201 lines
7.4 KiB
C
201 lines
7.4 KiB
C
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// ----------------------------------------------------------------------------
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// - Open3D: www.open3d.org -
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// ----------------------------------------------------------------------------
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// Copyright (c) 2018-2023 www.open3d.org
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// SPDX-License-Identifier: MIT
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// ----------------------------------------------------------------------------
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// ----------------------------------------------------------------------------
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// Contains source code from
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// https://github.com/mpromonet/webrtc-streamer
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//
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// This software is in the public domain, furnished "as is", without technical
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// support, and with no warranty, express or implied, as to its usefulness for
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// any purpose.
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// ----------------------------------------------------------------------------
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//
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// This is a private header. It shall be hidden from Open3D's public API. Do not
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// put this in Open3D.h.in.
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#pragma once
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#include <api/media_stream_interface.h>
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#include <media/base/video_broadcaster.h>
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#include "open3d/visualization/webrtc_server/BitmapTrackSource.h"
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namespace open3d {
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namespace visualization {
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namespace webrtc_server {
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class VideoScaler : public rtc::VideoSinkInterface<webrtc::VideoFrame>,
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public rtc::VideoSourceInterface<webrtc::VideoFrame> {
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public:
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VideoScaler(rtc::scoped_refptr<BitmapTrackSourceInterface> video_source,
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const std::map<std::string, std::string> &opts)
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: video_source_(video_source),
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width_(0),
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height_(0),
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rotation_(webrtc::kVideoRotation_0),
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roi_x_(0),
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roi_y_(0),
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roi_width_(0),
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roi_height_(0) {
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if (opts.find("width") != opts.end()) {
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width_ = std::stoi(opts.at("width"));
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}
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if (opts.find("height") != opts.end()) {
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height_ = std::stoi(opts.at("height"));
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}
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if (opts.find("rotation") != opts.end()) {
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int rotation = std::stoi(opts.at("rotation"));
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switch (rotation) {
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case 90:
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rotation_ = webrtc::kVideoRotation_90;
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break;
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case 180:
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rotation_ = webrtc::kVideoRotation_180;
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break;
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case 270:
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rotation_ = webrtc::kVideoRotation_270;
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break;
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}
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}
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if (opts.find("roi_x") != opts.end()) {
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roi_x_ = std::stoi(opts.at("roi_x"));
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if (roi_x_ < 0) {
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utility::LogWarning("Ignore roi_x={}, it must be >=0", roi_x_);
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roi_x_ = 0;
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}
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}
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if (opts.find("roi_y") != opts.end()) {
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roi_y_ = std::stoi(opts.at("roi_y"));
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if (roi_y_ < 0) {
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utility::LogWarning("Ignore roi_y_={}, it must be >=0", roi_y_);
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roi_y_ = 0;
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}
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}
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if (opts.find("roi_width") != opts.end()) {
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roi_width_ = std::stoi(opts.at("roi_width"));
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if (roi_width_ <= 0) {
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utility::LogWarning("Ignore roi_width={}, it must be >0",
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roi_width_);
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roi_width_ = 0;
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}
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}
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if (opts.find("roi_height") != opts.end()) {
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roi_height_ = std::stoi(opts.at("roi_height"));
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if (roi_height_ <= 0) {
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utility::LogWarning("Ignore roi_height={}, it must be >0",
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roi_height_);
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roi_height_ = 0;
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}
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}
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}
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virtual ~VideoScaler() {}
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void OnFrame(const webrtc::VideoFrame &frame) override {
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if (roi_x_ >= frame.width()) {
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utility::LogWarning(
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"The ROI position protrudes beyond the right edge of the "
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"image. Ignore roi_x.");
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roi_x_ = 0;
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}
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if (roi_y_ >= frame.height()) {
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utility::LogWarning(
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"The ROI position protrudes beyond the right edge of the "
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"image. Ignore roi_y_.");
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roi_y_ = 0;
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}
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if (roi_width_ != 0 && (roi_width_ + roi_x_) > frame.width()) {
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utility::LogWarning(
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"The ROI position protrudes beyond the right edge of the "
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"image. Ignore roi_width_.");
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roi_width_ = 0;
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}
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if (roi_height_ != 0 && (roi_height_ + roi_y_) > frame.height()) {
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utility::LogWarning(
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"The ROI position protrudes beyond the right edge of the "
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"image. Ignore roi_height_.");
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roi_height_ = 0;
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}
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if (roi_width_ == 0) {
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roi_width_ = frame.width() - roi_x_;
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}
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if (roi_height_ == 0) {
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roi_height_ = frame.height() - roi_y_;
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}
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// source image is croped but destination image size is not set
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if ((roi_width_ != frame.width() || roi_height_ != frame.height()) &&
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(height_ == 0 && width_ == 0)) {
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height_ = roi_height_;
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width_ = roi_width_;
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}
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if ((height_ == 0) && (width_ == 0) &&
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(rotation_ == webrtc::kVideoRotation_0)) {
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broadcaster_.OnFrame(frame);
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} else {
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int height = height_;
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int width = width_;
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if ((height == 0) && (width == 0)) {
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height = frame.height();
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width = frame.width();
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} else if (height == 0) {
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height = (roi_height_ * width) / roi_width_;
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} else if (width == 0) {
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width = (roi_width_ * height) / roi_height_;
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}
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rtc::scoped_refptr<webrtc::I420Buffer> scaled_buffer =
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webrtc::I420Buffer::Create(width, height);
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if (roi_width_ != frame.width() || roi_height_ != frame.height()) {
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scaled_buffer->CropAndScaleFrom(
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*frame.video_frame_buffer()->ToI420(), roi_x_, roi_y_,
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roi_width_, roi_height_);
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} else {
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scaled_buffer->ScaleFrom(*frame.video_frame_buffer()->ToI420());
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}
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webrtc::VideoFrame scaledFrame =
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webrtc::VideoFrame(scaled_buffer, frame.timestamp(),
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frame.render_time_ms(), rotation_);
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broadcaster_.OnFrame(scaledFrame);
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}
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}
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void AddOrUpdateSink(rtc::VideoSinkInterface<webrtc::VideoFrame> *sink,
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const rtc::VideoSinkWants &wants) override {
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video_source_->AddOrUpdateSink(this, wants);
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broadcaster_.AddOrUpdateSink(sink, wants);
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}
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void RemoveSink(
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rtc::VideoSinkInterface<webrtc::VideoFrame> *sink) override {
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video_source_->RemoveSink(this);
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broadcaster_.RemoveSink(sink);
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}
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int width() { return roi_width_; }
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int height() { return roi_height_; }
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private:
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rtc::scoped_refptr<BitmapTrackSourceInterface> video_source_;
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rtc::VideoBroadcaster broadcaster_;
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int width_;
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int height_;
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webrtc::VideoRotation rotation_;
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int roi_x_;
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int roi_y_;
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int roi_width_;
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int roi_height_;
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};
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} // namespace webrtc_server
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} // namespace visualization
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} // namespace open3d
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