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More selective frame rate. #91

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More selective frame rate. #91

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46 changes: 32 additions & 14 deletions camera/gstCamera.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -141,7 +141,7 @@ bool gstCamera::buildLaunchStr()
else if( mOptions.flipMethod == videoOptions::FLIP_ROTATE_180 )
mOptions.flipMethod = videoOptions::FLIP_NONE;

ss << "nvarguscamerasrc sensor-id=" << mOptions.resource.port << " ! video/x-raw(memory:NVMM), width=(int)" << GetWidth() << ", height=(int)" << GetHeight() << ", framerate=" << (int)mOptions.frameRate << "/1, format=(string)NV12 ! nvvidconv flip-method=" << mOptions.flipMethod << " ! ";
ss << "nvarguscamerasrc sensor-id=" << mOptions.resource.port << " ! video/x-raw(memory:NVMM), width=(int)" << GetWidth() << ", height=(int)" << GetHeight() << ", framerate=" << mOptions.frameRateNum << "/" << mOptions.frameRateDenom << ", format=(string)NV12 ! nvvidconv flip-method=" << mOptions.flipMethod << " ! ";
#else
// older JetPack versions use nvcamerasrc element instead of nvarguscamerasrc
ss << "nvcamerasrc fpsRange=\"" << (int)mOptions.frameRate << " " << (int)mOptions.frameRate << "\" ! video/x-raw(memory:NVMM), width=(int)" << GetWidth() << ", height=(int)" << GetHeight() << ", format=(string)NV12 ! nvvidconv flip-method=" << mOptions.flipMethod << " ! "; //'video/x-raw(memory:NVMM), width=(int)1920, height=(int)1080, format=(string)I420, framerate=(fraction)30/1' ! ";
Expand All @@ -160,7 +160,7 @@ bool gstCamera::buildLaunchStr()
if( mOptions.codec == videoOptions::CODEC_RAW )
ss << "format=(string)" << gst_format_to_string(mFormatYUV) << ", ";

ss << "width=(int)" << GetWidth() << ", height=(int)" << GetHeight() << " ! ";
ss << "width=(int)" << GetWidth() << ", height=(int)" << GetHeight() << ", framerate=" << mOptions.frameRateNum << "/" << mOptions.frameRateDenom << " ! ";
}

//ss << "queue max-size-buffers=16 ! ";
Expand Down Expand Up @@ -216,7 +216,7 @@ bool gstCamera::printCaps( GstCaps* device_caps )


// parseCaps
bool gstCamera::parseCaps( GstStructure* caps, videoOptions::Codec* _codec, imageFormat* _format, uint32_t* _width, uint32_t* _height, float* _frameRate )
bool gstCamera::parseCaps( GstStructure* caps, videoOptions::Codec* _codec, imageFormat* _format, uint32_t* _width, uint32_t* _height, float* _frameRate, int* _frameRateNum, int* _frameRateDenom )
{
// parse codec/format
const videoOptions::Codec codec = gst_parse_codec(caps);
Expand All @@ -242,7 +242,8 @@ bool gstCamera::parseCaps( GstStructure* caps, videoOptions::Codec* _codec, imag
return false;
}

// get highest framerate
// get nearest framerate
const float rate_target = mOptions.frameRate;
float frameRate = 0;
int frameRateNum = 0;
int frameRateDenom = 0;
Expand All @@ -264,15 +265,20 @@ bool gstCamera::parseCaps( GstStructure* caps, videoOptions::Codec* _codec, imag

if( GST_VALUE_HOLDS_FRACTION(value) )
{
frameRateNum = gst_value_get_fraction_numerator(value);
frameRateDenom = gst_value_get_fraction_denominator(value);
auto rate_num = gst_value_get_fraction_numerator(value);
auto rate_denom = gst_value_get_fraction_denominator(value);

if( frameRateNum > 0 && frameRateDenom > 0 )
if( rate_num > 0 && rate_denom > 0 )
{
const float rate = float(frameRateNum) / float(frameRateDenom);

if( rate > frameRate )
const float rate = float(rate_num) / float(rate_denom);
const float diff_now = abs(rate - rate_target);
const float diff_pre = abs(frameRate - rate_target);

if (frameRate == 0.0f || diff_now < diff_pre) {
frameRate = rate;
frameRateNum = rate_num;
frameRateDenom = rate_denom;
}
}
}
}
Expand All @@ -287,6 +293,8 @@ bool gstCamera::parseCaps( GstStructure* caps, videoOptions::Codec* _codec, imag
*_width = width;
*_height = height;
*_frameRate = frameRate;
*_frameRateNum = frameRateNum;
*_frameRateDenom = frameRateDenom;

return true;
}
Expand All @@ -300,6 +308,7 @@ bool gstCamera::matchCaps( GstCaps* device_caps )

int bestResolution = 1000000;
float bestFrameRate = 0.0f;
float rate_target = mOptions.frameRate;
videoOptions::Codec bestCodec = videoOptions::CODEC_UNKNOWN;

for( uint32_t n=0; n < numCaps; n++ )
Expand All @@ -313,15 +322,21 @@ bool gstCamera::matchCaps( GstCaps* device_caps )
imageFormat format;
uint32_t width, height;
float frameRate;
int frameRateNum;
int frameRateDenom;

if( !parseCaps(caps, &codec, &format, &width, &height, &frameRate) )
if( !parseCaps(caps, &codec, &format, &width, &height, &frameRate, &frameRateNum, &frameRateDenom) )
continue;

const int resolutionDiff = abs(int(mOptions.width) - int(width)) + abs(int(mOptions.height) - int(height));
const float rate_diff_now = abs(frameRate - rate_target);
const float rate_diff_pre = abs(bestFrameRate - rate_target);
const bool is_best_rate = (bestFrameRate == 0.0f || rate_diff_now < rate_diff_pre);

// pick this one if the resolution is closer, or if the resolution is the same but the framerate is better
// (or if the framerate is the same and previous codec was MJPEG, pick the new one because MJPEG isn't preferred)
if( resolutionDiff < bestResolution || (resolutionDiff == bestResolution && (frameRate > bestFrameRate || bestCodec == videoOptions::CODEC_MJPEG)) )
// In the case of I420, if you get an error image, uncomment the Boolean expression of I420.
if( /* format != imageFormat::IMAGE_I420 && */ (resolutionDiff < bestResolution || (resolutionDiff == bestResolution && (is_best_rate || bestCodec == videoOptions::CODEC_MJPEG))) )
{
bestResolution = resolutionDiff;
bestFrameRate = frameRate;
Expand All @@ -339,7 +354,7 @@ bool gstCamera::matchCaps( GstCaps* device_caps )
return false;
}

if( !parseCaps(bestCaps, &mOptions.codec, &mFormatYUV, &mOptions.width, &mOptions.height, &mOptions.frameRate) )
if( !parseCaps(bestCaps, &mOptions.codec, &mFormatYUV, &mOptions.width, &mOptions.height, &mOptions.frameRate, &mOptions.frameRateNum, &mOptions.frameRateDenom) )
return false;

return true;
Expand All @@ -356,8 +371,11 @@ bool gstCamera::discover()
if( mOptions.height == 0 )
mOptions.height = DefaultHeight;

if( mOptions.frameRate <= 0 )
if( mOptions.frameRate <= 0 ) {
mOptions.frameRate = 30;
mOptions.frameRateDenom = 100;
mOptions.frameRateNum = int(mOptions.frameRate * mOptions.frameRateDenom);
}

// MIPI CSI cameras aren't enumerated
if( mOptions.resource.protocol != "v4l2" )
Expand Down
2 changes: 1 addition & 1 deletion camera/gstCamera.h
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Expand Up @@ -216,7 +216,7 @@ class gstCamera : public videoSource

bool matchCaps( GstCaps* caps );
bool printCaps( GstCaps* caps );
bool parseCaps( GstStructure* caps, videoOptions::Codec* codec, imageFormat* format, uint32_t* width, uint32_t* height, float* frameRate );
bool parseCaps( GstStructure* caps, videoOptions::Codec* codec, imageFormat* format, uint32_t* width, uint32_t* height, float* frameRate, int* frameRateNum, int* frameRateDenom );

_GstBus* mBus;
_GstAppSink* mAppSink;
Expand Down
9 changes: 8 additions & 1 deletion video/videoOptions.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -32,6 +32,8 @@ videoOptions::videoOptions()
width = 0;
height = 0;
frameRate = 0;
frameRateNum = 0;
frameRateDenom = 0;
bitRate = 0;
numBuffers = 4;
loop = 0;
Expand Down Expand Up @@ -62,7 +64,7 @@ void videoOptions::Print( const char* prefix ) const
LogInfo(" -- codec: %s\n", CodecToStr(codec));
LogInfo(" -- width: %u\n", width);
LogInfo(" -- height: %u\n", height);
LogInfo(" -- frameRate: %f\n", frameRate);
LogInfo(" -- frameRate: %.2f (%d/%d)\n", frameRate, frameRateNum, frameRateDenom);
LogInfo(" -- bitRate: %u\n", bitRate);
LogInfo(" -- numBuffers: %u\n", numBuffers);
LogInfo(" -- zeroCopy: %s\n", zeroCopy ? "true" : "false");
Expand Down Expand Up @@ -126,6 +128,11 @@ bool videoOptions::Parse( const char* URI, const commandLine& cmdLine, videoOpti
if( frameRate == 0 )
frameRate = cmdLine.GetFloat("framerate");

if (frameRate != 0) {
frameRateDenom = 100;
frameRateNum = int(frameRate * frameRateDenom);
}

// flip-method
const char* flipStr = (type == INPUT) ? cmdLine.GetString("input-flip")
: cmdLine.GetString("output-flip");
Expand Down
2 changes: 2 additions & 0 deletions video/videoOptions.h
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Expand Up @@ -68,6 +68,8 @@ struct videoOptions
* for input and output streams, respectively. The `--framerate=N` option sets it for both.
*/
float frameRate;
int frameRateNum;
int frameRateDenom;

/**
* The encoding bitrate for compressed streams (only applies to video codecs like H264/H265).
Expand Down