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Vehicle Researcher
6adb63b915
date: 2026-06-04T09:49:56 master commit: c0ab3550eca2e9daf197c46b7e4b24aa9637cf2e
43 lines
1.0 KiB
C++
43 lines
1.0 KiB
C++
#pragma once
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#include <string>
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#include <deque>
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extern "C" {
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#include <libavformat/avformat.h>
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#include <libavcodec/avcodec.h>
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}
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#include "cereal/messaging/messaging.h"
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class VideoWriter {
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public:
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VideoWriter(const char *path, const char *filename, bool remuxing, int width, int height, int fps, cereal::EncodeIndex::Type codec);
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void write(uint8_t *data, int len, long long timestamp, bool codecconfig, bool keyframe);
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void write_audio(uint8_t *data, int len, long long timestamp, int sample_rate);
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~VideoWriter();
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private:
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void initialize_audio(int sample_rate);
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void encode_and_write_audio_frame(AVFrame* frame);
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void process_remaining_audio();
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std::string vid_path, lock_path;
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FILE *of = nullptr;
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AVCodecContext *codec_ctx;
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AVFormatContext *ofmt_ctx;
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AVStream *out_stream;
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bool audio_initialized = false;
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bool header_written = false;
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AVStream *audio_stream = nullptr;
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AVCodecContext *audio_codec_ctx = nullptr;
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AVFrame *audio_frame = nullptr;
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uint64_t audio_pts = 0;
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std::deque<float> audio_buffer;
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bool remuxing;
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};
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