FfmpegWriter.h

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/*
 * Copyright (C) 2006-2020 Istituto Italiano di Tecnologia (IIT)
 * Copyright (C) 2006-2010 RobotCub Consortium
 * All rights reserved.
 *
 * This software may be modified and distributed under the terms of the
 * BSD-3-Clause license. See the accompanying LICENSE file for details.
 */
 
#ifndef FfmpegWriter_INC
#define FfmpegWriter_INC
 
#include "avpreamble.h"
 
extern "C" {
#include <libavcodec/avcodec.h>
#include <libavformat/avformat.h>
}
 
/*
 * Uses ffmpeg to write images to movie files.
 */
 
 
#include <yarp/dev/AudioVisualInterfaces.h>
#include <yarp/dev/DeviceDriver.h>
 
class FfmpegWriter :
        public yarp::dev::IFrameWriterImage,
        public yarp::dev::IFrameWriterAudioVisual,
        public yarp::dev::DeviceDriver,
        public yarp::dev::IAudioVisualStream
{
public:
 
    FfmpegWriter() :
        fmt(nullptr),
        oc(nullptr),
        audio_st(nullptr),
        video_st(nullptr),
        audio_pts(0.0),
        video_pts(0.0),
        picture(nullptr),
        tmp_picture(nullptr),
        video_outbuf(nullptr),
        frame_count(0),
        video_outbuf_size(0),
        ready(false),
        delayed(false)
    {
        system_resource = NULL;
    }
 
    bool open(yarp::os::Searchable & config) override;
 
    bool close() override;
 
    bool putImage(yarp::sig::ImageOf<yarp::sig::PixelRgb> & image) override;
 
    virtual bool putAudioVisual(yarp::sig::ImageOf<yarp::sig::PixelRgb>& image,
                                yarp::sig::Sound& sound) override;
 
 
    bool hasAudio() override { return true; }
 
    bool hasVideo() override { return true; }
 
private:
    void *system_resource;
 
    AVOutputFormat *fmt;
    AVFormatContext *oc;
    AVStream *audio_st, *video_st;
    double audio_pts, video_pts;
    std::string filename;
    yarp::os::Property savedConfig;
    AVFrame *picture, *tmp_picture;
    uint8_t *video_outbuf;
    int frame_count, video_outbuf_size;
    bool ready;
    bool delayed;
 
    virtual bool delayedOpen(yarp::os::Searchable & config);
 
    bool isOk() {
        if (delayed) {
            delayed = false;
            ready = delayedOpen(savedConfig);
            if (delayed) { ready = false; }
        }
        return ready;
    }
 
    void open_video(AVFormatContext *oc, AVStream *st);
 
    void write_video_frame(AVFormatContext *oc, AVStream *st,
                           yarp::sig::ImageOf<yarp::sig::PixelRgb>& img);
 
    void close_video(AVFormatContext *oc, AVStream *st);
};
 
#endif