hawkeye camera support(not tested)
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meelstorm
224
framework/Inspectron.HawkEye/RTSP/H265Payload.cs
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224
framework/Inspectron.HawkEye/RTSP/H265Payload.cs
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using System;
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using System.Collections.Generic;
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using System.IO;
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namespace Inspectron.HawkEye.RTSP
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{
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// This class handles the H265 Payload
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// It has methods to parse parameters in the SDP
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// It has methods to process the RTP Payload
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// By Roger Hardiman, RJH Technical Consultancy Ltd
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public class H265Payload
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{
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// H265 / HEVC structure.
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// An 'Access Unit' is the set of NAL Units that form one Picture
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// NAL Units have a 2 byte header comprising of
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// F Bit, Type, Layer ID and TID
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int single, agg, frag = 0; // used for diagnostics stats
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bool has_donl = false;
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List<byte[]> temporary_rtp_payloads = new List<byte[]>(); // used to assemble the RTP packets that form one RTP Frame
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// Eg all the RTP Packets from M=0 through to M=1
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MemoryStream fragmented_nal = new MemoryStream(); // used to concatenate fragmented H264 NALs where NALs are split over RTP packets
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// Constructor
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public H265Payload(bool has_donl)
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{
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this.has_donl = has_donl;
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}
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public List<byte[]> Process_H265_RTP_Packet(byte[] rtp_payload, int rtp_marker) {
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// Add payload to the List of payloads for the current Frame of Video
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// ie all the payloads with M=0 up to the final payload where M=1
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temporary_rtp_payloads.Add(rtp_payload); // Todo Could optimise this and go direct to Process Frame if just 1 packet in frame
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if (rtp_marker == 1)
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{
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// End Marker is set. Process the list of RTP Packets (forming 1 RTP frame) and save the NALs to a file
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List<byte[]> nal_units = Process_H265_RTP_Frame(temporary_rtp_payloads);
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temporary_rtp_payloads.Clear();
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return nal_units;
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}
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return null; // we don't have a frame yet. Keep accumulating RTP packets
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}
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// Process a RTP Frame. A RTP Frame can consist of several RTP Packets which have the same Timestamp
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// Returns a list of NAL Units (with no 00 00 00 01 header and with no Size header)
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private List<byte[]> Process_H265_RTP_Frame(List<byte[]> rtp_payloads)
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{
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Console.WriteLine("RTP Data comprised of " + rtp_payloads.Count + " rtp packets");
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List<byte[]> nal_units = new List<byte[]>(); // Stores the NAL units for a Video Frame. May be more than one NAL unit in a video frame.
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for (int payload_index = 0; payload_index < rtp_payloads.Count; payload_index++)
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{
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// Examine the first two bytes of the RTP data, the Payload Header
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// F (Forbidden Bit),
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// Type of NAL Unit (or VCL NAL Unit if Type is < 32),
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// LayerId
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// TID (TemporalID = TID - 1)
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/*+---------------+---------------+
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*|0|1|2|3|4|5|6|7|0|1|2|3|4|5|6|7|
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*+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
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*|F| Type | LayerId | TID |
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*+-------------+-----------------+
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*/
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int payload_header = (rtp_payloads[payload_index][0] << 8) | (rtp_payloads[payload_index][1]);
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int payload_header_f_bit = (payload_header >> 15) & 0x01;
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int payload_header_type = (payload_header >> 9) & 0x3F;
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int payload_header_layer_id = (payload_header >> 3) & 0x3F;
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int payload_header_tid = payload_header & 0x7;
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// There are three ways to Packetize NAL units into RTP Packets
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// Single NAL Unit Packet
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// Aggregation Packet (payload_header_type = 48)
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// Fragmentation Unit (payload_header_type = 49)
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// Single NAL Unit Packet
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// 32=VPS
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// 33=SPS
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// 34=PPS
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if (payload_header_type != 48 && payload_header_type != 49)
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{
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Console.WriteLine("Single NAL");
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single++;
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//TODO - Handle DONL
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nal_units.Add(rtp_payloads[payload_index]);
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}
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// Aggregation Packet
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else if (payload_header_type == 48)
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{
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Console.WriteLine("Aggregation Packet");
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agg++;
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// RTP packet contains multiple NALs, each with a 16 bit header
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// Read 16 byte size
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// Read NAL
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// Use a Try/Catch to protect from bad RTP data where block sizes exceed the
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// available data
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try
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{
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int ptr = 2; // start after 16 bit Payload Header
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// loop until the ptr has moved beyond the length of the data
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while (ptr < (rtp_payloads[payload_index].Length - 1))
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{
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if (has_donl) ptr = ptr + 2; // step over the DONL data
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int size = (rtp_payloads[payload_index][ptr] << 8) + (rtp_payloads[payload_index][ptr + 1] << 0);
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ptr = ptr + 2;
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byte[] nal = new byte[size];
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System.Array.Copy(rtp_payloads[payload_index], ptr, nal, 0, size); // copy the NAL
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nal_units.Add(nal); // Add to list of NALs for this RTP frame. Start Codes like 00 00 00 01 get added later
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ptr = ptr + size;
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}
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}
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catch
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{
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Console.WriteLine("H265 Aggregate Packet processing error");
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}
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}
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// Fragmentation Unit
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else if (payload_header_type == 49)
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{
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Console.WriteLine("Fragmentation Unit");
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frag++;
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// Parse Fragmentation Unit Header
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int fu_header_s = (rtp_payloads[payload_index][2] >> 7) & 0x01; // start marker
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int fu_header_e = (rtp_payloads[payload_index][2] >> 6) & 0x01; // end marker
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int fu_header_type = (rtp_payloads[payload_index][2] >> 0) & 0x3F; // fu type
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Console.WriteLine("Frag FU-A s=" + fu_header_s + "e=" + fu_header_e);
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// Check Start and End flags
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if (fu_header_s == 1 && fu_header_e == 0)
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{
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// Start of Fragment.
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// Initiise the fragmented_nal byte array
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// Empty the stream
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fragmented_nal.SetLength(0);
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// Reconstrut the NAL header from the rtp_payload_header, replacing the Type with FU Type
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int nal_header = (payload_header & 0x81FF); // strip out existing 'type'
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nal_header = nal_header | (fu_header_type << 9);
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fragmented_nal.WriteByte((byte)((nal_header >> 8) & 0xFF));
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fragmented_nal.WriteByte((byte)((nal_header >> 0) & 0xFF));
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if (has_donl)
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{
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// start copying after the DONL data
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fragmented_nal.Write(rtp_payloads[payload_index], 5, rtp_payloads[payload_index].Length - 5);
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}
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else
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{
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// there is no DONL data
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fragmented_nal.Write(rtp_payloads[payload_index], 3, rtp_payloads[payload_index].Length - 3);
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}
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}
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if (fu_header_s == 0 && fu_header_e == 0)
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{
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// Middle part of Fragment
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// Append this payload to the fragmented_nal
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if (has_donl) {
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// start copying after the DONL data
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fragmented_nal.Write(rtp_payloads[payload_index], 5, rtp_payloads[payload_index].Length - 5);
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} else {
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// there is no DONL data
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fragmented_nal.Write(rtp_payloads[payload_index], 3, rtp_payloads[payload_index].Length - 3);
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}
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}
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if (fu_header_s == 0 && fu_header_e == 1)
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{
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// End part of Fragment
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// Append this payload to the fragmented_nal
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if (has_donl)
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{
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// start copying after the DONL data
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fragmented_nal.Write(rtp_payloads[payload_index], 5, rtp_payloads[payload_index].Length - 5);
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}
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else
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{
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// there is no DONL data
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fragmented_nal.Write(rtp_payloads[payload_index], 3, rtp_payloads[payload_index].Length - 3);
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}
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// Add the NAL to the array of NAL units
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nal_units.Add(fragmented_nal.ToArray());
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}
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}
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else {
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Console.WriteLine("Unknown Payload Header Type = " + payload_header_type);
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}
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}
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// Output some statistics
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Console.WriteLine("Single=" + single + " Agg=" + agg + " Frag=" + frag);
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// Output all the NALs that form one RTP Frame (one frame of video)
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return nal_units;
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}
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}
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}
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