interfaces for decoder fallback, encoder avoids cuda and vaapi hard coding, improved flush

README.md

@@ -79,6 +79,10 @@ nvmpi like so:
                      'ffmpeg_image_transport.preset': 'll',
                      'ffmpeg_image_transport.gop_size': 15}]
 ```
+Sometimes the ffmpeg parameters show up under different names. If the above
+settings don't work, try the command ``ros2 param dump <name_of_your_node>``
+*after* subscribing to the ffmpeg image topic with e.g. ``ros2 topic hz``.
+From the output you can see what the correct parameter names are.
 ## License
 
 This software is issued under the Apache License Version 2.0.

include/ffmpeg_encoder_decoder/decoder.hpp

@@ -44,27 +44,90 @@ class Decoder
 
   Decoder();
   ~Decoder();
+  /**
+   * Test if decoder is initialized.
+   * @return true if the decoder is initialized.
+   */
   bool isInitialized() const { return (codecContext_ != NULL); }
-  // Initialize decoder upon first packet received,
-  // providing callback to be called when frame is complete.
-  // You must still call decodePacket(msg) afterward!
-  bool initialize(const std::string & encoding, Callback callback, const std::string & dec);
-  // clears all state, but leaves config intact
+  /**
+   * Initialize decoder, with multiple decoders to pick from.
+  *  Will pick hardware accelerated decoders first if available.
+  * If decoders.empty() a default decoder will be chosen (if available).
+  * @param encoding the encoding from the first packet. Can never change!
+  * @param callback the function to call when frame has been decoded
+  * @param decoder the decoder to use. If empty string,
+  *                 the decoder will try to find a suitable one based on the encoding
+  * @return true if successful
+  */
+
+  bool initialize(const std::string & encoding, Callback callback, const std::string & decoder);
+  /**
+   * Initialize decoder with multiple decoders to pick from.
+  *  Will pick hardware accelerated decoders first if available.
+  * If decoders.empty() a default decoder will be chosen (if available).
+  * @param encoding the encoding from the first packet. Can never change!
+  * @param callback the function to call when frame has been decoded
+  * @param decoders the set of decoders to try sequentially. If empty()
+  *                 the decoder will try to find a suitable one based on the encoding
+  * @return true if successful
+  */
+  bool initialize(
+    const std::string & encoding, Callback callback, const std::vector<std::string> & decoders);
+  /**
+   * Clears all decoder state but not timers, loggers, and other settings.
+   */
   void reset();
-  // decode packet (may result in frame callback!)
+  /**
+   * Decodes packet. Decoder must have been initialized beforehand. Calling this
+   * function may result in callback with decoded frame.
+   * @param encoding  the name of the encoding (typically from msg encoding)
+   * @param data pointer to packet data
+   * @param size size of packet data
+   * @param pts presentation time stamp of data packet
+   * @param frame_id ros frame id (from message header)
+   * @param stamp ros message header time stamp
+  */
   bool decodePacket(
     const std::string & encoding, const uint8_t * data, size_t size, uint64_t pts,
     const std::string & frame_id, const rclcpp::Time & stamp);
-
+  /**
+   * Override default logger
+   * @param logger the logger to override the default with
+  */
+  void setLogger(rclcpp::Logger logger) { logger_ = logger; }
+  /**
+   * deprecated, don't use!
+   */
+  static const std::unordered_map<std::string, std::string> & getDefaultEncoderToDecoderMap();
+  /**
+   *  Finds the name of hardware and software decoders that match a
+   *  certain encoding (or encoder)
+   */
+  static void findDecoders(
+    const std::string & encoding, std::vector<std::string> * hw_decoders,
+    std::vector<std::string> * sw_decoders);
+  /**
+     * Finds the name of all hardware and software decoders that match
+     * a certain encoding (or encoder)
+     */
+  static std::vector<std::string> findDecoders(const std::string & encoding);
+  /**
+   * For performance debugging
+   */
   void setMeasurePerformance(bool p) { measurePerformance_ = p; }
+  /**
+   * For performance debugging
+   */
   void printTimers(const std::string & prefix) const;
+  /**
+   * For performance debugging
+   */
   void resetTimers();
-  void setLogger(rclcpp::Logger logger) { logger_ = logger; }
-  static const std::unordered_map<std::string, std::string> & getDefaultEncoderToDecoderMap();
 
 private:
   rclcpp::Logger logger_;
-  bool initDecoder(const std::string & encoding, const std::string & decoder);
+  bool initSingleDecoder(const std::string & decoder);
+  bool initDecoder(const std::vector<std::string> & decoders);
   // --------------- variables
   Callback callback_;
   PTSMap ptsToStamp_;  // mapping of header

include/ffmpeg_encoder_decoder/encoder.hpp

@@ -50,11 +50,8 @@ class Encoder
   Encoder();
   ~Encoder();
   // ------- various encoding settings
-  void setEncoder(const std::string & n)
-  {
-    Lock lock(mutex_);
-    encoder_ = n;
-  }
+  void setEncoder(const std::string & n);
+
   void setProfile(const std::string & p)
   {
     Lock lock(mutex_);
@@ -105,6 +102,16 @@ class Encoder
     Lock lock(mutex_);
     GOPSize_ = g;
   }
+  int getMaxBFrames() const
+  {
+    Lock lock(mutex_);
+    return (maxBFrames_);
+  }
+  void setMaxBFrames(int b)
+  {
+    Lock lock(mutex_);
+    maxBFrames_ = b;
+  }
   void setFrameRate(int frames, int second)
   {
     Lock lock(mutex_);
@@ -130,8 +137,22 @@ class Encoder
   // encode image
   void encodeImage(const cv::Mat & img, const Header & header, const rclcpp::Time & t0);
   void encodeImage(const Image & msg);
-  // flush all packets. Need header to generate callback message
+  /**!
+  * flush all packets (produces callbacks).
+  * \param frame_id the frame id that will be presented on callback
+  */
+  void flush(const std::string & frame_id);
+  /**!
+  * flush all packets (produces callbacks).
+  * \deprecated Only header.frame_id is used. Used flush(frame_id) now.
+  */
   void flush(const Header & header);
+
+  /**!
+   * finds the encoding for a given encoder, i.e. returns h264 for h264_vaapi
+   */
+  static std::string findEncoding(const std::string & encoder);
+
   // ------- performance statistics
   void printTimers(const std::string & prefix) const;
   void resetTimers();
@@ -142,27 +163,31 @@ class Encoder
   bool openCodec(int width, int height);
   void doOpenCodec(int width, int height);
   void closeCodec();
-  int drainPacket(const Header & hdr, int width, int height);
+  int drainPacket(const std::string & frame_id, int width, int height);
   AVPixelFormat pixelFormat(const std::string & f) const;
-  void openVAAPIDevice(const AVCodec * codec, int width, int height);
+  void openHardwareDevice(
+    const AVCodec * codec, enum AVHWDeviceType hwDevType, int width, int height);
   void setAVOption(const std::string & field, const std::string & value);
   // --------- variables
   rclcpp::Logger logger_;
   mutable std::recursive_mutex mutex_;
   Callback callback_;
   // config
-  std::string encoder_;  // e.g. "libx264"
-  std::string preset_;   // e.g. "slow", "medium", "lossless"
-  std::string profile_;  // e.g. "main", "high", "rext"
-  std::string tune_;     // e.g. "tune"
-  std::string delay_;    // default is 4 frames for parallel processing. 0 is lowest latency
-  std::string crf_;      // constant rate factor. 0 is lossless, 51 is worst quality
-  int qmax_{0};          // max allowed quantization. The lower the better quality
-  int GOPSize_{15};      // distance between two keyframes
+  std::string encoder_;   // e.g. "libx264"
+  std::string encoding_;  // e.g. "h264"
+  std::string preset_;    // e.g. "slow", "medium", "lossless"
+  std::string profile_;   // e.g. "main", "high", "rext"
+  std::string tune_;      // e.g. "tune"
+  std::string delay_;     // default is 4 frames for parallel processing. 0 is lowest latency
+  std::string crf_;       // constant rate factor. 0 is lossless, 51 is worst quality
+  int qmax_{-1};          // max allowed quantization. The lower the better quality
+  int GOPSize_{-1};       // distance between two keyframes
+  int maxBFrames_{-1};    // maximum number of b-frames
+  int64_t bitRate_{0};    // max rate in bits/s
+
   AVPixelFormat pixFormat_{AV_PIX_FMT_NONE};
   AVRational timeBase_{1, 100};
   AVRational frameRate_{100, 1};
-  int64_t bitRate_{1000000};
   bool usesHardwareFrames_{false};
   // ------ libav state
   AVCodecContext * codecContext_{nullptr};

include/ffmpeg_encoder_decoder/utils.hpp

@@ -16,6 +16,7 @@
 #ifndef FFMPEG_ENCODER_DECODER__UTILS_HPP_
 #define FFMPEG_ENCODER_DECODER__UTILS_HPP_
 
+#include <map>
 #include <opencv2/core.hpp>
 #include <string>
 #include <vector>
@@ -62,7 +63,29 @@ std::vector<enum AVPixelFormat> get_encoder_formats(
 * picks from a vector of formats the "best" pixel format for a given encoder
 */
 enum AVPixelFormat get_preferred_pixel_format(
-  const std::string & encoder, const std::vector<AVPixelFormat> & fmts);
+  bool useHWFormat, const std::vector<AVPixelFormat> & fmts);
+
+/**!
+* finds the names of all available decoders for a given encoding (or encoder)
+*/
+void find_decoders(
+  const std::string & encoding, std::vector<std::string> * hw_decoders,
+  std::vector<std::string> * sw_decoders);
+
+/**!
+* * get hardware device types
+*/
+std::vector<std::string> get_hwdevice_types();
+
+/**!
+* find encoding for given encoder
+*/
+std::string find_encoding(const std::string & encoder);
+
+/**!
+* gets hardware device type for specific codec
+*/
+enum AVHWDeviceType find_hw_device_type(const AVCodec * codec);
 
 }  // namespace utils
 }  // namespace ffmpeg_encoder_decoder