Video.hh

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/*
 * Copyright (C) 2012-2016 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_VIDEO_HH_
#define _GAZEBO_COMMON_VIDEO_HH_

#include <string>
#include "gazebo/util/system.hh"

struct AVFormatContext;
struct AVCodecContext;
struct AVFrame;
struct AVPicture;
struct SwsContext;

namespace gazebo
{
  namespace common
  {

    class GZ_COMMON_VISIBLE Video
    {
      public: Video();

      public: virtual ~Video();

      public: bool Load(const std::string &_filename);

      public: int GetWidth() const;

      public: int GetHeight() const;

      public: bool GetNextFrame(unsigned char **_buffer);

      private: void Cleanup();

      private: AVFormatContext *formatCtx;

      private: AVCodecContext *codecCtx;

      private: AVFrame *avFrame;

      private: AVPicture *pic;

      private: SwsContext *swsCtx;

      private: int videoStream;
    };
  }
}
#endif