CFFMPEG_InputStream.cpp

Go to the documentation of this file.

/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
 
#if defined(__GNUC__)  // Needed for ffmpeg headers. Only allowed here when not
// using precomp. headers
#define __STDC_CONSTANT_MACROS  // Needed for having "UINT64_C" and so
#endif
 
#include "hwdrivers-precomp.h"  // Precompiled headers
 
#include <mrpt/config.h>
 
#if MRPT_HAS_FFMPEG
extern "C" {
#define _MSC_STDINT_H_  // We already have pstdint.h in MRPT
#include <libavformat/avformat.h>
#include <libavcodec/avcodec.h>
#include <libswscale/swscale.h>
#include <libavutil/imgutils.h>
}
#endif
 
#include <mrpt/hwdrivers/CFFMPEG_InputStream.h>
 
using namespace mrpt;
using namespace mrpt::hwdrivers;
 
// JLBC: This file takes portions of code from the example
// "avcodec_sample.0.4.9.cpp"
#if MRPT_HAS_FFMPEG
namespace mrpt::hwdrivers
{
 
// All context for ffmpeg:
struct TFFMPEGContext
{
    AVFormatContext* pFormatCtx;
    int videoStream;
    AVCodecContext* pCodecCtx;
    AVCodec* pCodec;
    AVFrame* pFrame;
    AVFrame* pFrameRGB;
    SwsContext* img_convert_ctx;
    std::vector<uint8_t> buffer;
};
}
#endif
 
struct CFFMPEG_InputStream::Impl
{
#if MRPT_HAS_FFMPEG
    TFFMPEGContext m_state;
#endif
};
 
/* --------------------------------------------------------
                    Ctor
   -------------------------------------------------------- */
CFFMPEG_InputStream::CFFMPEG_InputStream()
#if MRPT_HAS_FFMPEG
: m_impl(mrpt::make_impl<CFFMPEG_InputStream::Impl>())
{
    TFFMPEGContext* ctx = &m_impl->m_state;
 
    ctx->pFormatCtx = nullptr;
    ctx->pCodecCtx = nullptr;
    ctx->pCodec = nullptr;
    ctx->videoStream = 0;
    ctx->pFrame = nullptr;
    ctx->pFrameRGB = nullptr;
    ctx->img_convert_ctx = nullptr;
 
    // Register all formats and codecs
    av_register_all();
}
#else
{
    THROW_EXCEPTION("MRPT has been compiled without FFMPEG libraries.");
}
#endif
 
/* --------------------------------------------------------
                    Dtor
   -------------------------------------------------------- */
CFFMPEG_InputStream::~CFFMPEG_InputStream()
{
#if MRPT_HAS_FFMPEG
    // Close everything:
    this->close();
 
#endif
}
 
/* --------------------------------------------------------
                    isOpen
   -------------------------------------------------------- */
bool CFFMPEG_InputStream::isOpen() const
{
#if MRPT_HAS_FFMPEG
    const TFFMPEGContext* ctx = &m_impl->m_state;
    return ctx->pFormatCtx != nullptr;
#else
    return false;
#endif
}
 
/* --------------------------------------------------------
                    openURL
   -------------------------------------------------------- */
bool CFFMPEG_InputStream::openURL(
    const std::string& url, bool grab_as_grayscale, bool verbose)
{
#if MRPT_HAS_FFMPEG
    this->close();  // Close first
 
    TFFMPEGContext* ctx = &m_impl->m_state;
 
    this->m_url = url;
    this->m_grab_as_grayscale = grab_as_grayscale;
 
// Open video file
#if LIBAVCODEC_VERSION_INT >= AV_VERSION_INT(53, 2, 0)
    if (avformat_open_input(&ctx->pFormatCtx, url.c_str(), nullptr, nullptr) !=
        0)
#else
    if (av_open_input_file(
            &ctx->pFormatCtx, url.c_str(), nullptr, 0, nullptr) != 0)
#endif
 
    {
        ctx->pFormatCtx = nullptr;
        std::cerr << "[CFFMPEG_InputStream::openURL] Cannot open video: " << url
                  << std::endl;
        return false;
    }
 
    // Retrieve stream information
    if (
#if LIBAVCODEC_VERSION_INT >= AV_VERSION_INT(53, 35, 0)
        avformat_find_stream_info(ctx->pFormatCtx, nullptr) < 0
#else
        av_find_stream_info(ctx->pFormatCtx) < 0
#endif
        )
    {
        std::cerr << "[CFFMPEG_InputStream::openURL] Couldn't find stream "
                     "information: "
                  << url << std::endl;
        return false;
    }
 
    // Dump information about file onto standard error
    if (verbose)
    {
#if LIBAVCODEC_VERSION_INT >= AV_VERSION_INT(53, 2, 0)
        av_dump_format(ctx->pFormatCtx, 0, url.c_str(), false);
#else
        dump_format(ctx->pFormatCtx, 0, url.c_str(), false);
#endif
    }
 
    // Find the first video stream
    ctx->videoStream = -1;
    for (unsigned int i = 0; i < ctx->pFormatCtx->nb_streams; i++)
    {
        if (ctx->pFormatCtx->streams[i]->codec->codec_type ==
#if LIBAVCODEC_VERSION_INT < AV_VERSION_INT(53, 0, 0)
            CODEC_TYPE_VIDEO
#else
            AVMEDIA_TYPE_VIDEO
#endif
            )
        {
            ctx->videoStream = (int)i;
            break;
        }
    }
    if (ctx->videoStream == -1)
    {
        std::cerr
            << "[CFFMPEG_InputStream::openURL] Didn't find a video stream: "
            << url << std::endl;
        return false;
    }
 
    // Get a pointer to the codec context for the video stream
    ctx->pCodecCtx = ctx->pFormatCtx->streams[ctx->videoStream]->codec;
 
    // Find the decoder for the video stream
    ctx->pCodec = avcodec_find_decoder(ctx->pCodecCtx->codec_id);
    if (ctx->pCodec == nullptr)
    {
        std::cerr << "[CFFMPEG_InputStream::openURL] Codec not found: " << url
                  << std::endl;
        return false;
    }
 
// Open codec
#if LIBAVCODEC_VERSION_INT >= AV_VERSION_INT(53, 6, 0)
    if (avcodec_open2(ctx->pCodecCtx, ctx->pCodec, nullptr) < 0)
#else
    if (avcodec_open(ctx->pCodecCtx, ctx->pCodec) < 0)
#endif
    {
        std::cerr << "[CFFMPEG_InputStream::openURL] Could not open codec: "
                  << url << std::endl;
        return false;
    }
 
#if LIBAVCODEC_VERSION_INT >= AV_VERSION_INT(55, 46, 0)
    // Allocate video frame
    ctx->pFrame = av_frame_alloc();
    // Allocate an AVFrame structure
    ctx->pFrameRGB = av_frame_alloc();
#else
    // Allocate video frame
    ctx->pFrame = avcodec_alloc_frame();
    // Allocate an AVFrame structure
    ctx->pFrameRGB = avcodec_alloc_frame();
#endif
 
    if (ctx->pFrameRGB == nullptr || ctx->pFrame == nullptr)
    {
        std::cerr << "[CFFMPEG_InputStream::openURL] Could not alloc memory "
                     "for frame buffers: "
                  << url << std::endl;
        return false;
    }
 
// Determine required buffer size and allocate buffer
#if LIBAVUTIL_VERSION_INT < AV_VERSION_INT(54, 6, 0)
    size_t numBytes = avpicture_get_size(
#else
    size_t numBytes = av_image_get_buffer_size(
#endif
        m_grab_as_grayscale ?  // BGR vs. RGB for OpenCV
#if LIBAVCODEC_VERSION_INT >= AV_VERSION_INT(55, 00, 0)
            AV_PIX_FMT_GRAY8
                            : AV_PIX_FMT_BGR24,
#else
            PIX_FMT_GRAY8
                            : PIX_FMT_BGR24,
#endif
        ctx->pCodecCtx->width, ctx->pCodecCtx->height
#if LIBAVUTIL_VERSION_INT >= AV_VERSION_INT(54, 6, 0)
        ,
        1
#endif
        );
 
    ctx->buffer.resize(numBytes);
 
    // Assign appropriate parts of buffer to image planes in pFrameRGB
    avpicture_fill(
        (AVPicture*)ctx->pFrameRGB, &ctx->buffer[0],
        m_grab_as_grayscale ?  // BGR vs. RGB for OpenCV
#if LIBAVCODEC_VERSION_INT >= AV_VERSION_INT(55, 00, 0)
            AV_PIX_FMT_GRAY8
                            : AV_PIX_FMT_BGR24,
#else
            PIX_FMT_GRAY8
                            : PIX_FMT_BGR24,
#endif
        ctx->pCodecCtx->width, ctx->pCodecCtx->height);
 
    return true;  // OK.
#else
    return false;
#endif
}
 
/* --------------------------------------------------------
                    close
   -------------------------------------------------------- */
void CFFMPEG_InputStream::close()
{
#if MRPT_HAS_FFMPEG
    if (!this->isOpen()) return;
 
    TFFMPEGContext* ctx = &m_impl->m_state;
 
    // Close the codec
    if (ctx->pCodecCtx)
    {
        avcodec_close(ctx->pCodecCtx);
        ctx->pCodecCtx = nullptr;
    }
 
    // Close the video file
    if (ctx->pFormatCtx)
    {
#if LIBAVCODEC_VERSION_INT >= AV_VERSION_INT(53, 35, 0)
        avformat_close_input(&ctx->pFormatCtx);
#else
        av_close_input_file(ctx->pFormatCtx);
#endif
        ctx->pFormatCtx = nullptr;
    }
 
    // Free frames memory:
    ctx->buffer.clear();
 
    if (ctx->pFrameRGB)
    {
#if LIBAVCODEC_VERSION_INT >= AV_VERSION_INT(55, 46, 0)
        av_frame_free(&ctx->pFrameRGB);
#else
        av_free(ctx->pFrameRGB);
#endif
        ctx->pFrameRGB = nullptr;
    }
    if (ctx->pFrame)
    {
#if LIBAVCODEC_VERSION_INT >= AV_VERSION_INT(55, 46, 0)
        av_frame_free(&ctx->pFrame);
#else
        av_free(ctx->pFrame);
#endif
        ctx->pFrame = nullptr;
    }
 
    if (ctx->img_convert_ctx)
    {
        sws_freeContext(ctx->img_convert_ctx);
        ctx->img_convert_ctx = nullptr;
    }
 
#endif
}
 
/* --------------------------------------------------------
                    retrieveFrame
   -------------------------------------------------------- */
bool CFFMPEG_InputStream::retrieveFrame(mrpt::img::CImage& out_img)
{
#if MRPT_HAS_FFMPEG
    if (!this->isOpen()) return false;
 
    TFFMPEGContext* ctx = &m_impl->m_state;
 
    AVPacket packet;
    int frameFinished;
 
    while (av_read_frame(ctx->pFormatCtx, &packet) >= 0)
    {
        // Is this a packet from the video stream?
        if (packet.stream_index == ctx->videoStream)
        {
// Decode video frame
#if LIBAVCODEC_VERSION_MAJOR > 52 || \
    (LIBAVCODEC_VERSION_MAJOR == 52 && LIBAVCODEC_VERSION_MINOR >= 72)
            avcodec_decode_video2(
                ctx->pCodecCtx, ctx->pFrame, &frameFinished, &packet);
#else
            avcodec_decode_video(
                ctx->pCodecCtx, ctx->pFrame, &frameFinished, packet.data,
                packet.size);
#endif
            // Did we get a video frame?
            if (frameFinished)
            {
                // Convert the image from its native format to RGB:
                ctx->img_convert_ctx = sws_getCachedContext(
                    ctx->img_convert_ctx, ctx->pCodecCtx->width,
                    ctx->pCodecCtx->height, ctx->pCodecCtx->pix_fmt,
                    ctx->pCodecCtx->width, ctx->pCodecCtx->height,
                    m_grab_as_grayscale ?  // BGR vs. RGB for OpenCV
#if LIBAVCODEC_VERSION_INT >= AV_VERSION_INT(55, 00, 0)
                        AV_PIX_FMT_GRAY8
                                        : AV_PIX_FMT_BGR24,
#else
                        PIX_FMT_GRAY8
                                        : PIX_FMT_BGR24,
#endif
                    SWS_BICUBIC, nullptr, nullptr, nullptr);
 
                sws_scale(
                    ctx->img_convert_ctx, ctx->pFrame->data,
                    ctx->pFrame->linesize, 0, ctx->pCodecCtx->height,
                    ctx->pFrameRGB->data, ctx->pFrameRGB->linesize);
 
                // std::cout << "[retrieveFrame] Generating image: " <<
                // ctx->pCodecCtx->width << "x" << ctx->pCodecCtx->height <<
                // std::endl;
                // std::cout << "  linsize: " << ctx->pFrameRGB->linesize[0] <<
                // std::endl;
 
                if (ctx->pFrameRGB->linesize[0] !=
                    ((m_grab_as_grayscale ? 1 : 3) * ctx->pCodecCtx->width))
                    THROW_EXCEPTION(
                        "FIXME: linesize!=width case not handled yet.")
 
                out_img.loadFromMemoryBuffer(
                    ctx->pCodecCtx->width, ctx->pCodecCtx->height,
                    !m_grab_as_grayscale,  // Color
                    ctx->pFrameRGB->data[0]);
 
// Free the packet that was allocated by av_read_frame
#if LIBAVCODEC_VERSION_INT < AV_VERSION_INT(55, 16, 0)
                av_free_packet(&packet);
#else
                av_packet_unref(&packet);
#endif
                return true;
            }
        }
 
// Free the packet that was allocated by av_read_frame
#if LIBAVCODEC_VERSION_INT < AV_VERSION_INT(55, 16, 0)
        av_free_packet(&packet);
#else
        av_packet_unref(&packet);
#endif
    }
 
    return false;  // Error reading/ EOF
#else
    return false;
#endif
}
 
/* --------------------------------------------------------
                    getVideoFPS
   -------------------------------------------------------- */
double CFFMPEG_InputStream::getVideoFPS() const
{
#if MRPT_HAS_FFMPEG
    if (!this->isOpen()) return -1;
 
    const TFFMPEGContext* ctx = &m_impl->m_state;
    if (!ctx) return -1;
    if (!ctx->pCodecCtx) return -1;
 
    return static_cast<double>(ctx->pCodecCtx->time_base.den) /
           ctx->pCodecCtx->time_base.num;
#else
    return false;
#endif
}