bebop_video_decoder.h

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#ifndef BEBOP_AUTONOMY_BEBOP_VIDEO_DECODER_H
#define BEBOP_AUTONOMY_BEBOP_VIDEO_DECODER_H

extern "C"
{
  #include "libARController/ARCONTROLLER_Error.h"
  #include "libARController/ARCONTROLLER_Frame.h"
  #include <libavcodec/avcodec.h>
  #include <libavformat/avformat.h>
  #include <libavformat/avio.h>
  #include <libswscale/swscale.h>
}

#include <string>
#include <vector>

// https://github.com/libav/libav/commit/104e10fb426f903ba9157fdbfe30292d0e4c3d72
// https://github.com/libav/libav/blob/33d18982fa03feb061c8f744a4f0a9175c1f63ab/doc/APIchanges#L697
#if (LIBAVCODEC_VERSION_INT < AV_VERSION_INT(54, 25, 0))
#define AV_CODEC_ID_H264 CODEC_ID_H264
#endif

// https://github.com/libav/libav/blob/33d18982fa03feb061c8f744a4f0a9175c1f63ab/doc/APIchanges#L653
#if (LIBAVCODEC_VERSION_INT < AV_VERSION_INT(51, 42, 0))
#define AV_PIX_FMT_YUV420P PIX_FMT_YUV420P
#endif

#if LIBAVCODEC_VERSION_INT < AV_VERSION_INT(55,28,1)
#define av_frame_alloc  avcodec_alloc_frame
#define av_frame_free avcodec_free_frame
#endif

namespace bebop_driver
{

class VideoDecoder
{
private:
  static const char* LOG_TAG;

  bool codec_initialized_;
  bool first_iframe_recv_;
  AVFormatContext* format_ctx_ptr_;
  AVCodecContext* codec_ctx_ptr_;
  AVCodec* codec_ptr_;
  AVFrame* frame_ptr_;
  AVFrame* frame_rgb_ptr_;
  AVPacket packet_;
  SwsContext* img_convert_ctx_ptr_;
  AVInputFormat* input_format_ptr_;
  uint8_t *frame_rgb_raw_ptr_;

  bool update_codec_params_;
  std::vector<uint8_t> codec_data_;

  static void ThrowOnCondition(const bool cond, const std::string& message);
  bool InitCodec();
  bool ReallocateBuffers();
  void CleanupBuffers();
  void Reset();

  void ConvertFrameToRGB();

public:
  VideoDecoder();
  ~VideoDecoder();

  bool SetH264Params(uint8_t* sps_buffer_ptr, uint32_t sps_buffer_size,
                     uint8_t* pps_buffer_ptr, uint32_t pps_buffer_size);
  bool Decode(const ARCONTROLLER_Frame_t* bebop_frame_ptr_);
  inline uint32_t GetFrameWidth() const {return codec_initialized_ ? codec_ctx_ptr_->width : 0;}
  inline uint32_t GetFrameHeight() const {return codec_initialized_ ? codec_ctx_ptr_->height : 0;}

  inline const uint8_t* GetFrameRGBRawCstPtr() const {return frame_rgb_raw_ptr_;}
};

}  // namespace bebop_driver

#endif  // BEBOP_AUTONOMY_BEBOP_VIDEO_DECODER_H