fix some HK camera stream blurred issue

rtsp/pusher.go

@@ -19,8 +19,9 @@ type Pusher struct {
 	gopCacheLock   sync.RWMutex
 	UDPServer      *UDPServer
 
-	cond  *sync.Cond
+	spsppsInSTAPaPack bool
-	queue []*RTPPack
+	cond              *sync.Cond
+	queue             []*RTPPack
 }
 
 func (pusher *Pusher) String() string {
@@ -231,20 +232,12 @@ func (pusher *Pusher) Start() {
 
 		if pusher.gopCacheEnable && pack.Type == RTP_TYPE_VIDEO {
 			pusher.gopCacheLock.Lock()
-			if strings.EqualFold(pusher.VCodec(), "h264") {
+			if rtp := ParseRTP(pack.Buffer.Bytes()); rtp != nil && pusher.shouldSequeceStart(rtp) {
-				if rtp := ParseRTP(pack.Buffer.Bytes()); rtp != nil && rtp.IsKeyframeStart() {
+				pusher.gopCache = make([]*RTPPack, 0)
-					pusher.gopCache = make([]*RTPPack, 0)
-				}
-				pusher.gopCache = append(pusher.gopCache, pack)
-			} else if strings.EqualFold(pusher.VCodec(), "h265") {
-				if rtp := ParseRTP(pack.Buffer.Bytes()); rtp != nil && rtp.IsKeyframeStartH265() {
-					pusher.gopCache = make([]*RTPPack, 0)
-				}
-				pusher.gopCache = append(pusher.gopCache, pack)
 			}
+			pusher.gopCache = append(pusher.gopCache, pack)
 			pusher.gopCacheLock.Unlock()
 		}
-
 		pusher.BroadcastRTP(pack)
 	}
 }
@@ -324,3 +317,114 @@ func (pusher *Pusher) ClearPlayer() {
 		v.Stop()
 	}
 }
+
+func (pusher *Pusher) shouldSequeceStart(rtp *RTPInfo) bool {
+	if strings.EqualFold(pusher.VCodec(), "h264") {
+		var realNALU uint8
+		payloadHeader := rtp.Payload[0] //https://tools.ietf.org/html/rfc6184#section-5.2
+		NaluType := uint8(payloadHeader & 0x1F)
+		// log.Printf("RTP Type:%d", NaluType)
+		switch {
+		case NaluType <= 23:
+			realNALU = rtp.Payload[0]
+			log.Printf("Single NAL:%d", NaluType)
+		case NaluType == 28 || NaluType == 29:
+			realNALU = rtp.Payload[1]
+			if realNALU&0x40 != 0 {
+				log.Printf("FU NAL End :%02X", realNALU)
+			}
+			if realNALU&0x80 != 0 {
+				log.Printf("FU NAL Begin :%02X", realNALU)
+			} else {
+				return false
+			}
+		case NaluType == 24:
+			log.Printf("STAP-A")
+			off := 1
+			singleSPSPPS := 0
+			for {
+				nalSize := ((uint16(rtp.Payload[off])) << 8) | uint16(rtp.Payload[off+1])
+				if nalSize < 1 {
+					return false
+				}
+				off += 2
+				nalUnit := rtp.Payload[off : off+int(nalSize)]
+				off += int(nalSize)
+				realNALU = nalUnit[0]
+				singleSPSPPS += int(realNALU & 0x1F)
+				if off >= len(rtp.Payload) {
+					break
+				}
+			}
+			if singleSPSPPS == 0x0F {
+				pusher.spsppsInSTAPaPack = true
+				return true
+			}
+		}
+		if realNALU&0x1F == 0x05 {
+			if pusher.spsppsInSTAPaPack {
+				return false
+			}
+			return true
+		}
+		if realNALU&0x1F == 0x07 { // maybe sps pps header + key frame?
+			if len(rtp.Payload) < 200 { // consider sps pps header only.
+				return true
+			}
+			return true
+		}
+		return false
+	} else if strings.EqualFold(pusher.VCodec(), "h265") {
+		if len(rtp.Payload) >= 3 {
+			firstByte := rtp.Payload[0]
+			headerType := (firstByte >> 1) & 0x3f
+			var frameType uint8
+			if headerType == 49 { //Fragmentation Units
+
+				FUHeader := rtp.Payload[2]
+				/*
+				   +---------------+
+				   |0|1|2|3|4|5|6|7|
+				   +-+-+-+-+-+-+-+-+
+				   |S|E|  FuType   |
+				   +---------------+
+				*/
+				rtpStart := (FUHeader & 0x80) != 0
+				if !rtpStart {
+					if (FUHeader & 0x40) != 0 {
+						//log.Printf("FU frame end")
+					}
+					return false
+				} else {
+					//log.Printf("FU frame start")
+				}
+				frameType = FUHeader & 0x3f
+			} else if headerType == 48 { //Aggregation Packets
+
+			} else if headerType == 50 { //PACI Packets
+
+			} else { // Single NALU
+				/*
+					+---------------+---------------+
+					|0|1|2|3|4|5|6|7|0|1|2|3|4|5|6|7|
+					+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
+					|F|   Type    |  LayerId  | TID |
+					+-------------+-----------------+
+				*/
+				frameType = firstByte & 0x7e
+			}
+			if frameType >= 16 && frameType <= 21 {
+				return true
+			}
+			if frameType == 32 {
+				// vps sps pps...
+				if len(rtp.Payload) < 200 { // consider sps pps header only.
+					return false
+				}
+				return true
+			}
+		}
+		return false
+	}
+	return false
+}

rtsp/rtp-parser.go

@@ -19,6 +19,7 @@ type RTPInfo struct {
 	Timestamp      int
 	SSRC           int
 	Payload        []byte
+	PayloadOffset  int
 }
 
 func ParseRTP(rtpBytes []byte) *RTPInfo {
@@ -58,94 +59,10 @@ func ParseRTP(rtpBytes []byte) *RTPInfo {
 		}
 	}
 	info.Payload = rtpBytes[offset:end]
+	info.PayloadOffset = offset
 	if end-offset < 1 {
 		return nil
 	}
 
 	return info
 }
-
-func (rtp *RTPInfo) IsKeyframeStart() bool {
-	var realNALU uint8
-	payloadHeader := rtp.Payload[0] //https://tools.ietf.org/html/rfc6184#section-5.2
-	NaluType := uint8(payloadHeader & 0x1F)
-
-	switch {
-	case NaluType <= 23:
-		realNALU = rtp.Payload[0]
-		//log.Printf("Single NAL:%d", rtp.NaluType)
-	case NaluType == 28 || NaluType == 29:
-		realNALU = rtp.Payload[1]
-		if realNALU&0x80 != 0 {
-			//log.Printf("FU NAL Begin :%d", rtp.NaluType)
-		} else {
-			return false
-		}
-		if realNALU&0x40 != 0 {
-			//log.Printf("FU NAL End :%d", rtp.NaluType)
-		}
-	}
-	if realNALU&0x1F == 0x05 {
-		return true
-	}
-	if realNALU&0x1F == 0x07 { // maybe sps pps header + key frame?
-		if len(rtp.Payload) < 200 { // consider sps pps header only.
-			return false
-		}
-		return true
-	}
-	return false
-}
-
-func (rtp *RTPInfo) IsKeyframeStartH265() bool {
-	if len(rtp.Payload) >= 3 {
-		firstByte := rtp.Payload[0]
-		headerType := (firstByte >> 1) & 0x3f
-		var frameType uint8
-		if headerType == 49 { //Fragmentation Units
-
-			FUHeader := rtp.Payload[2]
-			/*
-			   +---------------+
-			   |0|1|2|3|4|5|6|7|
-			   +-+-+-+-+-+-+-+-+
-			   |S|E|  FuType   |
-			   +---------------+
-			*/
-			rtpStart := (FUHeader & 0x80) != 0
-			if !rtpStart {
-				if (FUHeader & 0x40) != 0 {
-					//log.Printf("FU frame end")
-				}
-				return false
-			} else {
-				//log.Printf("FU frame start")
-			}
-			frameType = FUHeader & 0x3f
-		} else if headerType == 48 { //Aggregation Packets
-
-		} else if headerType == 50 { //PACI Packets
-
-		} else { // Single NALU
-			/*
-							+---------------+---------------+
-				            |0|1|2|3|4|5|6|7|0|1|2|3|4|5|6|7|
-				            +-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
-				            |F|   Type    |  LayerId  | TID |
-				            +-------------+-----------------+
-			*/
-			frameType = firstByte & 0x7e
-		}
-		if frameType >= 16 && frameType <= 21 {
-			return true
-		}
-		if frameType == 32 {
-			// vps sps pps...
-			if len(rtp.Payload) < 200 { // consider sps pps header only.
-				return false
-			}
-			return true
-		}
-	}
-	return false
-}