VideoEncoder.hh

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/*
 * Copyright 2016 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
#ifndef GZ_COMMON_VIDEOENCODER_HH_
#define GZ_COMMON_VIDEOENCODER_HH_
 
#include <chrono>
#include <string>
#include <optional>
 
#include <gz/common/FlagSet.hh>
#include <gz/common/av/Export.hh>
#include <gz/common/HWVideo.hh>
#include <gz/utils/ImplPtr.hh>
 
// Default bitrate (0) indicates that a bitrate should be calculated when
// Start is called.
#define VIDEO_ENCODER_BITRATE_DEFAULT 0
#define VIDEO_ENCODER_WIDTH_DEFAULT 1280
#define VIDEO_ENCODER_HEIGHT_DEFAULT 720
#define VIDEO_ENCODER_FPS_DEFAULT 25
#define VIDEO_ENCODER_FORMAT_DEFAULT "mp4"
 
namespace gz
{
  namespace common
  {
    class GZ_COMMON_AV_VISIBLE VideoEncoder
    {
      public: VideoEncoder();
 
      public: virtual ~VideoEncoder();
 
      public: bool Start(
                const std::string &_format = VIDEO_ENCODER_FORMAT_DEFAULT,
                const std::string &_filename = "",
                const unsigned int _width = VIDEO_ENCODER_WIDTH_DEFAULT,
                const unsigned int _height = VIDEO_ENCODER_HEIGHT_DEFAULT,
                const unsigned int _fps = VIDEO_ENCODER_FPS_DEFAULT,
                const unsigned int _bitRate = VIDEO_ENCODER_BITRATE_DEFAULT);
 
      public: bool Start(
                const std::string &_format,
                const std::string &_filename,
                const unsigned int _width,
                const unsigned int _height,
                const unsigned int _fps,
                const unsigned int _bitRate,
                const bool _allowHwAccel);
 
      public: bool Start(
                const std::string &_format,
                const std::string &_filename,
                unsigned int _width,
                unsigned int _height,
                unsigned int _fps,
                unsigned int _bitRate,
                const FlagSet<HWEncoderType>& _allowedHwAccel,
                const std::string& _hwAccelDevice = "",
                std::optional<bool> _useHwSurface = {});
 
      public: bool Stop();
 
      public: bool IsEncoding() const;
 
      public: bool AddFrame(const unsigned char *_frame,
                            const unsigned int _width,
                            const unsigned int _height);
 
      public: bool AddFrame(const unsigned char *_frame,
                  const unsigned int _width,
                  const unsigned int _height,
                  const std::chrono::steady_clock::time_point &_timestamp);
 
      public: bool SaveToFile(const std::string &_filename);
 
      public: std::string Format() const;
 
      public: unsigned int BitRate() const;
 
      public: void Reset();
 
      GZ_UTILS_UNIQUE_IMPL_PTR(dataPtr)
    };
  }
}
#endif