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diff --git a/gazebo/common/Video.cc b/gazebo/common/Video.cc
--- a/gazebo/common/Video.cc
+++ b/gazebo/common/Video.cc
@@ -15,14 +15,18 @@
*
*/
-#include <gazebo/common/Console.hh>
-#include <gazebo/common/Video.hh>
-#include <gazebo/gazebo_config.h>
-#include <gazebo/common/ffmpeg_inc.h>
+#include "gazebo/gazebo_config.h"
+#include "gazebo/common/Console.hh"
+#include "gazebo/common/Video.hh"
+#include "gazebo/common/ffmpeg_inc.h"
using namespace gazebo;
using namespace common;
+/// \brief Destination audio video frame
+/// TODO Do not merge forward. Declared here for gazebo7 ABI compatibility
+AVFrame *avFrameDst;
+
/////////////////////////////////////////////////
// #ifdef HAVE_FFMPEG
// static void pgm_save(unsigned char *buf, int wrap, int xsize, int ysize,
@@ -44,25 +48,17 @@
{
this->formatCtx = NULL;
this->codecCtx = NULL;
- this->avFrame = NULL;
this->swsCtx = NULL;
this->avFrame = NULL;
- this->pic = NULL;
this->videoStream = -1;
-#ifdef HAVE_FFMPEG
- this->pic = new AVPicture;
-#endif
+ avFrameDst = NULL;
}
/////////////////////////////////////////////////
Video::~Video()
{
this->Cleanup();
-
-#ifdef HAVE_FFMPEG
- delete this->pic;
-#endif
}
/////////////////////////////////////////////////
@@ -78,7 +74,7 @@
// Close the codec
avcodec_close(this->codecCtx);
- avpicture_free(this->pic);
+ av_free(avFrameDst);
#endif
}
@@ -147,16 +143,13 @@
return false;
}
- avpicture_alloc(this->pic, PIX_FMT_RGB24, this->codecCtx->width,
- this->codecCtx->height);
-
this->swsCtx = sws_getContext(
this->codecCtx->width,
this->codecCtx->height,
this->codecCtx->pix_fmt,
this->codecCtx->width,
this->codecCtx->height,
- PIX_FMT_RGB24,
+ AV_PIX_FMT_RGB24,
SWS_BICUBIC, NULL, NULL, NULL);
if (this->swsCtx == NULL)
@@ -165,20 +158,13 @@
return false;
}
- // DEBUG: Will save all the frames
- /*Image img;
- char buf[1024];
- int frame = 0;
-
- // the decoding loop, running until EOF
- while (this->GetNextFrame(img))
- {
- printf("WH[%d %d]\n",this->codecCtx->width, this->codecCtx->height);
- snprintf(buf, sizeof(buf), "/tmp/test_%3d.png", frame++);
- img.SavePNG(buf);
- }
- printf("Done\n");
- */
+ avFrameDst = common::AVFrameAlloc();
+ avFrameDst->format = this->codecCtx->pix_fmt;
+ avFrameDst->width = this->codecCtx->width;
+ avFrameDst->height = this->codecCtx->height;
+ av_image_alloc(avFrameDst->data, avFrameDst->linesize,
+ this->codecCtx->width, this->codecCtx->height, this->codecCtx->pix_fmt,
+ 1);
return true;
}
@@ -226,9 +212,10 @@
if (frameAvailable)
{
sws_scale(swsCtx, this->avFrame->data, this->avFrame->linesize, 0,
- this->codecCtx->height, this->pic->data, this->pic->linesize);
+ this->codecCtx->height, avFrameDst->data,
+ avFrameDst->linesize);
- memcpy(*_buffer, this->pic->data[0],
+ memcpy(*_buffer, avFrameDst->data[0],
this->codecCtx->height * (this->codecCtx->width*3));
// Debug:
diff --git a/gazebo/common/Video.hh b/gazebo/common/Video.hh
--- a/gazebo/common/Video.hh
+++ b/gazebo/common/Video.hh
@@ -14,8 +14,8 @@
* limitations under the License.
*
*/
-#ifndef _VIDEO_HH_
-#define _VIDEO_HH_
+#ifndef _GAZEBO_COMMON_VIDEO_HH_
+#define _GAZEBO_COMMON_VIDEO_HH_
#include <string>
#include "gazebo/util/system.hh"
@@ -74,7 +74,7 @@
/// \brief audio video frame
private: AVFrame *avFrame;
- /// \brief audi video picture
+ /// \brief audio video picture
private: AVPicture *pic;
/// \brief software scaling context
diff --git a/gazebo/common/ffmpeg_inc.h b/gazebo/common/ffmpeg_inc.h
--- a/gazebo/common/ffmpeg_inc.h
+++ b/gazebo/common/ffmpeg_inc.h
@@ -31,6 +31,7 @@
extern "C" {
#include <libavcodec/avcodec.h>
#include <libavformat/avformat.h>
+#include <libavutil/imgutils.h>
#include <libavutil/opt.h>
#include <libswscale/swscale.h>
}
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