Program Listing for File video_socket.hpp

↰ Return to documentation for file (inc/video_socket.hpp)

#ifndef VIDEOSOCKET_HPP
#define VIDEOSOCKET_HPP

#include <atomic>

#include <libavutil/frame.h>
#include <opencv2/core/core.hpp>
#include <opencv2/videoio.hpp>

#include "base_socket.hpp"
#include "h264decoder.hpp"

#ifdef RUN_SLAM
#include "openvslam_api.hpp"
#endif // RUN_SLAM

class VideoSocket : public BaseSocket{
public:

  VideoSocket(
    asio::io_service& io_service,
    const std::string& drone_ip,
    const std::string& drone_port,
    const std::string& local_port,
    bool& run,
    const std::string camera_config_file,
    const std::string vocabulary_file,
    const std::string load_map_db_path,
    const std::string save_map_db_path,
    const std::string mask_img_path,
    bool load_map,
    bool continue_mapping,
    float scale
  );

  ~VideoSocket();

  void setSnapshot();

private:

  void handleResponseFromDrone(const std::error_code& error, size_t r) override;
  void handleSendCommand(const std::error_code& error, size_t bytes_sent, std::string cmd) override;

  void decodeFrame();
  void takeSnapshot(cv::Mat& image);

  enum{ max_length_ =  2048 };
  enum{ max_length_large_ =  65536 };
  bool received_response_ = true;

  char data_[max_length_];
  char frame_buffer_[max_length_large_];

  size_t first_empty_index = 0;
  int frame_buffer_n_packets_ = 0;

  H264Decoder decoder_;
  ConverterRGB24 converter_;
#ifdef RECORD
  std::unique_ptr<cv::VideoWriter> video;
#endif

#ifdef RUN_SLAM
  std::unique_ptr<OpenVSLAM_API> api_;
#endif // RUN_SLAM
  bool& run_;
  std::atomic<bool> snap_ = false;
};

#endif // VIDEOSOCKET_HPP