92 lines
2.6 KiB
C++
92 lines
2.6 KiB
C++
/*
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* Copyright (C) 2012 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifndef _GAZEBO_COMMON_VIDEO_HH_
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#define _GAZEBO_COMMON_VIDEO_HH_
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#include <string>
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#include "gazebo/util/system.hh"
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struct AVFormatContext;
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struct AVCodecContext;
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struct AVFrame;
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struct AVPicture;
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struct SwsContext;
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namespace gazebo
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{
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namespace common
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{
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/// \addtogroup gazebo_common
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/// \{
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/// \class Video Video.hh common/common.hh
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/// \brief Handle video encoding and decoding using libavcodec
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class GZ_COMMON_VISIBLE Video
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{
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/// \brief Constructor
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public: Video();
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/// \brief Destructor
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public: virtual ~Video();
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/// \brief Load a video file
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/// \param[in] _filename Full path of the video file
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/// \return false if HAVE_FFMPEG is not defined or if a video stream
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/// can't be found
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public: bool Load(const std::string &_filename);
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/// \brief Get the width of the video in pixels
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/// \return the width
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public: int GetWidth() const;
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/// \brief Get the height of the video in pixels
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/// \return the height
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public: int GetHeight() const;
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/// \brief Get the next frame of the video.
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/// \param[out] _img Image in which the frame is stored
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/// \return false if HAVE_FFMPEG is not defined, true otherwise
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public: bool GetNextFrame(unsigned char **_buffer);
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/// \brief free up open Video object, close files, streams
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private: void Cleanup();
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/// \brief libav Format I/O context
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private: AVFormatContext *formatCtx;
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/// \brief libav main external API structure
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private: AVCodecContext *codecCtx;
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/// \brief audio video frame
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private: AVFrame *avFrame;
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/// \brief audio video picture
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/// AVPicture is deprecated in ffmpeg3 and some of the avpicture functions
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/// are removed. This variable is no longer used.
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private: AVPicture *pic;
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/// \brief software scaling context
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private: SwsContext *swsCtx;
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/// \brief index of first video stream or -1
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private: int videoStream;
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};
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/// \}
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}
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}
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#endif
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