Gazebo Common

API Reference

5.6.0
gz/common/VideoEncoder.hh
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1 /*
2  * Copyright 2016 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  *
16 */
17 #ifndef GZ_COMMON_VIDEOENCODER_HH_
18 #define GZ_COMMON_VIDEOENCODER_HH_
19 
20 #include <chrono>
21 #include <string>
22 #include <optional>
23 
24 #include <gz/common/FlagSet.hh>
25 #include <gz/common/av/Export.hh>
26 #include <gz/common/HWVideo.hh>
27 #include <gz/utils/ImplPtr.hh>
28 
29 // Default bitrate (0) indicates that a bitrate should be calculated when
30 // Start is called.
31 #define VIDEO_ENCODER_BITRATE_DEFAULT 0
32 #define VIDEO_ENCODER_WIDTH_DEFAULT 1280
33 #define VIDEO_ENCODER_HEIGHT_DEFAULT 720
34 #define VIDEO_ENCODER_FPS_DEFAULT 25
35 #define VIDEO_ENCODER_FORMAT_DEFAULT "mp4"
36 
37 namespace gz
38 {
39  namespace common
40  {
43  class GZ_COMMON_AV_VISIBLE VideoEncoder
44  {
46  public: VideoEncoder();
47 
49  public: virtual ~VideoEncoder();
50 
92  public: bool Start(
94  const std::string &_filename = "",
95  const unsigned int _width = VIDEO_ENCODER_WIDTH_DEFAULT,
96  const unsigned int _height = VIDEO_ENCODER_HEIGHT_DEFAULT,
97  const unsigned int _fps = VIDEO_ENCODER_FPS_DEFAULT,
98  const unsigned int _bitRate = VIDEO_ENCODER_BITRATE_DEFAULT);
99 
126  public: bool Start(
127  const std::string &_format,
128  const std::string &_filename,
129  const unsigned int _width,
130  const unsigned int _height,
131  const unsigned int _fps,
132  const unsigned int _bitRate,
133  const bool _allowHwAccel);
134 
163  public: bool Start(
164  const std::string &_format,
165  const std::string &_filename,
166  unsigned int _width,
167  unsigned int _height,
168  unsigned int _fps,
169  unsigned int _bitRate,
170  const FlagSet<HWEncoderType>& _allowedHwAccel,
171  const std::string& _hwAccelDevice = "",
172  std::optional<bool> _useHwSurface = {});
173 
177  public: bool Stop();
178 
181  public: bool IsEncoding() const;
182 
188  public: bool AddFrame(const unsigned char *_frame,
189  const unsigned int _width,
190  const unsigned int _height);
191 
198  public: bool AddFrame(const unsigned char *_frame,
199  const unsigned int _width,
200  const unsigned int _height,
201  const std::chrono::steady_clock::time_point &_timestamp);
202 
206  public: bool SaveToFile(const std::string &_filename);
207 
210  public: std::string Format() const;
211 
214  public: unsigned int BitRate() const;
215 
218  public: void Reset();
219 
221  GZ_UTILS_UNIQUE_IMPL_PTR(dataPtr)
222  };
223  }
224 }
225 #endif