Skip to content

Commit

Permalink
Merge pull request #316 from shiguredo/feature/update-jetpack-to-5.1.2
Browse files Browse the repository at this point in the history 
JetPack を 5.1.2 に更新する
  • Loading branch information
@enm10k
enm10k authored Jan 10, 2024
2 parents 250e526 + 6a63cea commit 6c76962
Show file tree
Hide file tree
Showing 6 changed files with 99 additions and 85 deletions.
4 changes: 2 additions & 2 deletions CMakeLists.txt
View file
Original file line number Diff line number Diff line change
Expand Up @@ -706,8 +706,8 @@ elseif (TARGET_OS STREQUAL "linux")
PRIVATE
nvv4l2
nvv4lconvert
nvbuf_utils
#nvbuf_fdmap
#nvbuf_utils
nvbuf_fdmap
#nvddk_vic
#nvddk_2d_v2
nvjpeg
Expand Down
4 changes: 2 additions & 2 deletions build/ubuntu-20.04_armv8_jetson_xavier/arm64.conf
View file
Original file line number Diff line number Diff line change
Expand Up @@ -13,11 +13,11 @@ components=main universe
[Jetson]
packages=
source=https://repo.download.nvidia.com/jetson/common
suite=r35.3
suite=r35.4
components=main

[T194]
packages=nvidia-l4t-camera nvidia-l4t-jetson-multimedia-api
source=https://repo.download.nvidia.com/jetson/t194
suite=r35.3
suite=r35.4
components=main
77 changes: 40 additions & 37 deletions src/hwenc_jetson/jetson_buffer.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -57,62 +57,63 @@ rtc::scoped_refptr<webrtc::I420BufferInterface> JetsonBuffer::ToI420() {
int32_t buffer_width = ((scaled_width_ + 15) / 16) * 16;
int32_t buffer_height = ((scaled_height_ + 15) / 16) * 16;

NvBufferCreateParams input_params = {0};
input_params.payloadType = NvBufferPayload_SurfArray;
input_params.width = buffer_width;
input_params.height = buffer_height;
input_params.layout = NvBufferLayout_Pitch;
input_params.colorFormat = NvBufferColorFormat_YUV420;
input_params.nvbuf_tag = NvBufferTag_NONE;

int dmabuf_fd;
if (NvBufferCreateEx(&dmabuf_fd, &input_params) == -1) {
NvBufSurfaceAllocateParams input_params = {0};
input_params.params.width = buffer_width;
input_params.params.height = buffer_height;
input_params.params.layout = NVBUF_LAYOUT_PITCH;
input_params.params.colorFormat = NVBUF_COLOR_FORMAT_YUV420;
input_params.params.memType = NVBUF_MEM_SURFACE_ARRAY;
input_params.memtag = NvBufSurfaceTag_NONE;

NvBufSurface* dst_surf = 0;

if (NvBufSurfaceAllocate(&dst_surf, 1, &input_params) == -1) {
RTC_LOG(LS_ERROR) << __FUNCTION__ << " Failed to NvBufSurfaceAllocate";
RTC_LOG(LS_ERROR) << __FUNCTION__ << " Failed to NvBufferCreateEx";
return scaled_buffer;
}

NvBufferParams params = {0};
if (NvBufferGetParams(fd_, &params) == -1) {
RTC_LOG(LS_ERROR) << __FUNCTION__ << " Failed to NvBufferGetParams";
return scaled_buffer;
}
NvBufSurfaceParams params = dst_surf->surfaceList[0];

NvBufferRect src_rect, dest_rect;
NvBufSurfTransformRect src_rect, dest_rect;
src_rect.top = 0;
src_rect.left = 0;
src_rect.width = params.width[0];
src_rect.height = params.height[0];
src_rect.width = params.width;
src_rect.height = params.height;
dest_rect.top = 0;
dest_rect.left = 0;
dest_rect.width = buffer_width;
dest_rect.height = buffer_height;

NvBufferTransformParams trans_params;
memset(&trans_params, 0, sizeof(trans_params));
trans_params.transform_flag = NVBUFFER_TRANSFORM_FILTER;
trans_params.transform_flip = NvBufferTransform_None;
trans_params.transform_filter = NvBufferTransform_Filter_Smart;
trans_params.src_rect = src_rect;
trans_params.dst_rect = dest_rect;
NvBufSurfTransformParams trans_params;
trans_params.transform_flag = NVBUFSURF_TRANSFORM_FILTER;
trans_params.transform_flip = NvBufSurfTransform_None;
trans_params.transform_filter = NvBufSurfTransformInter_Algo3;
trans_params.src_rect = &src_rect;
trans_params.dst_rect = &dest_rect;

if (NvBufferTransform(fd_, dmabuf_fd, &trans_params) == -1) {
RTC_LOG(LS_ERROR) << __FUNCTION__ << " Failed to NvBufferTransform";
NvBufSurface* src_surf = 0;
if (NvBufSurfaceFromFd(fd_, (void**)(&src_surf)) == -1) {
RTC_LOG(LS_ERROR) << __FUNCTION__ << " Failed to NvBufSurfaceFromFd";
return scaled_buffer;
}

NvBufferParams dmabuf_params = {0};
if (NvBufferGetParams(dmabuf_fd, &dmabuf_params) == -1) {
RTC_LOG(LS_ERROR) << __FUNCTION__ << " Failed to NvBufferGetParams";
if (NvBufSurfTransform(src_surf, dst_surf, &trans_params) !=
NvBufSurfTransformError_Success) {
RTC_LOG(LS_ERROR) << __FUNCTION__ << " Failed to NvBufSurfTransform";
return scaled_buffer;
}

int ret;
void* data_addr;
uint8_t* dest_addr;
for (int plane = 0; plane < dmabuf_params.num_planes; plane++) {
ret = NvBufferMemMap(dmabuf_fd, plane, NvBufferMem_Read, &data_addr);
int num_planes = dst_surf->surfaceList->planeParams.num_planes;
int index = 0;
for (int plane = 0; plane < num_planes; plane++) {
ret = NvBufSurfaceMap(dst_surf, index, plane, NVBUF_MAP_READ);
if (ret == 0) {
NvBufferMemSyncForCpu(dmabuf_fd, plane, &data_addr);
NvBufSurfaceSyncForCpu(dst_surf, index, plane);
data_addr = dst_surf->surfaceList->mappedAddr.addr[plane];
int height, width;
if (plane == 0) {
dest_addr = scaled_buffer.get()->MutableDataY();
Expand All @@ -129,18 +130,20 @@ rtc::scoped_refptr<webrtc::I420BufferInterface> JetsonBuffer::ToI420() {
}
for (int i = 0; i < height; i++) {
memcpy(dest_addr + width * i,
(uint8_t*)data_addr + dmabuf_params.pitch[plane] * i, width);
(uint8_t*)data_addr +
dst_surf->surfaceList->planeParams.pitch[plane] * i,
width);
}
}
NvBufferMemUnMap(dmabuf_fd, plane, &data_addr);
NvBufSurfaceUnMap(dst_surf, index, plane);
if (ret == -1) {
RTC_LOG(LS_ERROR) << __FUNCTION__
<< " Failed to NvBufferMemMap plane=" << plane;
<< " Failed to NvBufSurfaceMap plane=" << plane;
return scaled_buffer;
}
}

NvBufferDestroy(dmabuf_fd);
NvBufSurfaceDestroy(dst_surf);

return scaled_buffer;
} else {
Expand Down
3 changes: 2 additions & 1 deletion src/hwenc_jetson/jetson_buffer.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -11,7 +11,8 @@
#include <rtc_base/memory/aligned_malloc.h>

// Jetson Linux Multimedia API
#include "nvbuf_utils.h"
#include <nvbufsurface.h>
#include <nvbufsurftransform.h>

#include "jetson_jpeg_decoder.h"

Expand Down
83 changes: 44 additions & 39 deletions src/hwenc_jetson/jetson_video_decoder.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -22,9 +22,11 @@
#include <third_party/libyuv/include/libyuv/convert.h>

// L4T Multimedia API
#include <nvbuf_utils.h>
#include <nvbufsurface.h>
#include <nvbufsurftransform.h>

// Jetson Linux Multimedia API
#include <NvBufSurface.h>
#include <NvVideoDecoder.h>

#define INIT_ERROR(cond, desc) \
Expand Down Expand Up @@ -216,7 +218,7 @@ bool JetsonVideoDecoder::JetsonRelease() {
decoder_ = nullptr;
}
if (dst_dma_fd_ != -1) {
NvBufferDestroy(dst_dma_fd_);
NvBufSurf::NvDestroy(dst_dma_fd_);
dst_dma_fd_ = -1;
}
return true;
Expand Down Expand Up @@ -303,26 +305,22 @@ void JetsonVideoDecoder::CaptureLoop() {
uint64_t pts = v4l2_buf.timestamp.tv_sec * rtc::kNumMicrosecsPerSec +
v4l2_buf.timestamp.tv_usec;

NvBufferRect src_rect, dest_rect;
src_rect.top = capture_crop_->c.top;
src_rect.left = capture_crop_->c.left;
src_rect.width = capture_crop_->c.width;
src_rect.height = capture_crop_->c.height;
dest_rect.top = 0;
dest_rect.left = 0;
dest_rect.width = capture_crop_->c.width;
dest_rect.height = capture_crop_->c.height;

NvBufferTransformParams transform_params;
NvBufSurf::NvCommonTransformParams transform_params;
memset(&transform_params, 0, sizeof(transform_params));
transform_params.transform_flag = NVBUFFER_TRANSFORM_FILTER;
transform_params.transform_flip = NvBufferTransform_None;
transform_params.transform_filter = NvBufferTransform_Filter_Smart;
transform_params.src_rect = src_rect;
transform_params.dst_rect = dest_rect;
transform_params.src_top = capture_crop_->c.top;
transform_params.src_left = capture_crop_->c.left;
transform_params.src_width = capture_crop_->c.width;
transform_params.src_height = capture_crop_->c.height;
transform_params.dst_top = 0;
transform_params.dst_left = 0;
transform_params.dst_width = capture_crop_->c.width;
transform_params.dst_height = capture_crop_->c.height;
transform_params.flag = NVBUFSURF_TRANSFORM_FILTER;
transform_params.flip = NvBufSurfTransform_None;
transform_params.filter = NvBufSurfTransformInter_Algo3;
// 何が来ても YUV420 に変換する
ret = NvBufferTransform(buffer->planes[0].fd, dst_dma_fd_,
&transform_params);
ret = NvBufSurf::NvTransform(&transform_params, buffer->planes[0].fd,
dst_dma_fd_);
if (ret == -1) {
RTC_LOG(LS_ERROR) << __FUNCTION__ << " Transform failed";
break;
Expand All @@ -339,9 +337,6 @@ void JetsonVideoDecoder::CaptureLoop() {
break;
}

NvBufferParams parm;
ret = NvBufferGetParams(dst_dma_fd_, &parm);

void* src_data;
uint8_t* dst_data;
int dst_stride;
Expand All @@ -358,13 +353,23 @@ void JetsonVideoDecoder::CaptureLoop() {
} else {
break;
}
ret = NvBufferMemMap(dst_dma_fd_, i, NvBufferMem_Read, &src_data);
NvBufferMemSyncForCpu(dst_dma_fd_, i, &src_data);
for (uint32_t j = 0; j < parm.height[i]; j++) {
memcpy(dst_data + j * dst_stride, (char*)src_data + j * parm.pitch[i],
parm.width[i]);
NvBufSurface* dst_surf = 0;

if (NvBufSurfaceFromFd(dst_dma_fd_, (void**)(&dst_surf)) == -1) {
RTC_LOG(LS_ERROR) << __FUNCTION__ << "Failed to NvBufSurfaceFromFd";
break;
}

ret = NvBufSurfaceMap(dst_surf, 0, i, NVBUF_MAP_READ);
NvBufSurfaceSyncForCpu(dst_surf, 0, i);
src_data = dst_surf->surfaceList[0].mappedAddr.addr[i];

NvBufSurfacePlaneParams params = dst_surf->surfaceList[0].planeParams;
for (uint32_t j = 0; j < params.height[i]; j++) {
memcpy(dst_data + j * dst_stride,
(char*)src_data + j * params.pitch[i], params.width[i]);
}
NvBufferMemUnMap(dst_dma_fd_, i, &src_data);
NvBufSurfaceUnMap(dst_surf, 0, i);
}

webrtc::VideoFrame decoded_image =
Expand Down Expand Up @@ -405,20 +410,20 @@ int JetsonVideoDecoder::SetCapture() {
<< "x" << format.fmt.pix_mp.height;

if (dst_dma_fd_ != -1) {
NvBufferDestroy(dst_dma_fd_);
NvBufSurf::NvDestroy(dst_dma_fd_);
dst_dma_fd_ = -1;
}

NvBufferCreateParams input_params = {0};
input_params.payloadType = NvBufferPayload_SurfArray;
input_params.width = capture_crop_->c.width;
input_params.height = capture_crop_->c.height;
input_params.layout = NvBufferLayout_Pitch;
input_params.colorFormat = NvBufferColorFormat_YUV420;
input_params.nvbuf_tag = NvBufferTag_VIDEO_DEC;
NvBufSurf::NvCommonAllocateParams cParams;
cParams.width = capture_crop_->c.width;
cParams.height = capture_crop_->c.height;
cParams.layout = NVBUF_LAYOUT_PITCH;
cParams.colorFormat = NVBUF_COLOR_FORMAT_YUV420;
cParams.memtag = NvBufSurfaceTag_VIDEO_DEC;
cParams.memType = NVBUF_MEM_SURFACE_ARRAY;

ret = NvBufferCreateEx(&dst_dma_fd_, &input_params);
INIT_ERROR(ret == -1, "create dmabuf failed");
ret = NvBufSurf::NvAllocate(&cParams, 1, &dst_dma_fd_);
INIT_ERROR(ret == -1, "failed to NvBufSurfaceAllocate");

decoder_->capture_plane.deinitPlane();

Expand Down
13 changes: 9 additions & 4 deletions src/hwenc_jetson/jetson_video_encoder.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -28,7 +28,7 @@
// L4T Multimedia API
#include <NvBufSurface.h>
#include <NvVideoEncoder.h>
#include <nvbuf_utils.h>
#include <nvbufsurface.h>

#include "jetson_buffer.h"

Expand Down Expand Up @@ -746,9 +746,14 @@ int32_t JetsonVideoEncoder::Encode(
input_frame.timestamp_us() % rtc::kNumMicrosecsPerSec;

for (int i = 0; i < MAX_PLANES; i++) {
if (NvBufferMemSyncForDevice(buffer->planes[i].fd, i,
(void**)&buffer->planes[i].data) < 0) {
RTC_LOG(LS_ERROR) << "Failed to NvBufferMemSyncForDevice";
NvBufSurface* surf = 0;
if (NvBufSurfaceFromFd(buffer->planes[i].fd, (void**)(&surf)) == -1) {
RTC_LOG(LS_ERROR) << __FUNCTION__ << "Failed to NvBufSurfaceFromFd";
return WEBRTC_VIDEO_CODEC_ERROR;
}

if (NvBufSurfaceSyncForDevice(surf, 0, i) == -1) {
RTC_LOG(LS_ERROR) << "Failed to NvBufSurfaceSyncForDevice";
return WEBRTC_VIDEO_CODEC_ERROR;
}
}
Expand Down

0 comments on commit 6c76962

Please sign in to comment.