/** Copyright (c) 2010 Nicolas George* Copyright (c) 2011 Stefano Sabatini* Copyright (c) 2014 Andrey Utkin** Permission is hereby granted, free of charge, to any person obtaining a copy* of this software and associated documentation files (the "Software"), to deal* in the Software without restriction, including without limitation the rights* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell* copies of the Software, and to permit persons to whom the Software is* furnished to do so, subject to the following conditions:** The above copyright notice and this permission notice shall be included in* all copies or substantial portions of the Software.** THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL* THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN* THE SOFTWARE.*//*** @file* API example for demuxing, decoding, filtering, encoding and muxing* @example transcoding.c*/#include<libavcodec/avcodec.h>#include<libavformat/avformat.h>#include<libavfilter/buffersink.h>#include<libavfilter/buffersrc.h>#include<libavutil/opt.h>#include<libavutil/pixdesc.h>static AVFormatContext *ifmt_ctx;static AVFormatContext *ofmt_ctx;typedefstructFilteringContext{AVFilterContext *buffersink_ctx;AVFilterContext *buffersrc_ctx;AVFilterGraph *filter_graph;} FilteringContext;static FilteringContext *filter_ctx;typedefstructStreamContext{AVCodecContext *dec_ctx;AVCodecContext *enc_ctx;} StreamContext;static StreamContext *stream_ctx;staticintopen_input_file(constchar*filename){int ret;unsignedint i;ifmt_ctx =NULL;if((ret =avformat_open_input(&ifmt_ctx, filename,NULL,NULL))<0){av_log(NULL, AV_LOG_ERROR,"Cannot open input file\n");return ret;}if((ret =avformat_find_stream_info(ifmt_ctx,NULL))<0){av_log(NULL, AV_LOG_ERROR,"Cannot find stream information\n");return ret;}stream_ctx =av_mallocz_array(ifmt_ctx->nb_streams,sizeof(*stream_ctx));if(!stream_ctx)returnAVERROR(ENOMEM);for(i =0; i < ifmt_ctx->nb_streams; i++){AVStream *stream = ifmt_ctx->streams[i];AVCodec *dec =avcodec_find_decoder(stream->codecpar->codec_id);AVCodecContext *codec_ctx;if(!dec){av_log(NULL, AV_LOG_ERROR,"Failed to find decoder for stream #%u\n", i);return AVERROR_DECODER_NOT_FOUND;}codec_ctx =avcodec_alloc_context3(dec);if(!codec_ctx){av_log(NULL, AV_LOG_ERROR,"Failed to allocate the decoder context for stream #%u\n", i);returnAVERROR(ENOMEM);}ret =avcodec_parameters_to_context(codec_ctx, stream->codecpar);if(ret <0){av_log(NULL, AV_LOG_ERROR,"Failed to copy decoder parameters to input decoder context ""for stream #%u\n", i);return ret;}/* Reencode video & audio and remux subtitles etc. */if(codec_ctx->codec_type == AVMEDIA_TYPE_VIDEO|| codec_ctx->codec_type == AVMEDIA_TYPE_AUDIO){if(codec_ctx->codec_type == AVMEDIA_TYPE_VIDEO)codec_ctx->framerate =av_guess_frame_rate(ifmt_ctx, stream,NULL);/* Open decoder */ret =avcodec_open2(codec_ctx, dec,NULL);if(ret <0){av_log(NULL, AV_LOG_ERROR,"Failed to open decoder for stream #%u\n", i);return ret;}}stream_ctx[i].dec_ctx = codec_ctx;}av_dump_format(ifmt_ctx,0, filename,0);return0;}staticintopen_output_file(constchar*filename){AVStream *out_stream;AVStream *in_stream;AVCodecContext *dec_ctx,*enc_ctx;AVCodec *encoder;int ret;unsignedint i;ofmt_ctx =NULL;avformat_alloc_output_context2(&ofmt_ctx,NULL,NULL, filename);if(!ofmt_ctx){av_log(NULL, AV_LOG_ERROR,"Could not create output context\n");return AVERROR_UNKNOWN;}for(i =0; i < ifmt_ctx->nb_streams; i++){out_stream =avformat_new_stream(ofmt_ctx,NULL);if(!out_stream){av_log(NULL, AV_LOG_ERROR,"Failed allocating output stream\n");return AVERROR_UNKNOWN;}in_stream = ifmt_ctx->streams[i];dec_ctx = stream_ctx[i].dec_ctx;if(dec_ctx->codec_type == AVMEDIA_TYPE_VIDEO|| dec_ctx->codec_type == AVMEDIA_TYPE_AUDIO){/* in this example, we choose transcoding to same codec */encoder =avcodec_find_encoder(dec_ctx->codec_id);if(!encoder){av_log(NULL, AV_LOG_FATAL,"Necessary encoder not found\n");return AVERROR_INVALIDDATA;}enc_ctx =avcodec_alloc_context3(encoder);if(!enc_ctx){av_log(NULL, AV_LOG_FATAL,"Failed to allocate the encoder context\n");returnAVERROR(ENOMEM);}/* In this example, we transcode to same properties (picture size,* sample rate etc.). These properties can be changed for output* streams easily using filters */if(dec_ctx->codec_type == AVMEDIA_TYPE_VIDEO){enc_ctx->height = dec_ctx->height;enc_ctx->width = dec_ctx->width;enc_ctx->sample_aspect_ratio = dec_ctx->sample_aspect_ratio;/* take first format from list of supported formats */if(encoder->pix_fmts)enc_ctx->pix_fmt = encoder->pix_fmts[0];elseenc_ctx->pix_fmt = dec_ctx->pix_fmt;/* video time_base can be set to whatever is handy and supported by encoder */enc_ctx->time_base =av_inv_q(dec_ctx->framerate);}else{enc_ctx->sample_rate = dec_ctx->sample_rate;enc_ctx->channel_layout = dec_ctx->channel_layout;enc_ctx->channels =av_get_channel_layout_nb_channels(enc_ctx->channel_layout);/* take first format from list of supported formats */enc_ctx->sample_fmt = encoder->sample_fmts[0];enc_ctx->time_base =(AVRational){1, enc_ctx->sample_rate};}if(ofmt_ctx->oformat->flags & AVFMT_GLOBALHEADER)enc_ctx->flags |= AV_CODEC_FLAG_GLOBAL_HEADER;/* Third parameter can be used to pass settings to encoder */ret =avcodec_open2(enc_ctx, encoder,NULL);if(ret <0){av_log(NULL, AV_LOG_ERROR,"Cannot open video encoder for stream #%u\n", i);return ret;}ret =avcodec_parameters_from_context(out_stream->codecpar, enc_ctx);if(ret <0){av_log(NULL, AV_LOG_ERROR,"Failed to copy encoder parameters to output stream #%u\n", i);return ret;}out_stream->time_base = enc_ctx->time_base;stream_ctx[i].enc_ctx = enc_ctx;}elseif(dec_ctx->codec_type == AVMEDIA_TYPE_UNKNOWN){av_log(NULL, AV_LOG_FATAL,"Elementary stream #%d is of unknown type, cannot proceed\n", i);return AVERROR_INVALIDDATA;}else{/* if this stream must be remuxed */ret =avcodec_parameters_copy(out_stream->codecpar, in_stream->codecpar);if(ret <0){av_log(NULL, AV_LOG_ERROR,"Copying parameters for stream #%u failed\n", i);return ret;}out_stream->time_base = in_stream->time_base;}}av_dump_format(ofmt_ctx,0, filename,1);if(!(ofmt_ctx->oformat->flags & AVFMT_NOFILE)){ret =avio_open(&ofmt_ctx->pb, filename, AVIO_FLAG_WRITE);if(ret <0){av_log(NULL, AV_LOG_ERROR,"Could not open output file '%s'", filename);return ret;}}/* init muxer, write output file header */ret =avformat_write_header(ofmt_ctx,NULL);if(ret <0){av_log(NULL, AV_LOG_ERROR,"Error occurred when opening output file\n");return ret;}return0;}staticintinit_filter(FilteringContext* fctx, AVCodecContext *dec_ctx,AVCodecContext *enc_ctx,constchar*filter_spec){char args[512];int ret =0;const AVFilter *buffersrc =NULL;const AVFilter *buffersink =NULL;AVFilterContext *buffersrc_ctx =NULL;AVFilterContext *buffersink_ctx =NULL;AVFilterInOut *outputs =avfilter_inout_alloc();AVFilterInOut *inputs =avfilter_inout_alloc();AVFilterGraph *filter_graph =avfilter_graph_alloc();if(!outputs ||!inputs ||!filter_graph){ret =AVERROR(ENOMEM);goto end;}if(dec_ctx->codec_type == AVMEDIA_TYPE_VIDEO){buffersrc =avfilter_get_by_name("buffer");buffersink =avfilter_get_by_name("buffersink");if(!buffersrc ||!buffersink){av_log(NULL, AV_LOG_ERROR,"filtering source or sink element not found\n");ret = AVERROR_UNKNOWN;goto end;}snprintf(args,sizeof(args),"video_size=%dx%d:pix_fmt=%d:time_base=%d/%d:pixel_aspect=%d/%d",dec_ctx->width, dec_ctx->height, dec_ctx->pix_fmt,dec_ctx->time_base.num, dec_ctx->time_base.den,dec_ctx->sample_aspect_ratio.num,dec_ctx->sample_aspect_ratio.den);ret =avfilter_graph_create_filter(&buffersrc_ctx, buffersrc,"in",args,NULL, filter_graph);if(ret <0){av_log(NULL, AV_LOG_ERROR,"Cannot create buffer source\n");goto end;}ret =avfilter_graph_create_filter(&buffersink_ctx, buffersink,"out",NULL,NULL, filter_graph);if(ret <0){av_log(NULL, AV_LOG_ERROR,"Cannot create buffer sink\n");goto end;}ret =av_opt_set_bin(buffersink_ctx,"pix_fmts",(uint8_t*)&enc_ctx->pix_fmt,sizeof(enc_ctx->pix_fmt),AV_OPT_SEARCH_CHILDREN);if(ret <0){av_log(NULL, AV_LOG_ERROR,"Cannot set output pixel format\n");goto end;}}elseif(dec_ctx->codec_type == AVMEDIA_TYPE_AUDIO){buffersrc =avfilter_get_by_name("abuffer");buffersink =avfilter_get_by_name("abuffersink");if(!buffersrc ||!buffersink){av_log(NULL, AV_LOG_ERROR,"filtering source or sink element not found\n");ret = AVERROR_UNKNOWN;goto end;}if(!dec_ctx->channel_layout)dec_ctx->channel_layout =av_get_default_channel_layout(dec_ctx->channels);snprintf(args,sizeof(args),"time_base=%d/%d:sample_rate=%d:sample_fmt=%s:channel_layout=0x%"PRIx64,dec_ctx->time_base.num, dec_ctx->time_base.den, dec_ctx->sample_rate,av_get_sample_fmt_name(dec_ctx->sample_fmt),dec_ctx->channel_layout);ret =avfilter_graph_create_filter(&buffersrc_ctx, buffersrc,"in",args,NULL, filter_graph);if(ret <0){av_log(NULL, AV_LOG_ERROR,"Cannot create audio buffer source\n");goto end;}ret =avfilter_graph_create_filter(&buffersink_ctx, buffersink,"out",NULL,NULL, filter_graph);if(ret <0){av_log(NULL, AV_LOG_ERROR,"Cannot create audio buffer sink\n");goto end;}ret =av_opt_set_bin(buffersink_ctx,"sample_fmts",(uint8_t*)&enc_ctx->sample_fmt,sizeof(enc_ctx->sample_fmt),AV_OPT_SEARCH_CHILDREN);if(ret <0){av_log(NULL, AV_LOG_ERROR,"Cannot set output sample format\n");goto end;}ret =av_opt_set_bin(buffersink_ctx,"channel_layouts",(uint8_t*)&enc_ctx->channel_layout,sizeof(enc_ctx->channel_layout), AV_OPT_SEARCH_CHILDREN);if(ret <0){av_log(NULL, AV_LOG_ERROR,"Cannot set output channel layout\n");goto end;}ret =av_opt_set_bin(buffersink_ctx,"sample_rates",(uint8_t*)&enc_ctx->sample_rate,sizeof(enc_ctx->sample_rate),AV_OPT_SEARCH_CHILDREN);if(ret <0){av_log(NULL, AV_LOG_ERROR,"Cannot set output sample rate\n");goto end;}}else{ret = AVERROR_UNKNOWN;goto end;}/* Endpoints for the filter graph. */outputs->name =av_strdup("in");outputs->filter_ctx = buffersrc_ctx;outputs->pad_idx =0;outputs->next =NULL;inputs->name =av_strdup("out");inputs->filter_ctx = buffersink_ctx;inputs->pad_idx =0;inputs->next =NULL;if(!outputs->name ||!inputs->name){ret =AVERROR(ENOMEM);goto end;}if((ret =avfilter_graph_parse_ptr(filter_graph, filter_spec,&inputs,&outputs,NULL))<0)goto end;if((ret =avfilter_graph_config(filter_graph,NULL))<0)goto end;/* Fill FilteringContext */fctx->buffersrc_ctx = buffersrc_ctx;fctx->buffersink_ctx = buffersink_ctx;fctx->filter_graph = filter_graph;end:avfilter_inout_free(&inputs);avfilter_inout_free(&outputs);return ret;}staticintinit_filters(void){constchar*filter_spec;unsignedint i;int ret;filter_ctx =av_malloc_array(ifmt_ctx->nb_streams,sizeof(*filter_ctx));if(!filter_ctx)returnAVERROR(ENOMEM);for(i =0; i < ifmt_ctx->nb_streams; i++){filter_ctx[i].buffersrc_ctx =NULL;filter_ctx[i].buffersink_ctx =NULL;filter_ctx[i].filter_graph =NULL;if(!(ifmt_ctx->streams[i]->codecpar->codec_type == AVMEDIA_TYPE_AUDIO|| ifmt_ctx->streams[i]->codecpar->codec_type == AVMEDIA_TYPE_VIDEO))continue;if(ifmt_ctx->streams[i]->codecpar->codec_type == AVMEDIA_TYPE_VIDEO)filter_spec ="null";/* passthrough (dummy) filter for video */elsefilter_spec ="anull";/* passthrough (dummy) filter for audio */ret =init_filter(&filter_ctx[i], stream_ctx[i].dec_ctx,stream_ctx[i].enc_ctx, filter_spec);if(ret)return ret;}return0;}staticintencode_write_frame(AVFrame *filt_frame,unsignedint stream_index,int*got_frame){int ret;int got_frame_local;AVPacket enc_pkt;int(*enc_func)(AVCodecContext *, AVPacket *,const AVFrame *,int*)=(ifmt_ctx->streams[stream_index]->codecpar->codec_type ==AVMEDIA_TYPE_VIDEO)? avcodec_encode_video2 : avcodec_encode_audio2;if(!got_frame)got_frame =&got_frame_local;av_log(NULL, AV_LOG_INFO,"Encoding frame\n");/* encode filtered frame */enc_pkt.data =NULL;enc_pkt.size =0;av_init_packet(&enc_pkt);ret =enc_func(stream_ctx[stream_index].enc_ctx,&enc_pkt,filt_frame, got_frame);av_frame_free(&filt_frame);if(ret <0)return ret;if(!(*got_frame))return0;/* prepare packet for muxing */enc_pkt.stream_index = stream_index;av_packet_rescale_ts(&enc_pkt,stream_ctx[stream_index].enc_ctx->time_base,ofmt_ctx->streams[stream_index]->time_base);av_log(NULL, AV_LOG_DEBUG,"Muxing frame\n");/* mux encoded frame */ret =av_interleaved_write_frame(ofmt_ctx,&enc_pkt);return ret;}staticintfilter_encode_write_frame(AVFrame *frame,unsignedint stream_index){int ret;AVFrame *filt_frame;av_log(NULL, AV_LOG_INFO,"Pushing decoded frame to filters\n");/* push the decoded frame into the filtergraph */ret =av_buffersrc_add_frame_flags(filter_ctx[stream_index].buffersrc_ctx,frame,0);if(ret <0){av_log(NULL, AV_LOG_ERROR,"Error while feeding the filtergraph\n");return ret;}/* pull filtered frames from the filtergraph */while(1){filt_frame =av_frame_alloc();if(!filt_frame){ret =AVERROR(ENOMEM);break;}av_log(NULL, AV_LOG_INFO,"Pulling filtered frame from filters\n");ret =av_buffersink_get_frame(filter_ctx[stream_index].buffersink_ctx,filt_frame);if(ret <0){/* if no more frames for output - returns AVERROR(EAGAIN)* if flushed and no more frames for output - returns AVERROR_EOF* rewrite retcode to 0 to show it as normal procedure completion*/if(ret ==AVERROR(EAGAIN)|| ret == AVERROR_EOF)ret =0;av_frame_free(&filt_frame);break;}filt_frame->pict_type = AV_PICTURE_TYPE_NONE;ret =encode_write_frame(filt_frame, stream_index,NULL);if(ret <0)break;}return ret;}staticintflush_encoder(unsignedint stream_index){int ret;int got_frame;if(!(stream_ctx[stream_index].enc_ctx->codec->capabilities &AV_CODEC_CAP_DELAY))return0;while(1){av_log(NULL, AV_LOG_INFO,"Flushing stream #%u encoder\n", stream_index);ret =encode_write_frame(NULL, stream_index,&got_frame);if(ret <0)break;if(!got_frame)return0;}return ret;}intmain(int argc,char**argv){int ret;AVPacket packet ={.data =NULL,.size =0};AVFrame *frame =NULL;enumAVMediaType type;unsignedint stream_index;unsignedint i;int got_frame;int(*dec_func)(AVCodecContext *, AVFrame *,int*,const AVPacket *);if(argc !=3){av_log(NULL, AV_LOG_ERROR,"Usage: %s <input file> <output file>\n", argv[0]);return1;}if((ret =open_input_file(argv[1]))<0)goto end;if((ret =open_output_file(argv[2]))<0)goto end;if((ret =init_filters())<0)goto end;/* read all packets */while(1){if((ret =av_read_frame(ifmt_ctx,&packet))<0)break;stream_index = packet.stream_index;type = ifmt_ctx->streams[packet.stream_index]->codecpar->codec_type;av_log(NULL, AV_LOG_DEBUG,"Demuxer gave frame of stream_index %u\n",stream_index);if(filter_ctx[stream_index].filter_graph){av_log(NULL, AV_LOG_DEBUG,"Going to reencode&filter the frame\n");frame =av_frame_alloc();if(!frame){ret =AVERROR(ENOMEM);break;}av_packet_rescale_ts(&packet,ifmt_ctx->streams[stream_index]->time_base,stream_ctx[stream_index].dec_ctx->time_base);dec_func =(type == AVMEDIA_TYPE_VIDEO)? avcodec_decode_video2 :avcodec_decode_audio4;ret =dec_func(stream_ctx[stream_index].dec_ctx, frame,&got_frame,&packet);if(ret <0){av_frame_free(&frame);av_log(NULL, AV_LOG_ERROR,"Decoding failed\n");break;}if(got_frame){frame->pts = frame->best_effort_timestamp;ret =filter_encode_write_frame(frame, stream_index);av_frame_free(&frame);if(ret <0)goto end;}else{av_frame_free(&frame);}}else{/* remux this frame without reencoding */av_packet_rescale_ts(&packet,ifmt_ctx->streams[stream_index]->time_base,ofmt_ctx->streams[stream_index]->time_base);ret =av_interleaved_write_frame(ofmt_ctx,&packet);if(ret <0)goto end;}av_packet_unref(&packet);}/* flush filters and encoders */for(i =0; i < ifmt_ctx->nb_streams; i++){/* flush filter */if(!filter_ctx[i].filter_graph)continue;ret =filter_encode_write_frame(NULL, i);if(ret <0){av_log(NULL, AV_LOG_ERROR,"Flushing filter failed\n");goto end;}/* flush encoder */ret =flush_encoder(i);if(ret <0){av_log(NULL, AV_LOG_ERROR,"Flushing encoder failed\n");goto end;}}av_write_trailer(ofmt_ctx);
end:av_packet_unref(&packet);av_frame_free(&frame);for(i =0; i < ifmt_ctx->nb_streams; i++){avcodec_free_context(&stream_ctx[i].dec_ctx);if(ofmt_ctx && ofmt_ctx->nb_streams > i && ofmt_ctx->streams[i]&& stream_ctx[i].enc_ctx)avcodec_free_context(&stream_ctx[i].enc_ctx);if(filter_ctx && filter_ctx[i].filter_graph)avfilter_graph_free(&filter_ctx[i].filter_graph);}av_free(filter_ctx);av_free(stream_ctx);avformat_close_input(&ifmt_ctx);if(ofmt_ctx &&!(ofmt_ctx->oformat->flags & AVFMT_NOFILE))avio_closep(&ofmt_ctx->pb);avformat_free_context(ofmt_ctx);if(ret <0)av_log(NULL, AV_LOG_ERROR,"Error occurred: %s\n",av_err2str(ret));return ret ?1:0;}
代码
learn_kalman.py
#codingutf-8
import numpy as np
import time
from kinematic_model import freedrop
from controller import kalman_filterimport matplotlib.pyplot as plt
# 支持中文
import matplotlib as mpl
mpl.rcParams[font.family]SimHei
plt.rcParams[a…