atomicFrame.load();
        if(frame) {
            cv::imshow("Frame", atomicFrame.load()[0]);
            cv::waitKey(30);
        }
    }

    gst_element_set_state(GST_ELEMENT(pipeline), GST_STATE_NULL);
    gst_object_unref(GST_OBJECT(pipeline));
    return 0;
}
	/**
	* Based on:
	* https://stackoverflow.com/questions/10403588/adding-opencv-processing-to-gstreamer-application
	*/

	// Include atomic std library
	#include <atomic>

	// Include gstreamer library
	#include <gst/gst.h>
	#include <gst/app/app.h>

	// Include OpenCV library
	#include <opencv.hpp>

	// Share frame between main loop and gstreamer callback
	std::atomic<cv::Mat*> atomicFrame;

	/**
	* @brief Check preroll to get a new frame using callback
	* https://gstreamer.freedesktop.org/documentation/design/preroll.html
	* @return GstFlowReturn
	*/
	GstFlowReturn new_preroll(GstAppSink* /appsink/, gpointer /data/)
	{
	return GST_FLOW_OK;
	}

	/**
	* @brief This is a callback that get a new frame when a preroll exist
	*
	* @param appsink
	* @return GstFlowReturn
	*/
	GstFlowReturn new_sample(GstAppSink appsink, gpointer /data*/)
	{
	static int framecount = 0;

	// Get caps and frame
	GstSample *sample = gst_app_sink_pull_sample(appsink);
	GstCaps *caps = gst_sample_get_caps(sample);
	GstBuffer *buffer = gst_sample_get_buffer(sample);
	GstStructure *structure = gst_caps_get_structure(caps, 0);
	const int width = g_value_get_int(gst_structure_get_value(structure, "width"));
	const int height = g_value_get_int(gst_structure_get_value(structure, "height"));

	// Print dot every 30 frames
	if(!(framecount%30)) {
	g_print(".");
	}

	// Show caps on first frame
	if(!framecount) {
	g_print("caps: %s\n", gst_caps_to_string(caps));
	}
	framecount++;

	// Get frame data
	GstMapInfo map;
	gst_buffer_map(buffer, &map, GST_MAP_READ);

	// Convert gstreamer data to OpenCV Mat
	cv::Mat* prevFrame;
	prevFrame = atomicFrame.exchange(new cv::Mat(cv::Size(width, height), CV_8UC3, (char*)map.data, cv::Mat::AUTO_STEP));
	if(prevFrame) {
	delete prevFrame;
	}

	gst_buffer_unmap(buffer, &map);
	gst_sample_unref(sample);

	return GST_FLOW_OK;
	}

	/**
	* @brief Bus callback
	* Print important messages
	*
	* @param bus
	* @param message
	* @param data
	* @return gboolean
	*/
	static gboolean my_bus_callback(GstBus bus, GstMessage message, gpointer data)
	{
	// Debug message
	//g_print("Got %s message\n", GST_MESSAGE_TYPE_NAME(message));
	switch(GST_MESSAGE_TYPE(message)) {
	case GST_MESSAGE_ERROR: {
	GError *err;
	gchar *debug;

	gst_message_parse_error(message, &err, &debug);
	g_print("Error: %s\n", err->message);
	g_error_free(err);
	g_free(debug);
	break;
	}
	case GST_MESSAGE_EOS:
	/* end-of-stream */
	break;
	default:
	/* unhandled message */
	break;
	}
	/* we want to be notified again the next time there is a message
	* on the bus, so returning TRUE (FALSE means we want to stop watching
	* for messages on the bus and our callback should not be called again)
	*/
	return true;
	}

	int main(int argc, char *argv[]) {
	gst_init(&argc, &argv);

	gchar *descr = g_strdup(
	"udpsrc port=5600 "
	"! application/x-rtp, payload=96 ! rtph264depay ! h264parse ! avdec_h264 "
	"! decodebin ! videoconvert ! video/x-raw,format=(string)BGR ! videoconvert "
	"! appsink name=sink emit-signals=true sync=false max-buffers=1 drop=true"
	);

	// Check pipeline
	GError *error = nullptr;
	GstElement *pipeline = gst_parse_launch(descr, &error);

	if(error) {
	g_print("could not construct pipeline: %s\n", error->message);
	g_error_free(error);
	exit(-1);
	}

	// Get sink
	GstElement *sink = gst_bin_get_by_name(GST_BIN(pipeline), "sink");

	/**
	* @brief Get sink signals and check for a preroll
	* If preroll exists, we do have a new frame
	*/
	gst_app_sink_set_emit_signals((GstAppSink*)sink, true);
	gst_app_sink_set_drop((GstAppSink*)sink, true);
	gst_app_sink_set_max_buffers((GstAppSink*)sink, 1);
	GstAppSinkCallbacks callbacks = { nullptr, new_preroll, new_sample };
	gst_app_sink_set_callbacks(GST_APP_SINK(sink), &callbacks, nullptr, nullptr);

	// Declare bus
	GstBus *bus;
	bus = gst_pipeline_get_bus(GST_PIPELINE(pipeline));
	gst_bus_add_watch(bus, my_bus_callback, nullptr);
	gst_object_unref(bus);

	gst_element_set_state(GST_ELEMENT(pipeline), GST_STATE_PLAYING);

	// Main loop
	while(1) {
	g_main_iteration(false);

	cv::Mat* frame = atomicFrame.load();
	if(frame) {
	cv::imshow("Frame", atomicFrame.load()[0]);
	cv::waitKey(30);
	}
	}

	gst_element_set_state(GST_ELEMENT(pipeline), GST_STATE_NULL);
	gst_object_unref(GST_OBJECT(pipeline));
	return 0;
	}