SmartBench/cmvr-es
8
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

fix(camera): recover from incomplete UVC frames

Browse Source
This commit is contained in:
linbo 2026-08-12 15:32:40 +08:00
parent a325dc2c9a
commit ffd89c27c4
1 changed files with 135 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

137
cmvr-es/devices/camera/uvc_camera/src/uvc_camera.cpp
View File

@ -27,6 +27,80 @@ std::string ffmpeg_error_string(const int error_code)
return error_buffer;
}
AVPixelFormat normalize_deprecated_yuv_format(const AVPixelFormat format)
{
switch (format) {
case AV_PIX_FMT_YUVJ420P:
return AV_PIX_FMT_YUV420P;
case AV_PIX_FMT_YUVJ422P:
return AV_PIX_FMT_YUV422P;
case AV_PIX_FMT_YUVJ444P:
return AV_PIX_FMT_YUV444P;
case AV_PIX_FMT_YUVJ440P:
return AV_PIX_FMT_YUV440P;
default:
return format;
}
}
int swscale_colorspace(const AVColorSpace colorspace)
{
switch (colorspace) {
case AVCOL_SPC_BT709:
return SWS_CS_ITU709;
case AVCOL_SPC_BT2020_NCL:
case AVCOL_SPC_BT2020_CL:
return SWS_CS_BT2020;
case AVCOL_SPC_SMPTE170M:
case AVCOL_SPC_BT470BG:
return SWS_CS_ITU601;
default:
return SWS_CS_DEFAULT;
}
}
bool is_sof_marker(const uint8_t marker)
{
return marker >= 0xc0 && marker <= 0xcf
&& marker != 0xc4 && marker != 0xc8 && marker != 0xcc;
}
bool is_complete_mjpeg_packet(const AVPacket* packet)
{
if (!packet || !packet->data || packet->size < 4
|| packet->data[0] != 0xff || packet->data[1] != 0xd8) {
return false;
}
bool found_sof = false;
for (int index = 2; index + 1 < packet->size; ++index) {
if (packet->data[index] != 0xff) {
continue;
}
int marker_index = index + 1;
while (marker_index < packet->size && packet->data[marker_index] == 0xff) {
++marker_index;
}
if (marker_index >= packet->size) {
break;
}
const uint8_t marker = packet->data[marker_index];
if (marker == 0x00) {
index = marker_index;
continue;
}
if (is_sof_marker(marker)) {
found_sof = true;
} else if (marker == 0xd9) {
return found_sof;
}
index = marker_index;
}
return false;
}
} // namespace
UVCCamera::UVCCamera(const config::UVCCameraConfig& camera):camera_(camera)
@ -386,6 +460,7 @@ void UVCCamera::capture_worker_()
{
AVPacket* input_packet = av_packet_alloc();
AVFrame* decoded_frame = av_frame_alloc();
uint64_t discarded_frame_count = 0;
if (!input_packet || !decoded_frame) {
{
std::lock_guard frame_lock(capture_frame_mutex_);
@ -417,8 +492,30 @@ void UVCCamera::capture_worker_()
continue;
}
if (!is_complete_mjpeg_packet(input_packet)) {
av_packet_unref(input_packet);
++discarded_frame_count;
if (discarded_frame_count == 1 || discarded_frame_count % 30 == 0) {
CMVR_LOG(WARNING) << "[UVCCamera] discarded incomplete MJPEG frame"
<< ", device=" << serial_
<< ", discarded=" << discarded_frame_count;
}
continue;
}
result = avcodec_send_packet(capture_decoder_context_, input_packet);
av_packet_unref(input_packet);
if (result == AVERROR_INVALIDDATA) {
++discarded_frame_count;
if (discarded_frame_count == 1 || discarded_frame_count % 30 == 0) {
CMVR_LOG(WARNING) << "[UVCCamera] discarded invalid MJPEG frame"
<< ", device=" << serial_
<< ", discarded=" << discarded_frame_count;
}
avcodec_flush_buffers(capture_decoder_context_);
av_frame_unref(decoded_frame);
continue;
}
if (result < 0 && result != AVERROR(EAGAIN)) {
std::lock_guard frame_lock(capture_frame_mutex_);
capture_error_ = "failed to submit camera packet: " + ffmpeg_error_string(result);
@ -430,6 +527,17 @@ void UVCCamera::capture_worker_()
if (result == AVERROR(EAGAIN) || result == AVERROR_EOF) {
break;
}
if (result == AVERROR_INVALIDDATA) {
++discarded_frame_count;
if (discarded_frame_count == 1 || discarded_frame_count % 30 == 0) {
CMVR_LOG(WARNING) << "[UVCCamera] discarded undecodable MJPEG frame"
<< ", device=" << serial_
<< ", discarded=" << discarded_frame_count;
}
avcodec_flush_buffers(capture_decoder_context_);
av_frame_unref(decoded_frame);
break;
}
if (result < 0) {
std::lock_guard frame_lock(capture_frame_mutex_);
capture_error_ = "failed to decode camera frame: " + ffmpeg_error_string(result);
@ -437,11 +545,15 @@ void UVCCamera::capture_worker_()
break;
}
const auto decoded_format = static_cast<AVPixelFormat>(decoded_frame->format);
const auto source_format = normalize_deprecated_yuv_format(decoded_format);
const bool source_full_range = decoded_frame->color_range == AVCOL_RANGE_JPEG
|| source_format != decoded_format;
capture_sws_context_ = sws_getCachedContext(
capture_sws_context_,
decoded_frame->width,
decoded_frame->height,
static_cast<AVPixelFormat>(decoded_frame->format),
source_format,
width_,
height_,
AV_PIX_FMT_BGR24,
@ -456,6 +568,25 @@ void UVCCamera::capture_worker_()
break;
}
const int* color_coefficients = sws_getCoefficients(
swscale_colorspace(decoded_frame->colorspace));
const int color_result = sws_setColorspaceDetails(
capture_sws_context_,
color_coefficients,
source_full_range ? 1 : 0,
color_coefficients,
1,
0,
1 << 16,
1 << 16);
if (color_result < 0) {
std::lock_guard frame_lock(capture_frame_mutex_);
capture_error_ = "failed to configure camera color conversion: "
+ ffmpeg_error_string(color_result);
capture_running_.store(false, std::memory_order_relaxed);
break;
}
cv::Mat bgr_frame(height_, width_, CV_8UC3);
uint8_t* destination_data[] = {bgr_frame.data, nullptr, nullptr, nullptr};
int destination_linesize[] = {
@ -1062,7 +1193,9 @@ bool UVCCamera::startStreaming()
void UVCCamera::stopStreaming()
{
std::lock_guard lock(ctrl_mtx_);
stream_count_--;
if (stream_count_ > 0) {
--stream_count_;
}
if (stream_count_ == 0)
{
// 当前已经没有正在使用的流了，编码采集线程状态修改