Gazebo Common
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5.7.0
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src
gz-common
av
include
gz
common
gz/common/VideoEncoder.hh
Go to the documentation of this file.
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/*
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* Copyright 2016 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 GZ_COMMON_VIDEOENCODER_HH_
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#define GZ_COMMON_VIDEOENCODER_HH_
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#include <chrono>
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#include <string>
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#include <optional>
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#include <
gz/common/FlagSet.hh
>
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#include <gz/common/av/Export.hh>
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#include <
gz/common/HWVideo.hh
>
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#include <gz/utils/ImplPtr.hh>
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// Default bitrate (0) indicates that a bitrate should be calculated when
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// Start is called.
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#define VIDEO_ENCODER_BITRATE_DEFAULT 0
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#define VIDEO_ENCODER_WIDTH_DEFAULT 1280
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#define VIDEO_ENCODER_HEIGHT_DEFAULT 720
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#define VIDEO_ENCODER_FPS_DEFAULT 25
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#define VIDEO_ENCODER_FORMAT_DEFAULT "mp4"
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namespace
gz
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{
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namespace
common
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{
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class
GZ_COMMON_AV_VISIBLE
VideoEncoder
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{
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public
:
VideoEncoder
();
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public
:
virtual
~VideoEncoder
();
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public
:
bool
Start
(
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const
std::string
&_format =
VIDEO_ENCODER_FORMAT_DEFAULT
,
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const
std::string
&_filename =
""
,
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const
unsigned
int
_width =
VIDEO_ENCODER_WIDTH_DEFAULT
,
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const
unsigned
int
_height =
VIDEO_ENCODER_HEIGHT_DEFAULT
,
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const
unsigned
int
_fps =
VIDEO_ENCODER_FPS_DEFAULT
,
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const
unsigned
int
_bitRate =
VIDEO_ENCODER_BITRATE_DEFAULT
);
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public
:
bool
Start
(
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const
std::string
&_format,
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const
std::string
&_filename,
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const
unsigned
int
_width,
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const
unsigned
int
_height,
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const
unsigned
int
_fps,
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const
unsigned
int
_bitRate,
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const
bool
_allowHwAccel);
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public
:
bool
Start
(
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const
std::string
&_format,
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const
std::string
&_filename,
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unsigned
int
_width,
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unsigned
int
_height,
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unsigned
int
_fps,
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unsigned
int
_bitRate,
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const
FlagSet<HWEncoderType>
& _allowedHwAccel,
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const
std::string
& _hwAccelDevice =
""
,
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std::optional<bool> _useHwSurface = {});
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public
:
bool
Stop
();
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public
:
bool
IsEncoding
()
const
;
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public
:
bool
AddFrame
(
const
unsigned
char
*_frame,
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const
unsigned
int
_width,
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const
unsigned
int
_height);
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public
:
bool
AddFrame
(
const
unsigned
char
*_frame,
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const
unsigned
int
_width,
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const
unsigned
int
_height,
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const
std::chrono::steady_clock::time_point &_timestamp);
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public
:
bool
SaveToFile
(
const
std::string
&_filename);
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public
:
std::string
Format
()
const
;
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public
:
unsigned
int
BitRate
()
const
;
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public
:
void
Reset
();
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GZ_UTILS_UNIQUE_IMPL_PTR(dataPtr)
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};
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}
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}
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#endif