hawkeye camera support(not tested)

2025-08-19 12:45:50 +02:00
parent f80b275ad8
commit 6ef6aced8d
170 changed files with 20190 additions and 72 deletions
--- a/framework/Inspectron.HawkEye/RTSP/Server/SimpleH264Encoder.cs
+++ b/framework/Inspectron.HawkEye/RTSP/Server/SimpleH264Encoder.cs
@@ -0,0 +1,109 @@
+using System;
+using System.Collections.Generic;
+
+
+// Simple H264 Encoder
+// Written by Jordi Cenzano (www.jordicenzano.name)
+//
+// Ported to C# by Roger Hardiman www.rjh.org.uk
+
+// This is a very simple lossless H264 encoder. No compression is used and so the output NAL data is as
+// large as the input YUV data.
+// It is used for a quick example of H264 encoding in pure .Net without needing OS specific APIs
+// or cross compiled C libraries.
+//
+// SimpleH264Encoder can use any image Width or Height
+
+
+namespace Inspectron.HawkEye.RTSP.Server
+{
+    public class SimpleH264Encoder
+    {
+        CJOCh264encoder h264encoder = null;
+
+        uint width = 0;
+        uint height = 0;
+
+        List<byte> nal = new List<byte>();
+
+        // Constuctor
+        public SimpleH264Encoder(uint width, uint height, uint fps)
+        {
+            // We have the ability to set the aspect ratio (SAR).
+            // For now we set to 1:1
+            uint SARw = 1;
+            uint SARh = 1;
+
+            // Initialise H264 encoder. The original C++ code writes to a file. In this port it writes to a List<byte>
+            h264encoder = new CJOCh264encoder(nal);
+            h264encoder.IniCoder(width, height, fps, CJOCh264encoder.enSampleFormat.SAMPLE_FORMAT_YUV420p, SARw, SARh);
+
+            this.width = width;
+            this.height = height;
+
+            // NAL array will contain SPS and PPS
+
+        }
+
+        // Raw SPS with no Size Header and no 00 00 00 01 headers
+        public byte[] GetRawSPS()
+        {
+            byte[] sps_with_header = h264encoder.sps;
+            byte[] sps = new byte[sps_with_header.Length - 4];
+            System.Array.Copy(sps_with_header, 4, sps, 0, sps.Length);
+            return sps;
+        }
+
+        public byte[] GetRawPPS()
+        {
+            byte[] pps_with_header = h264encoder.pps;
+            byte[] pps = new byte[pps_with_header.Length - 4];
+            System.Array.Copy(pps_with_header, 4, pps, 0, pps.Length);
+            return pps;
+        }
+
+        public byte[] CompressFrame(byte[] yuv_data)
+        {
+            byte[] image = h264encoder.GetFramePtr();
+            // copy over the YUV image
+            System.Array.Copy(yuv_data, image, image.Length);
+
+//        // HACK. Set the YUV pixels all to 127
+//        for (int hack = 0; hack < image.Length; hack++) image[hack] = 127;
+
+            h264encoder.CodeAndSaveFrame();
+
+            // Get the NAL (which has the 00 00 00 01 header)
+            byte[] nal_with_header = h264encoder.nal;
+            byte[] nal = new byte[nal_with_header.Length - 4];
+            System.Array.Copy(nal_with_header, 4, nal, 0, nal.Length);
+            return nal;
+        }
+
+
+        public void ChangeAnnexBto32BitSize(byte[] data)
+        {
+
+            if (data.Length < 4) return;
+
+            // change data from 0x00 0x00 0x00 0x01 format to 32 bit size
+            int len = data.Length - 4;// subtract Annex B header size
+
+            if (BitConverter.IsLittleEndian)
+            {
+                data[0] = (byte)((len >> 24) & 0xFF);
+                data[1] = (byte)((len >> 16) & 0xFF);
+                data[2] = (byte)((len >> 8) & 0xFF);
+                data[3] = (byte)((len << 0) & 0xFF);
+            }
+            else
+            {
+                data[0] = (byte)((len >> 0) & 0xFF);
+                data[1] = (byte)((len >> 8) & 0xFF);
+                data[2] = (byte)((len >> 16) & 0xFF);
+                data[3] = (byte)((len >> 24) & 0xFF);
+            }
+        }
+    }
+}
+