Read frames from GStreamer pipeline in opencv (cv::Mat)

[pchaurasia]

Hi Tim,

I tried nvvidconv. Although without success (i.e. the map_info.size is 776
bytes instead of 1920*1080*1.5). 

Thanks,

Following is my code.

#include "opencv2/objdetect/objdetect.hpp"
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv/cv.h"
#include <gst/gst.h>
#include <gst/app/gstappsink.h>
#include <gst/gstelement.h>
#include <gst/video/video.h>
#include <stdio.h>
#include <stdlib.h>

#include <unistd.h>
#include <pthread.h>


using namespace cv;
GstSample* buffer;        
cv::Mat frame;
GstVideoInfo vinfo;
int sampleno = 0;

GstFlowReturn CaptureGstBuffer(GstAppSink *sink, gpointer user_data)
{            

  //prog_data* pd = (prog_data*)user_data;


  GstSample* sample = gst_app_sink_pull_sample(sink);

  if(sample == NULL) {
    return GST_FLOW_ERROR;
  }

  GstBuffer* buffer = gst_sample_get_buffer(sample);
  GstMapInfo map_info;


  if (!gst_buffer_map ((buffer), &map_info, GST_MAP_READ)) {
    gst_buffer_unmap ((buffer), &map_info);
    gst_sample_unref(sample);
    return GST_FLOW_ERROR;
  }

  //render using map_info.data
//  frame = Mat::zeros(1080, 1920, CV_8UC3);
 // frame = cv::Mat(1080, 1920, CV_8UC3, (char *)map_info.data,
cv::Mat::AUTO_STEP);
  //memcpy(frame.data,map_info.data,map_info.size);

    //Mat grey;
    //cvtColor(frame, grey, CV_BGR2GRAY);
 

//if (!frame.empty())
//  imshow("test-gstreamer-video",grey);
//  waitKey(1);
  GstVideoFrame vframe;
  if (gst_video_frame_map (&vframe, &vinfo, buffer, GST_MAP_READ)) {
     fprintf(stderr,"I am able to map vframe\n");
     gst_video_frame_unmap (&vframe);
  }
  
  fprintf(stderr,"Got sample no  %d  %d\n",sampleno++,(int)map_info.size);

  gst_buffer_unmap ((buffer), &map_info);
  //gst_memory_unmap(memory, &map_info);
  //gst_memory_unref(memory);
  gst_sample_unref(sample);

  return GST_FLOW_OK;
}
 

int main(int argc, char *argv[]) {
  GstElement *pipeline, *source, *caps, *convert, *sink, *capssrc;
  GstBus *bus;
  GstCaps *filtercaps, *srcfiltercaps;
  GstElement *tee, *vq1;
  GstMessage *msg;
  GstStateChangeReturn ret;
  GstPad      *srcpad,*sinkpad; 


  /* Initialize GStreamer */
  gst_init (&argc, &argv);

  /* Create the elements */
  source        = gst_element_factory_make ("nvcamerasrc", "source");
  sink          = gst_element_factory_make ("appsink", "sink");
  convert       = gst_element_factory_make ("nvvidconv","videoconvert");
 
  /* Create the empty pipeline */
  pipeline = gst_pipeline_new ("test-pipeline");

  if (!pipeline || !source || !sink || !convert ) {
    g_printerr ("Not all elements could be created.\n");
    return -1;
  }


  caps    = gst_element_factory_make ("capsfilter", "filter");
  capssrc = gst_element_factory_make ("capsfilter", "filter1");
  g_assert (caps != NULL); /* should always exist */
  g_assert (capssrc != NULL); /* should always exist */


  srcfiltercaps = gst_caps_from_string("video/x-raw, width=(int)1920,
height=(int)1080, format=(string)UYVY, framerate=(fraction)30/1 ");
  filtercaps    = gst_caps_from_string("video/x-raw(memory:NVMM),
width=(int)1920, height=(int)1080, format=(string)I420,
framerate=(fraction)30/1 ");
  g_object_set (G_OBJECT (capssrc), "caps-src", srcfiltercaps, NULL);
  g_object_set (G_OBJECT (caps), "caps", filtercaps, NULL);
  gst_app_sink_set_caps(GST_APP_SINK(sink),filtercaps);

  gst_video_info_init(&vinfo);
  if (!gst_video_info_from_caps(&vinfo,filtercaps)){
    g_printerr ("Unable to find video info from caps\n");
    return -1;
  }
  gst_caps_unref (filtercaps);
  gst_caps_unref (srcfiltercaps);


  /* Modify the source's properties */
  //g_object_set (source, "pattern", 0, NULL);
  g_object_set (sink, "drop" , TRUE, NULL);
  g_object_set (sink, "new_sample" , FALSE, NULL);
  g_object_set (sink, "max-buffers" , 1, NULL);

   GstAppSinkCallbacks* appsink_callbacks =
(GstAppSinkCallbacks*)malloc(sizeof(GstAppSinkCallbacks));
   appsink_callbacks->eos = NULL;
   appsink_callbacks->new_preroll = NULL;
   appsink_callbacks->new_sample = CaptureGstBuffer;
   gst_app_sink_set_callbacks(GST_APP_SINK(sink), appsink_callbacks,  
(gpointer)NULL, free);

  gst_app_sink_set_emit_signals((GstAppSink*)sink,false);



  /* Build the pipeline */
  gst_bin_add_many (GST_BIN (pipeline), source, capssrc, convert, caps,
sink, NULL);
  if (gst_element_link_many (source,convert,caps,sink, NULL) != TRUE) {
    g_printerr ("Elements could not be linked1.\n");
    gst_object_unref (pipeline);
    return -1;
  }


#if 1

  /* Start playing */
  ret = gst_element_set_state (pipeline, GST_STATE_PLAYING);
  if (ret == GST_STATE_CHANGE_FAILURE) {
    g_printerr ("Unable to set the pipeline to the playing state.\n");
    gst_object_unref (pipeline);
    return -1;
  }

  /* Wait until error or EOS */
  bus = gst_element_get_bus (pipeline);
  msg = gst_bus_timed_pop_filtered (bus, GST_CLOCK_TIME_NONE,
(GstMessageType)(GST_MESSAGE_ERROR | GST_MESSAGE_EOS));

  /* Parse message */
  if (msg != NULL) {
    GError *err;
    gchar *debug_info;

    switch (GST_MESSAGE_TYPE (msg)) {
      case GST_MESSAGE_ERROR:
        gst_message_parse_error (msg, &err, &debug_info);
        g_printerr ("Error received from element %s: %s\n", GST_OBJECT_NAME
(msg->src), err->message);
        g_printerr ("Debugging information: %s\n", debug_info ? debug_info :
"none");
        g_clear_error (&err);
        g_free (debug_info);
        break;
      case GST_MESSAGE_EOS:
        g_print ("End-Of-Stream reached.\n");
        break;
      default:
        /* We should not reach here because we only asked for ERRORs and EOS
*/
        g_printerr ("Unexpected message received.\n");
        break;
    }
    gst_message_unref (msg);
  }

  /* Free resources */
  gst_object_unref (bus);
  gst_element_set_state (pipeline, GST_STATE_NULL);
  gst_object_unref (pipeline);
#endif
  return 0;
}




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