AR.drone2 非sdk读取视频信号(续)
一天改点一天改点,今天有进步,不像之前的大面积错帧,但是还是有问题,pframe(关键帧)是对的,iframe(连续帧)以3秒1次左右的概率出错,把关键代码放上来,欢迎盗版,但是不要忘了顶一下哦,我觉得写h264解码难度蛮大,大家对这个不太感兴趣吗CSocket vi;
vi.Create(5555,SOCK_STREAM,"192.168.1.3");
vi.Connect("192.168.1.1",5555);
FILE *outf = fopen("out.yuv", "wb");
AVCodec *codec; // Codec
AVCodecContext *c; // Codec Context
AVFrame *picture; // Frame
intgot_picture, consumed_bytes;
static AVPacket packet;
avcodec_init();
avcodec_register_all();
codec = avcodec_find_decoder(CODEC_ID_H264);
c = avcodec_alloc_context();
if(!c){
return ;
}
//open codec
c->pix_fmt = PIX_FMT_YUV420P;
c->skip_frame = AVDISCARD_DEFAULT;
c->error_concealment = FF_EC_GUESS_MVS | FF_EC_DEBLOCK;
c->error_recognition = FF_ER_CAREFUL;
c->skip_loop_filter = AVDISCARD_DEFAULT;
//c->workaround_bugs = FF_BUG_AUTODETECT;
c->codec_type = AVMEDIA_TYPE_VIDEO;
c->codec_id = CODEC_ID_H264;
c->skip_idct = AVDISCARD_DEFAULT;
if (avcodec_open(c, codec) < 0) {
return ;
}
//allocate frame buffer
picture = avcodec_alloc_frame();
if(!picture){
return ;
}
IplImage* dspimg=cvCreateImage(cvSize(640,360),IPL_DEPTH_8U,1);
int i=1;
while(i==1)
{
char buf;
int recv,bufsize=0;
recv=vi.Receive(buf,123456);
bufsize+=recv;
parrot_video_encapsulation_t *PAVE;
PAVE=(parrot_video_encapsulation_t*)buf;
char *buff;
if (PAVE->signature == 'P' &&
PAVE->signature == 'a' &&
PAVE->signature == 'V' &&
PAVE->signature == 'E')
{
buff=buf+PAVE->header_size;//sizeof(parrot_video_encapsulation_t);//why the header is more 4byte than struct?
packet.size=PAVE->payload_size;//sizeof(parrot_video_encapsulation_t);
while(bufsize<PAVE->payload_size)
{
recv=vi.Receive(&buf,123456);
bufsize+=recv;
}
}
else
{
continue;
}
packet.data=(uint8_t*)buff;
consumed_bytes= avcodec_decode_video2(c, picture, &got_picture,&packet);//(uint8_t *) buff, recv-sizeof(parrot_video_encapsulation_t));
if(consumed_bytes>0){
for(int j=0; j<c->height; j++){
// fwrite(picture->data + j * picture->linesize, 1, c->width, outf);
for(int k=0;k<c->width;k++)
CV_IMAGE_ELEM(dspimg,unsigned char,j,k)=*(picture->data+k+ j * picture->linesize);
}
//dspimg->imageData=(char*)picture->data;
cvShowImage("",dspimg);
int k=cvWaitKey(20);
if(k==32) i=0;
}
else{
i--;
SetWindowText("no");
}
if(got_picture)
{
char buf1;
sprintf(buf1,"%d,%d,%d,%d",i,PAVE->frame_type,consumed_bytes,c->width);//360*640
SetWindowText(buf1);
//break;
}
}//鄙人邮箱405181621@qq.com,关于AR.drone2,大家有什么有意思的新成果和我联系哦
avcodec_close(c);
av_free(c);
fclose(outf);
vi.Close();
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