environment:
- Jetson Xavier NX
- Jetpack 4.6
- NVIDIA® Jetson™ Linux Driver Package (L4T) 32.6.1
- gstreamer1.14.5
- opencv4.1.1
code:
int CMyServer::open_camera() {
string zstr = "rtspsrc location=rtsp://........ ! rtph264depay ! h264parse ! nvv4l2decoder ! nvvidconv ! video/x-raw, width=(int)1920, height=(int)1080, format=(string)BGRx ! videoconvert ! appsink";
if (!video_cap_) {
try {
// video_cap_ = make_unique<VideoCapture>(zstr, cv::CAP_GSTREAMER);
video_cap_.reset(new VideoCapture(zstr, cv::CAP_GSTREAMER));
LOGF(INFO, "\n reset video_cap_");
} catch (...) {
cerr << "error in opening camera\n" << flush;
LOGF(WARNING, "\n error in reseting video_cap_ first time");
}
}
int wnum = 10;
while (!video_cap_->isOpened() && wnum >= 0) {
try {
wnum--;
video_cap_->open(zstr, cv::CAP_GSTREAMER);
} catch (...) {
cerr << "error in opening camera\n" << flush;
LOGF(WARNING, "\n error in reseting video_cap_ in while() and send camera err msg to client");
break;
}
boost::this_thread::sleep(boost::posix_time::millisec(500));
}
if(!video_cap_->isOpened()||!video_cap_){
return 1;
}
int w = static_cast<int>(video_cap_->get(CAP_PROP_FRAME_WIDTH));
int h = static_cast<int>(video_cap_->get(CAP_PROP_FRAME_HEIGHT));
Size videoSize(1920, 1080);
if (!video_writer_) {
video_writer_.reset(new VideoWriter("..//data//testgst-zhi-1920-30.avi",
VideoWriter::fourcc('M', 'J', 'P', 'G'), 30,
videoSize));
LOGF(INFO, "\n reset video_writer_");
}
if (!video_writer_->isOpened()) {
video_writer_.reset(new VideoWriter("..//data//testgst-zhi-1920-30.avi",
VideoWriter::fourcc('M', 'J', 'P', 'G'), 30,
videoSize));
LOGF(WARNING, "\n error in reseting video_writer_ first time");
}
if (!video_writer_ && !video_writer_->isOpened()) {
cerr << "!!!!!!error: cant open video writer\n" << flush;
LOGF(WARNING, "\n!!!!!!error: cant open video writer");
return 1;
}
if (video_cap_ && video_cap_->isOpened() && video_writer_ && video_writer_->isOpened()) {
cout << "------camera is working\n" << flush;
LOGF(INFO, "\n both video_cap_ and video_writer_ are working");
isCameraOpenedMutex_.lock();
isCameraOpened_ = true;
isCameraOpenedMutex_.unlock();
isCameraStoppedMutex_.lock();
isCameraStopped_ = false;
isCameraStoppedMutex_.unlock();
isCameraReadingStoppedMutex_.lock();
isCameraReadingStopped_ = false;
isCameraReadingStoppedMutex_.unlock();
isCameraWritingStoppedMutex_.lock();
isCameraWritingStopped_ = false;
isCameraWritingStoppedMutex_.unlock();
thread te(&CMyServer::camera_reading_and_enque, this);
te.detach();
LOGF(INFO, "\n starts camera_reading_and_enque() thread");
thread td(&CMyServer::camera_deque_and_writing, this);
td.detach();
LOGF(INFO, "\n starts camera_deque_and_writing() thread");
}
return 0;
}
int CMyServer::close_camera() {
if (video_cap_ && video_cap_->isOpened() && video_writer_ && video_writer_->isOpened()) {
isCameraStoppedMutex_.lock();
isCameraStopped_ = true;
isCameraStoppedMutex_.unlock();
LOGF(INFO, "\n wants to close camera");
bool read_stopped = false, write_stopped = false;
while (1) {
isCameraReadingStoppedMutex_.lock();
if (isCameraReadingStopped_)
read_stopped = true;
isCameraReadingStoppedMutex_.unlock();
isCameraWritingStoppedMutex_.lock();
if (isCameraWritingStopped_)
write_stopped = true;
isCameraWritingStoppedMutex_.unlock();
if (write_stopped && read_stopped) {
// if (read_stopped) {
// video_cap_->release();
// video_writer_->release();
isCameraOpenedMutex_.lock();
isCameraOpened_ = false;
isCameraOpenedMutex_.unlock();
LOGF(INFO, "\n both thread are closed, free video_cap_ and video_writer_ and queue");
cout << "------camera is closed\n" << flush;
break;
}
}
std::queue<Mat>().swap(video_frame_queue_);
video_cap_.reset();
video_writer_.reset();
}
return 0;
}
void MyCamera::camera_reading_and_enque() {
if (!(video_cap_ && video_cap_->isOpened() && video_writer_ && video_writer_->isOpened())) {
LOGF(WARNING, "\n!!!!!! video_cap_ and video_writer_ are not all available in camera_reading_and_enque()");
return;
}
bool isend = false;
Mat frame;
while (1) {
video_cap_->read(frame);
if (!frame.empty()) {
VideoFrameQueueMutex_.lock();
if (video_frame_queue_.size() < maxQueueSize_)
video_frame_queue_.push(frame);
else {
video_frame_queue_.pop();
video_frame_queue_.push(frame);
LOGF(WARNING, "\n video_frame_queue_.size() is > maxQueueSize_");
}
VideoFrameQueueMutex_.unlock();
}
isCameraStoppedMutex_.lock();
if (isCameraStopped_)
isend = true;
isCameraStoppedMutex_.unlock();
if (isend) {
isCameraReadingStoppedMutex_.lock();
isCameraReadingStopped_ = true;
isCameraReadingStoppedMutex_.unlock();
cout << "------end camera reading\n" << flush;
LOGF(INFO, "\n camera_reading_and_enque() thread is stopped");
break;
}
}
}
void MyCamera::camera_deque_and_writing() {
if (!(video_cap_ && video_cap_->isOpened() && video_writer_ && video_writer_->isOpened())) {
LOGF(WARNING, "\n!!!!!! video_cap_ and video_writer_ are not all available in camera_deque_and_writing()");
return;
}
bool isend = false;
Mat frame;
int fram_num = 0, pic_num = 0;
while (1) {
VideoFrameQueueMutex_.lock();
if (video_frame_queue_.size() > 0) {
frame = video_frame_queue_.front();
video_frame_queue_.pop();
} else {
frame.resize(0);
LOGF(WARNING, "\n video_frame_queue_.size() is <= 0");
}
VideoFrameQueueMutex_.unlock();
if (!frame.empty()) {
video_writer_->write(frame);
if (fram_num % 20 == 0) {
stringstream str;
str << "..//test_pic//camera//test//z" << pic_num << ".png";
// str << "..//test_pic//camera//test//z" << pic_num << ".jpg";
//str << "..//test_pic//camera//test//d" << pic_num << ".png";
// str << "..//test_pic//camera//test//d" << pic_num << ".jpg";
cout << str.str() << endl;
pic_num++;
imwrite(str.str(), frame);
LOGF(INFO, "\n write one frame to %s", str.str());
}
fram_num++;
}
isCameraStoppedMutex_.lock();
if (isCameraStopped_)
isend = true;
isCameraStoppedMutex_.unlock();
if (isend) {
fram_num = 0;
isCameraWritingStoppedMutex_.lock();
isCameraWritingStopped_ = true;
isCameraWritingStoppedMutex_.unlock();
cout << "------end camera writing\n" << flush;
LOGF(INFO, "\n------camera_deque_and_writing() thread is stopped");
break;
}
}
}
problem description:
- use open_camera() to start save the rtsp steam and jpg pictures.
- use close_camera() to stop it.
- use two threads to read the frames, decode and save to jpg.
- use this gstreamer pipeline for using NVDEC chip on NX to decode video frames.
- when repeat this process:
call open_camera(), then call close_camera() after 3 secs, - My code is taking up more and more memory using top to show it.
- use function release() of videocapture also has memory leaks.
- it comes out that only when videocapture using gstreamer has memory leaks,and only when repeating process:“reset(pipeline),and then reset()” has memory leaks.
- videocapture without gstreamer has no leaks.
- valgrind shows all memory leaks are in the boost or gstreamer.
thanks for helping!!!
your help really matters!!!