1 line
16 KiB
C++
1 line
16 KiB
C++
#include "CameraEngine.h"
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#include "myutils.h"
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using namespace ai_matrix;
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namespace
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{
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const int LOW_THRESHOLD = 128;
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const int MAX_THRESHOLD = 4096;
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const uint16_t DELAY_TIME = 20000;
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}
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CameraEngine::CameraEngine() {}
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CameraEngine::~CameraEngine() {}
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APP_ERROR CameraEngine::Init()
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{
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bUseEngine_ = true;
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bHwDecode_ = MyYaml::GetIns()->GetBoolValue("gc_hardware_decode");
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dataSourceConfig_ = MyYaml::GetIns()->GetDataSourceConfigById(engineId_); //获取摄像机参数
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if (MyYaml::GetIns()->GetStringValue("gc_data_source") != "camera" || !dataSourceConfig_.bUse)
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{
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bUseEngine_ = false;
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LogWarn << "engineId_:" << engineId_ << " not use engine";
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return APP_ERR_OK;
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}
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strPort0_ = engineName_ + "_" + std::to_string(engineId_) + "_0";
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strPort1_ = engineName_ + "_" + std::to_string(engineId_) + "_1";
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nDelayTime = MyYaml::GetIns()->GetIntValue("gc_load_delay");
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LogInfo << "engineId_:" << engineId_ << " CameraEngine Init ok";
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return APP_ERR_OK;
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}
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APP_ERROR CameraEngine::DeInit()
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{
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if (!bUseEngine_)
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{
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LogWarn << "engineId_:" << engineId_ << " not use engine";
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return APP_ERR_OK;
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}
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ResetCamera();
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LogInfo << "engineId_:" << engineId_ << " CameraEngine DeInit ok";
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return APP_ERR_OK;
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}
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void CameraEngine::ResetCamera()
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{
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if (pFormatCtx_ != nullptr)
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{
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// clear th cache of the queue
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avformat_close_input(&pFormatCtx_);
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pFormatCtx_ = nullptr;
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}
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}
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APP_ERROR CameraEngine::ConnectCamera()
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{
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pFormatCtx_ = CreateFormatContext(); // create context
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if (pFormatCtx_ == nullptr)
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{
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LogError << "engineId_:" << engineId_ << " pFormatCtx_ null!";
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return APP_ERR_COMM_FAILURE;
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}
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//0-代表输入
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av_dump_format(pFormatCtx_, 0, dataSourceConfig_.strUrl.c_str(), 0);
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// get stream infomation
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int iRet = APP_ERR_OK;
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iRet = GetStreamInfo();
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if (iRet != APP_ERR_OK)
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{
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LogError << "engineId_:" << engineId_ << " Stream Info Check failed, iRet = " << iRet;
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return APP_ERR_COMM_FAILURE;
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}
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return APP_ERR_OK;
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}
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APP_ERROR CameraEngine::GetStreamInfo()
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{
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if (pFormatCtx_ != nullptr)
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{
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iVideoStream_ = -1;
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iAudioStream_ = -1;
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//frameInfo_.iFrameId = 0; //帧号从0开始
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for (unsigned int i = 0; i < pFormatCtx_->nb_streams; i++)
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{
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AVStream *inStream = pFormatCtx_->streams[i];
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if (inStream->codecpar->codec_type == AVMEDIA_TYPE_VIDEO)
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{
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iVideoStream_ = i;
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frameInfo_.iHeight = inStream->codecpar->height;
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frameInfo_.iWidth = inStream->codecpar->width;
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//获取帧率,帧率的打印都在流中的两个成员.且应取平均帧率为先,为{x,0}或者{0,1}则取实时帧率
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if (inStream->avg_frame_rate.den == 0 || (inStream->avg_frame_rate.num == 0 && inStream->avg_frame_rate.den == 1))
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{
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frameInfo_.iRate = inStream->r_frame_rate.num / inStream->r_frame_rate.den;
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}
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else
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{
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frameInfo_.iRate = inStream->avg_frame_rate.num / inStream->avg_frame_rate.den;
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}
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LogDebug << "engineId_:" << engineId_ << " width:" << frameInfo_.iWidth << " height:" << frameInfo_.iHeight
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<< " rate:" << frameInfo_.iRate << " iVideoStream_:" << iVideoStream_;
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}
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else if (inStream->codecpar->codec_type == AVMEDIA_TYPE_AUDIO)
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{
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iAudioStream_ = i;
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LogDebug << "engineId_:" << engineId_ << " iAudioStream_:" << iAudioStream_;
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}
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}
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if (iVideoStream_ == -1)
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{
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LogError << "engineId_:" << engineId_ << " Didn't find a video stream!";
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return APP_ERR_COMM_FAILURE;
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}
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if (frameInfo_.iHeight < LOW_THRESHOLD || frameInfo_.iWidth < LOW_THRESHOLD ||
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frameInfo_.iHeight > MAX_THRESHOLD || frameInfo_.iWidth > MAX_THRESHOLD)
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{
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LogError << "engineId_:" << engineId_ << " Size of frame is not supported in DVPP Video Decode!";
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return APP_ERR_COMM_FAILURE;
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}
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AVCodecID codecId = pFormatCtx_->streams[iVideoStream_]->codecpar->codec_id;
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if (codecId == AV_CODEC_ID_H264)
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{
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int profile = pFormatCtx_->streams[iVideoStream_]->codecpar->profile;
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if (profile == FF_PROFILE_H264_BASELINE)
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{
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frameInfo_.format = H264_BASELINE_LEVEL;
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}
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else if (profile == FF_PROFILE_H264_MAIN)
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{
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frameInfo_.format = H264_MAIN_LEVEL;
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}
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else if (profile == FF_PROFILE_H264_HIGH)
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{
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frameInfo_.format = H264_HIGH_LEVEL;
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}
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else
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{
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LogError << "engineId_:" << engineId_ << " not support h264 profile";
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return APP_ERR_COMM_FAILURE;
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}
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}
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else if (codecId == AV_CODEC_ID_H265)
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{
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int profile = pFormatCtx_->streams[iVideoStream_]->codecpar->profile;
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if (profile == FF_PROFILE_HEVC_MAIN)
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{
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frameInfo_.format = H265_MAIN_LEVEL;
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}
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else
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{
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LogError << "engineId_:" << engineId_ << " not support h265 profile";
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return APP_ERR_COMM_FAILURE;
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}
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}
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else
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{
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LogError << "engineId_:" << engineId_ << " Error unsupported format" << codecId;
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return APP_ERR_COMM_FAILURE;
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}
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}
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return APP_ERR_OK;
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}
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AVFormatContext *CameraEngine::CreateFormatContext()
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{
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// create message for stream pull
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AVFormatContext *pFormatContext = nullptr;
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AVDictionary *pOptions = nullptr;
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// formatContext = avformat_alloc_context();
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if (dataSourceConfig_.strUrl.find("rtsp:") != std::string::npos) // rtsp
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{
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av_dict_set(&pOptions, "rtsp_transport", "tcp", 0); // 指定其传输方式为TCP
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// av_dict_set(&pOptions, "stimeout", "3000000", 0); // 设置超时3秒
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// av_dict_set(&pOptions, "rw_timeout", "3000", 0); //单位:ms
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av_dict_set(&pOptions, "timeout", "3000000", 0); //设置超时时间为3秒
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}
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//av_register_all(); //注册所有支持的格式(这里一定注册这些，否则会因为协议解析问题报错!!!)
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//avcodec_register_all(); //注册编解码器
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//avformat_network_init(); //注册网格格式，如果为本地文件则可以去掉该代码
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int iRet = avformat_open_input(&pFormatContext, dataSourceConfig_.strUrl.c_str(), nullptr, &pOptions);
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if (nullptr != pOptions)
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{
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av_dict_free(&pOptions);
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}
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if (iRet != 0)
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{
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LogError << "engineId_:" << engineId_ << " Couldn't open input stream " << dataSourceConfig_.strUrl.c_str() << ", iRet=" << iRet;
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return nullptr;
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}
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// pFormatContext->flags |= AVFMT_FLAG_NONBLOCK;
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// pFormatContext->pb->flags |= AVIO_FLAG_NONBLOCK;
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// av_dict_set(&pFormatContext->interrupt_callback.callback, "timeout", "3000", 0);
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// iRet = avio_open2(&pFormatContext->pb, dataSourceConfig_.strUrl.c_str(), AVIO_FLAG_READ, NULL, NULL) < 0;
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// {
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// // 处理错误
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// LogError << "engineId_:" << engineId_ << "avio_open2 iRet=" << iRet;
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// return nullptr;
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// }
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iRet = avformat_find_stream_info(pFormatContext, nullptr);
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if (iRet != 0)
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{
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LogError << "engineId_:" << engineId_ << " Couldn't find stream information, iRet = " << iRet;
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return nullptr;
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}
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return pFormatContext;
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}
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//av_read_frame的中断回调函数
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// int CameraEngine::InterruptCallback(void *pData)
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// {
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// TimeoutContext* pTimeOutCtx = (TimeoutContext*)pData;
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// LogDebug << "InterruptCallback i64Timeout:" << pTimeOutCtx->i64Timeout;
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// return std::chrono::duration_cast<std::chrono::milliseconds>(
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// std::chrono::system_clock::now().time_since_epoch())
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// .count() >= pTimeOutCtx->i64Timeout
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// ? AVERROR_EXIT
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// : 0;
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// }
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APP_ERROR CameraEngine::Process()
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{
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int iRet = APP_ERR_OK;
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if (!bUseEngine_)
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{
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LogWarn << "engineId_:" << engineId_ << " not use engine";
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return APP_ERR_OK;
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}
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if (bHwDecode_)
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{
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iRet = ConnectCamera();
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if (iRet == APP_ERR_OK)
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{
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LogInfo << "engineId_:" << engineId_ << " Start the stream......";
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bReconnectFlag_ = false;
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}
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else
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{
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ResetCamera();
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bReconnectFlag_ = true;
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}
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// Pull data cyclically
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AVPacket pkt;
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while (!isStop_)
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{
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//重连相机
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if (bReconnectFlag_)
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{
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iRet = ConnectCamera();
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if (iRet == APP_ERR_OK)
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{
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LogInfo << "engineId_:" << engineId_ << " Start the stream......";
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bReconnectFlag_ = false;
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this->bCameraError_ = false;
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} else {
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if (!this->bCameraError_) {
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outputQueMap_[strPort1_]->push(
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std::static_pointer_cast<void>(
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std::make_shared<std::string>("摄像头连接失败！")));
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this->bCameraError_ = true;
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}
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ResetCamera();
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std::this_thread::sleep_for(std::chrono::seconds(3)); //3秒后重连
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continue;
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}
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}
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//设置av_read_frame中断函数 (中断函数中超过1s，则中断处理)
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// TimeoutContext timeoutCtx = { std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::system_clock::now().time_since_epoch()).count() + 1000 };
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// pFormatCtx_->interrupt_callback.callback = &CameraEngine::InterruptCallback;
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// pFormatCtx_->interrupt_callback.opaque = &timeoutCtx;
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av_init_packet(&pkt); //init pkt
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iRet = av_read_frame(pFormatCtx_, &pkt); //需要一直读取，否则获取到的是历史数据
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if (iRet != 0)
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{
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outputQueMap_[strPort1_]->push(std::static_pointer_cast<void>(std::make_shared<std::string>("图像读取失败！")));
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LogError << "engineId_:" << engineId_ << " Read frame failed, reconnect iRet:" << iRet;
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av_packet_unref(&pkt);
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//重连相机
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ResetCamera();
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bReconnectFlag_ = true;
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continue;
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}
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else if (pkt.stream_index == iVideoStream_) //只解码视频流
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{
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// LogDebug << "iRet:" << iRet << " pkt.size:" << pkt.size;
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if (pkt.size <= 0)
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{
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LogError << "engineId_:" << engineId_ << " Invalid pkt.size: " << pkt.size;
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av_packet_unref(&pkt);
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continue;
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}
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if (dataSourceConfig_.strUrl.find(".mp4") != std::string::npos)
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{
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const char szStartCode[4] = {0, 0, 0, 1};
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if (bIsAvc_ || memcmp(szStartCode, pkt.data, 4) != 0)
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{ // is avc1 code, have no start code of H264
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int iLen = 0;
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uint8_t *p = pkt.data;
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bIsAvc_ = true;
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do
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{ // add start_code for each NAL, one frame may have multi NALs.
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iLen = ntohl(*((long *)p));
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memcpy(p, szStartCode, 4);
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p += 4;
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p += iLen;
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if (p >= pkt.data + pkt.size)
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{
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break;
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}
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} while (1);
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}
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}
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void* pH264Buffer = nullptr;
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pH264Buffer = new uint8_t[pkt.size];
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memcpy(pH264Buffer, pkt.data, pkt.size);
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//组织数据
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std::shared_ptr<ProcessData> pProcessData = std::make_shared<ProcessData>();
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pProcessData->iWidth = frameInfo_.iWidth;
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pProcessData->iHeight = frameInfo_.iHeight;
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pProcessData->iRate = frameInfo_.iRate;
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pProcessData->i64TimeStamp = MyUtils::getins()->GetCurrentTimeMillis();
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pProcessData->iDataSource = engineId_;
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pProcessData->iSize = pkt.size;
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pProcessData->pData.reset(pH264Buffer, [](void* data){if(data) {delete[] data; data = nullptr;}}); //智能指针管理内存
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//push端口0，视频解码
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iRet = outputQueMap_[strPort0_]->push(std::static_pointer_cast<void>(pProcessData));
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if (iRet != APP_ERR_OK)
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{
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LogError << "engineId_:" << engineId_ << "push the h264 frame data failed...";
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}
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}
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else if (pkt.stream_index == iAudioStream_)
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{
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//音频流不处理。
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}
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else
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{
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LogError << "engineId_:" << engineId_ << " stream err stream_index:" << pkt.stream_index;
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}
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av_packet_unref(&pkt); //unref
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if (dataSourceConfig_.strUrl.find("rtsp:") == std::string::npos) // 如果不是rtsp，定时发送
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{
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usleep(DELAY_TIME); // delay 40ms
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}
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}
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}
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else
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{
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//从摄像头RTSP拉流
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const std::string videoStreamAddress = std::string("rtspsrc location=") + dataSourceConfig_.strUrl.c_str() + " latency=10 ! \
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rtph264depay ! h264parse ! nvv4l2decoder enable-max-performance=1 enable-frame-type-reporting=1 ! nvvidconv ! video/x-raw, format=(string)BGRx ! videoconvert ! appsink";
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VideoCapture capture_video;
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while(!capture_video.open(videoStreamAddress)){ //, cv::CAP_FFMPEG
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LogInfo<<"Restart Opening video stream or file ..."<<std::endl;
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sleep(1);
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}
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LogInfo<<"Opening video stream or file Success:"<<engineId_;
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int frameW = capture_video.get(3);
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int frameH = capture_video.get(4);
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int frameRate = capture_video.get(5);
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usleep(nDelayTime * 1000 * 1000);
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int nFrameid = 0;
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bool breadend = false;
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cv::Mat frame(frameH, frameW, CV_8UC3);
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while (!isStop_)
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{
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std::shared_ptr<FrameData> pBGRFrameData = std::make_shared<FrameData>();
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std::shared_ptr<ProcessData> pProcessData = std::make_shared<ProcessData>();
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if(!capture_video.read(frame)) {
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capture_video.release();
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while(!capture_video.open(videoStreamAddress)){ //, cv::CAP_FFMPEG
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LogInfo<<"Restart Opening video stream or file ..."<<std::endl;
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sleep(1);
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}
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continue;
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}
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unsigned int resizepBGRBuffer_Size = IMAGE_WIDTH*IMAGE_HEIGHT*3;
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cv::Mat mtInImage, mtOutImage;
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cv::resize(frame, mtInImage, cv::Size(IMAGE_WIDTH, IMAGE_HEIGHT));
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cv::cvtColor(mtInImage, mtOutImage, cv::COLOR_BGR2RGB);
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void* resizeBGRBufferobj = nullptr;
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resizeBGRBufferobj = new uint8_t[resizepBGRBuffer_Size];
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memcpy(resizeBGRBufferobj, mtOutImage.data, resizepBGRBuffer_Size);
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pBGRFrameData->iDataSource = engineId_;
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pBGRFrameData->iFrameId = nFrameid++;
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pBGRFrameData->iSize = resizepBGRBuffer_Size;
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pBGRFrameData->frameInfo.iWidth = IMAGE_WIDTH;
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pBGRFrameData->frameInfo.iHeight = IMAGE_HEIGHT;
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pBGRFrameData->frameInfo.iRate = frameRate;
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pProcessData->pVoidData = std::static_pointer_cast<void>(pBGRFrameData);
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pProcessData->pData.reset(resizeBGRBufferobj, [](void* data){if(data) {delete[] data; data = nullptr;}});
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if (nFrameid >= 0xFFFFFFFF) {nFrameid = 0;}
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pBGRFrameData->i64TimeStamp = MyUtils::getins()->GetCurrentTimeMillis();
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pProcessData->iWidth = pBGRFrameData->frameInfo.iWidth;
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pProcessData->iHeight = pBGRFrameData->frameInfo.iHeight;
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pProcessData->iHeight = pBGRFrameData->frameInfo.iRate;
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iRet = outputQueMap_[strPort0_]->push(std::static_pointer_cast<void>(pProcessData));
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}
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}
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return APP_ERR_OK;
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}
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