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 GAZEBO_COMMON_VIDEOENCODER_HH_
#define GAZEBO_COMMON_VIDEOENCODER_HH_

#include <chrono>
#include <string>
#include <memory>
#include <gazebo/util/system.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 gazebo
{
  namespace common
  {
    // Forward declare private data class
    class VideoEncoderPrivate;


    class GZ_COMMON_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 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();

      private: std::unique_ptr<VideoEncoderPrivate> dataPtr;
    };
  }
}
#endif