openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 200 supported car makes and models.
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#pragma once
#include <memory>
#include <string>
#include <vector>
#include "tools/replay/filereader.h"
extern "C" {
#include <libavcodec/avcodec.h>
#include <libavformat/avformat.h>
}
struct AVFrameDeleter {
void operator()(AVFrame* frame) const { av_frame_free(&frame); }
};
class FrameReader {
public:
FrameReader();
~FrameReader();
bool load(const std::string &url, bool no_hw_decoder = false, std::atomic<bool> *abort = nullptr, bool local_cache = false,
int chunk_size = -1, int retries = 0);
bool load(const std::byte *data, size_t size, bool no_hw_decoder = false, std::atomic<bool> *abort = nullptr);
bool get(int idx, uint8_t *yuv);
int getYUVSize() const { return width * height * 3 / 2; }
size_t getFrameCount() const { return packets.size(); }
bool valid() const { return valid_; }
int width = 0, height = 0;
int aligned_width = 0, aligned_height = 0;
private:
bool initHardwareDecoder(AVHWDeviceType hw_device_type);
bool decode(int idx, uint8_t *yuv);
AVFrame * decodeFrame(AVPacket *pkt);
bool copyBuffers(AVFrame *f, uint8_t *yuv);
std::vector<AVPacket*> packets;
std::unique_ptr<AVFrame, AVFrameDeleter>av_frame_, hw_frame;
AVFormatContext *input_ctx = nullptr;
AVCodecContext *decoder_ctx = nullptr;
int key_frames_count_ = 0;
bool valid_ = false;
AVIOContext *avio_ctx_ = nullptr;
AVPixelFormat hw_pix_fmt = AV_PIX_FMT_NONE;
AVBufferRef *hw_device_ctx = nullptr;
int prev_idx = -1;
inline static std::atomic<bool> has_hw_decoder = true;
};