vpFFMPEG.cpp

/****************************************************************************
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2015 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * ("GPL") version 2 as published by the Free Software Foundation.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See http://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Class that manages the FFMPEG library.
 *
 * Authors:
 * Nicolas Melchior
 * Fabien Spindler
 *
 *****************************************************************************/

#include <stdio.h>

#include <visp3/core/vpConfig.h>
#include <visp3/core/vpDebug.h>
#include <visp3/io/vpFFMPEG.h>
#include <visp3/core/vpImageConvert.h>

#ifdef VISP_HAVE_FFMPEG

extern "C"
{
//#include <libavcodec/avcodec.h>
#include <libavformat/avformat.h>
#include <libswscale/swscale.h>
}

vpFFMPEG::vpFFMPEG()
  : width(-1), height(-1), frameNumber(0), pFormatCtx(NULL), pCodecCtx(NULL),
    pCodec(NULL), pFrame(NULL), pFrameRGB(NULL), pFrameGRAY(NULL), packet(NULL),
    img_convert_ctx(NULL), videoStream(0), numBytes(0), buffer(NULL), index(),
    streamWasOpen(false), streamWasInitialized(false), color_type(COLORED),
    f(NULL), outbuf(NULL), picture_buf(NULL), outbuf_size(0), out_size(0),
    bit_rate(500000), encoderWasOpened(false),
    framerate_stream(-1), framerate_encoder(25)
{
  packet = new AVPacket;
}

vpFFMPEG::~vpFFMPEG()
{
  closeStream();
  delete packet;
}

bool vpFFMPEG::openStream(const char *filename, vpFFMPEGColorType colortype)
{
  this->color_type = colortype;
  
  av_register_all();
#if LIBAVFORMAT_VERSION_INT < AV_VERSION_INT(53,0,0) // libavformat 52.84.0
  if (av_open_input_file (&pFormatCtx, filename, NULL, 0, NULL) != 0)
#else
  if (avformat_open_input (&pFormatCtx, filename, NULL, NULL) != 0) // libavformat 53.4.0
#endif
  {
    vpTRACE("Couldn't open file ");
    return false;
  }

#if LIBAVFORMAT_VERSION_INT < AV_VERSION_INT(53,21,0) // libavformat 53.21.0
  if (av_find_stream_info (pFormatCtx) < 0)
#else 
  if (avformat_find_stream_info (pFormatCtx, NULL) < 0)
#endif
      return false;
  
  videoStream = 0;
  bool found_codec = false;
  
  /*
  * Detect streams types
  */
  for (unsigned int i = 0; i < pFormatCtx->nb_streams; i++)
  {
#if LIBAVUTIL_VERSION_INT < AV_VERSION_INT(51,0,0)
    if(pFormatCtx->streams[i]->codec->codec_type==CODEC_TYPE_VIDEO) // avutil 50.33.0
#else
    if(pFormatCtx->streams[i]->codec->codec_type==AVMEDIA_TYPE_VIDEO) // avutil 51.9.1
#endif
    {
      videoStream = i;
      //std::cout << "rate: " << pFormatCtx->streams[i]->r_frame_rate.num << " " << pFormatCtx->streams[i]->r_frame_rate.den << std::endl;
#if LIBAVFORMAT_VERSION_INT < AV_VERSION_INT(55,12,0)
      framerate_stream =  pFormatCtx->streams[i]->r_frame_rate.num;
      framerate_stream /= pFormatCtx->streams[i]->r_frame_rate.den;
#else
      framerate_stream =  pFormatCtx->streams[i]->avg_frame_rate.num;
      framerate_stream /= pFormatCtx->streams[i]->avg_frame_rate.den;
#endif
      found_codec= true;
      break;
    }
  }

  if (found_codec)
  {
    pCodecCtx = pFormatCtx->streams[videoStream]->codec;
    pCodec = avcodec_find_decoder(pCodecCtx->codec_id);

    if (pCodec == NULL)
    {
      vpTRACE("unsuported codec");
      return false;     // Codec not found
    }
    
#if LIBAVCODEC_VERSION_INT < AV_VERSION_INT(53,35,0) // libavcodec 53.35.0
    if (avcodec_open (pCodecCtx, pCodec) < 0)
#else
    if (avcodec_open2 (pCodecCtx, pCodec, NULL) < 0)
#endif
    {
      vpTRACE("Could not open codec");
      return false;     // Could not open codec
    }

#if LIBAVCODEC_VERSION_INT < AV_VERSION_INT(55,34,0)
    pFrame = avcodec_alloc_frame();
#else
    pFrame = av_frame_alloc(); // libavcodec 55.34.1
#endif

    if (color_type == vpFFMPEG::COLORED)
    {
#if LIBAVCODEC_VERSION_INT < AV_VERSION_INT(55,34,0)
      pFrameRGB=avcodec_alloc_frame();
#else
      pFrameRGB=av_frame_alloc(); // libavcodec 55.34.1
#endif
    
      if (pFrameRGB == NULL)
        return false;
      
      numBytes = avpicture_get_size (PIX_FMT_RGB24,pCodecCtx->width,pCodecCtx->height);
    }
    
    else if (color_type == vpFFMPEG::GRAY_SCALED)
    {
#if LIBAVCODEC_VERSION_INT < AV_VERSION_INT(55,34,0)
      pFrameGRAY=avcodec_alloc_frame();
#else
      pFrameGRAY=av_frame_alloc(); // libavcodec 55.34.1
#endif
    
      if (pFrameGRAY == NULL)
        return false;
      
      numBytes = avpicture_get_size (PIX_FMT_GRAY8,pCodecCtx->width,pCodecCtx->height);
    }  

    /*
     * Determine required buffer size and allocate buffer
     */
    width = pCodecCtx->width ;
    height = pCodecCtx->height ;
    buffer = (uint8_t *) malloc ((unsigned int)(sizeof (uint8_t)) * (unsigned int)numBytes);
  }
  else
  {
    vpTRACE("Didn't find a video stream");
    return false;
  }
  
  if (color_type == vpFFMPEG::COLORED)
    avpicture_fill((AVPicture *)pFrameRGB, buffer, PIX_FMT_RGB24, pCodecCtx->width, pCodecCtx->height);
  
  else if (color_type == vpFFMPEG::GRAY_SCALED)
    avpicture_fill((AVPicture *)pFrameGRAY, buffer, PIX_FMT_GRAY8, pCodecCtx->width, pCodecCtx->height);
  
  streamWasOpen = true;

  return true;
}

bool vpFFMPEG::initStream()
{
  if (color_type == vpFFMPEG::COLORED)
    img_convert_ctx= sws_getContext(pCodecCtx->width, pCodecCtx->height, pCodecCtx->pix_fmt, pCodecCtx->width,pCodecCtx->height,PIX_FMT_RGB24, SWS_BICUBIC, NULL, NULL, NULL);
  
  else if (color_type == vpFFMPEG::GRAY_SCALED)
    img_convert_ctx= sws_getContext(pCodecCtx->width, pCodecCtx->height, pCodecCtx->pix_fmt, pCodecCtx->width,pCodecCtx->height,PIX_FMT_GRAY8, SWS_BICUBIC, NULL, NULL, NULL);

  int ret = av_seek_frame(pFormatCtx, (int)videoStream, 0, AVSEEK_FLAG_ANY) ;
  if (ret < 0 )
  {
    vpTRACE("Error rewinding stream for full indexing") ;
    return false ;
  }
  avcodec_flush_buffers(pCodecCtx) ;

  int frame_no = 0 ;
  int frameFinished ;

  av_init_packet(packet);
  while (av_read_frame (pFormatCtx, packet) >= 0)
  {
    if (packet->stream_index == (int)videoStream)
    {
#if LIBAVCODEC_VERSION_INT < AV_VERSION_INT(52,72,2)
      ret = avcodec_decode_video(pCodecCtx, pFrame,
         &frameFinished, packet->data, packet->size);
#else
      ret = avcodec_decode_video2(pCodecCtx, pFrame, &frameFinished, packet); // libavcodec >= 52.72.2 (0.6)
#endif
      if (frameFinished)
      {
        if (ret < 0 )
        {
          vpTRACE("Unable to decode video picture");
        }
        index.push_back(packet->dts);
        frame_no++ ;
      }
    }
  }
  
  frameNumber = index.size();
  av_free_packet(packet);
  
  streamWasInitialized = true;
  
  return true;
}


bool vpFFMPEG::getFrame(vpImage<vpRGBa> &I, unsigned int frame)
{

  if (frame < frameNumber && streamWasInitialized== true)
  {
    int64_t targetPts = index[frame];
    av_seek_frame(pFormatCtx, (int)videoStream,targetPts, AVSEEK_FLAG_ANY);
  }
  else
  {
    vpTRACE("Couldn't get a frame");
    return false;
  }
  
  avcodec_flush_buffers(pCodecCtx) ;

  int frameFinished ;

  av_init_packet(packet);
  while (av_read_frame (pFormatCtx, packet) >= 0)
  {
    if (packet->stream_index == (int)videoStream)
    {
#if LIBAVCODEC_VERSION_INT < AV_VERSION_INT(52,72,2)
      avcodec_decode_video(pCodecCtx, pFrame,
                           &frameFinished, packet->data, packet->size);
#else
      avcodec_decode_video2(pCodecCtx, pFrame, &frameFinished, packet); // libavcodec >= 52.72.2 (0.6)
#endif
      if (frameFinished)
      {
        if (color_type == vpFFMPEG::COLORED)
          sws_scale(img_convert_ctx, pFrame->data, pFrame->linesize, 0, pCodecCtx->height, pFrameRGB->data, pFrameRGB->linesize);
        else if (color_type == vpFFMPEG::GRAY_SCALED)
          sws_scale(img_convert_ctx, pFrame->data, pFrame->linesize, 0, pCodecCtx->height, pFrameGRAY->data, pFrameGRAY->linesize);

        copyBitmap(I);
        break;
      }
    }
  }

  av_free_packet(packet);
  return true;
}


bool vpFFMPEG::acquire(vpImage<vpRGBa> &I)
{
  int frameFinished ;
  
  if (streamWasInitialized == false)
  {
    vpTRACE("Couldn't get a frame. The parameters have to be initialized before ");
    return false;
  }

  av_init_packet(packet);
  while (av_read_frame (pFormatCtx, packet) >= 0)
  {
    if (packet->stream_index == (int)videoStream)
    {
#if LIBAVCODEC_VERSION_INT < AV_VERSION_INT(52,72,2)
      avcodec_decode_video(pCodecCtx, pFrame,
         &frameFinished, packet->data, packet->size);
#else
      avcodec_decode_video2(pCodecCtx, pFrame, &frameFinished, packet); // libavcodec >= 52.72.2 (0.6)
#endif
      if (frameFinished)
      {
        if (color_type == vpFFMPEG::COLORED)
      sws_scale(img_convert_ctx, pFrame->data, pFrame->linesize, 0, pCodecCtx->height, pFrameRGB->data, pFrameRGB->linesize);
        else if (color_type == vpFFMPEG::GRAY_SCALED)
      sws_scale(img_convert_ctx, pFrame->data, pFrame->linesize, 0, pCodecCtx->height, pFrameGRAY->data, pFrameGRAY->linesize);

        copyBitmap(I);
        break;
      }
    }
  }
  av_free_packet(packet);
  return true;
}

bool vpFFMPEG::getFrame(vpImage<unsigned char> &I, unsigned int frame)
{

  if (frame < frameNumber && streamWasInitialized== true)
  {
    int64_t targetPts = index[frame];
    av_seek_frame(pFormatCtx,(int)videoStream,targetPts, AVSEEK_FLAG_ANY);
  }
  else
  {
    vpTRACE("Couldn't get a frame");
    return false;
  }
  
  avcodec_flush_buffers(pCodecCtx) ;

  int frameFinished ;

  av_init_packet(packet);
  while (av_read_frame (pFormatCtx, packet) >= 0)
  {
    if (packet->stream_index == (int)videoStream)
    {
#if LIBAVCODEC_VERSION_INT < AV_VERSION_INT(52,72,2)
      avcodec_decode_video(pCodecCtx, pFrame,
         &frameFinished, packet->data, packet->size);
#else
      avcodec_decode_video2(pCodecCtx, pFrame, &frameFinished, packet); // libavcodec >= 52.72.2 (0.6)
#endif
      if (frameFinished)
      {
        if (color_type == vpFFMPEG::COLORED)
          sws_scale(img_convert_ctx, pFrame->data, pFrame->linesize, 0, pCodecCtx->height, pFrameRGB->data, pFrameRGB->linesize);
    else if (color_type == vpFFMPEG::GRAY_SCALED)
          sws_scale(img_convert_ctx, pFrame->data, pFrame->linesize, 0, pCodecCtx->height, pFrameGRAY->data, pFrameGRAY->linesize);

          copyBitmap(I);
          break;
        }
      }
    }

    av_free_packet(packet);
    return true;
}


bool vpFFMPEG::acquire(vpImage<unsigned char> &I)
{
  int frameFinished ;
  
  if (streamWasInitialized == false)
  {
    vpTRACE("Couldn't get a frame. The parameters have to be initialized before ");
    return false;
  }

  av_init_packet(packet);
  while (av_read_frame (pFormatCtx, packet) >= 0)
  {
    if (packet->stream_index == (int)videoStream)
    {
#if LIBAVCODEC_VERSION_INT < AV_VERSION_INT(52,72,2)
      avcodec_decode_video(pCodecCtx, pFrame,
         &frameFinished, packet->data, packet->size);
#else
      avcodec_decode_video2(pCodecCtx, pFrame, &frameFinished, packet); // libavcodec >= 52.72.2 (0.6)
#endif
     if (frameFinished)
      {
        if (color_type == vpFFMPEG::COLORED)
      sws_scale(img_convert_ctx, pFrame->data, pFrame->linesize, 0, pCodecCtx->height, pFrameRGB->data, pFrameRGB->linesize);
        else if (color_type == vpFFMPEG::GRAY_SCALED)
      sws_scale(img_convert_ctx, pFrame->data, pFrame->linesize, 0, pCodecCtx->height, pFrameGRAY->data, pFrameGRAY->linesize);

        copyBitmap(I);
        break;
      }
    }
  }
  av_free_packet(packet);
  return true;
}


void vpFFMPEG::copyBitmap(vpImage<vpRGBa> &I)
{
  if(height < 0 || width < 0){
    throw vpException(vpException::dimensionError, "width or height negative.");
  }
  I.resize((unsigned int)height, (unsigned int)width);
  
  unsigned char* line;
  unsigned char* beginOutput = (unsigned char*)I.bitmap;
  unsigned char* output = NULL;

  if (color_type == COLORED)
  {
    unsigned char* input = (unsigned char*)pFrameRGB->data[0];
    int widthStep = pFrameRGB->linesize[0];
    for(int i=0 ; i < height ; i++)
    {
      line = input;
      output = beginOutput + 4 * width * i;
      for(int j=0 ; j < width ; j++)
      {
        *(output++) = *(line);
        *(output++) = *(line+1);
        *(output++) = *(line+2);
        *(output++) = 0;

        line+=3;
      }
    //go to the next line
    input+=widthStep;
    }
  }
  
  else if (color_type == GRAY_SCALED)
  {
    unsigned char* input = (unsigned char*)pFrameGRAY->data[0];
    int widthStep = pFrameGRAY->linesize[0];
    for(int i=0 ; i < height ; i++)
    {
      line = input;
      output = beginOutput + 4 * width * i;
      for(int j=0 ; j < width ; j++)
        {
          *output++ = *(line);
          *output++ = *(line);
          *output++ = *(line);
          *output++ = *(line);;

          line++;
        }
      //go to the next line
      input+=widthStep;
    }
  }
}

void vpFFMPEG::copyBitmap(vpImage<unsigned char> &I)
{
  if(height < 0 || width < 0){
    throw vpException(vpException::dimensionError, "width or height negative.");
  }
  I.resize((unsigned int)height, (unsigned int)width);
  
  unsigned char* line;
  unsigned char* beginOutput = (unsigned char*)I.bitmap;
  unsigned char* output = NULL;

  if (color_type == GRAY_SCALED)
  {
    unsigned char* input = (unsigned char*)pFrameGRAY->data[0];
    int widthStep = pFrameGRAY->linesize[0];
    for(int i=0 ; i < height ; i++)
    {
      line = input;
      output = beginOutput + width * i;
      for(int j=0 ; j < width ; j++)
      {
        *(output++) = *(line);

        line++;
      }
    //go to the next line
    input+=widthStep;
    }
  }
  
  if (color_type == COLORED)
  {
    unsigned char* input = (unsigned char*)pFrameRGB->data[0];
    int widthStep = pFrameRGB->linesize[0];
    for (int i = 0  ; i < height ; i++)
    {
      vpImageConvert::RGBToGrey(input + i*widthStep, beginOutput + i*width, (unsigned int)width, 1, false);
    }
  }
}

void vpFFMPEG::closeStream()
{
  if (streamWasOpen)
  {
    if (buffer != NULL) {
      free(buffer);
      buffer = NULL;
    }
    
    if (color_type == vpFFMPEG::COLORED)
      av_free(pFrameRGB);
    
    else if (color_type == vpFFMPEG::GRAY_SCALED)
      av_free(pFrameGRAY);

    // Free the YUV frame
    av_free(pFrame);

    // Close the codec
    if (pCodecCtx) avcodec_close(pCodecCtx);

    // Close the video file
#if LIBAVFORMAT_VERSION_INT < AV_VERSION_INT(53,17,0) // libavformat 53.17.0
    av_close_input_file(pFormatCtx);
#else
    avformat_close_input(&pFormatCtx);
#endif
  }
  streamWasOpen = false;
  
  if (encoderWasOpened)
  {
    if(f!=NULL) endWrite();
    
    if(buffer!=NULL) delete[] buffer;
    
    if(outbuf != NULL) delete[] outbuf;
    
    if(picture_buf != NULL) delete[] picture_buf;
    
    av_free(pFrameRGB);
    av_free(pFrame);
    if (pCodecCtx) avcodec_close(pCodecCtx);
  }
  
  encoderWasOpened = false;

  if(streamWasInitialized || encoderWasOpened){
    sws_freeContext (img_convert_ctx);
  }
  streamWasInitialized = false;
}

#if LIBAVCODEC_VERSION_INT < AV_VERSION_INT(54,51,110) // libavcodec 54.51.100
bool vpFFMPEG::openEncoder(const char *filename, unsigned int w, unsigned int h, CodecID codec)
#else
bool vpFFMPEG::openEncoder(const char *filename, unsigned int w, unsigned int h, AVCodecID codec)
#endif
{
  av_register_all();

  /* find the mpeg1 video encoder */
  pCodec = avcodec_find_encoder(codec);
  if (pCodec == NULL) {
    fprintf(stderr, "codec not found\n");
    return false;
  }

#if LIBAVCODEC_VERSION_INT < AV_VERSION_INT(53,5,0) // libavcodec 53.5.0
  pCodecCtx = avcodec_alloc_context();
#else
  pCodecCtx = avcodec_alloc_context3(NULL);
#endif

#if LIBAVCODEC_VERSION_INT < AV_VERSION_INT(55,34,0)
  pFrame = avcodec_alloc_frame();
  pFrameRGB = avcodec_alloc_frame();
#else
  pFrame = av_frame_alloc(); // libavcodec 55.34.1
  pFrameRGB = av_frame_alloc(); // libavcodec 55.34.1
#endif

  /* put sample parameters */
  pCodecCtx->bit_rate = (int)bit_rate;
  /* resolution must be a multiple of two */
  pCodecCtx->width = (int)w;
  pCodecCtx->height = (int)h;
  this->width = (int)w;
  this->height = (int)h;
  /* frames per second */
  pCodecCtx->time_base.num = 1;
  pCodecCtx->time_base.den = framerate_encoder;
  pCodecCtx->gop_size = 10; /* emit one intra frame every ten frames */
  pCodecCtx->max_b_frames=1;
  pCodecCtx->pix_fmt = PIX_FMT_YUV420P;

  /* open it */
#if LIBAVCODEC_VERSION_INT < AV_VERSION_INT(53,35,0) // libavcodec 53.35.0
  if (avcodec_open (pCodecCtx, pCodec) < 0) {
#else
  if (avcodec_open2 (pCodecCtx, pCodec, NULL) < 0) {
#endif
    fprintf(stderr, "could not open codec\n");
    return false;
  }

  /* the codec gives us the frame size, in samples */

  f = fopen(filename, "wb");
  if (!f) {
    fprintf(stderr, "could not open %s\n", filename);
    return false;
  }

  outbuf_size = 100000;
  outbuf = new uint8_t[outbuf_size];

  numBytes = avpicture_get_size (PIX_FMT_YUV420P,pCodecCtx->width,pCodecCtx->height);
  picture_buf = new uint8_t[numBytes];
  avpicture_fill((AVPicture *)pFrame, picture_buf, PIX_FMT_YUV420P, pCodecCtx->width, pCodecCtx->height);

  numBytes = avpicture_get_size (PIX_FMT_RGB24,pCodecCtx->width,pCodecCtx->height);
  buffer = new uint8_t[numBytes];
  avpicture_fill((AVPicture *)pFrameRGB, buffer, PIX_FMT_RGB24, pCodecCtx->width, pCodecCtx->height);

  img_convert_ctx= sws_getContext(pCodecCtx->width, pCodecCtx->height, PIX_FMT_RGB24, pCodecCtx->width,pCodecCtx->height,PIX_FMT_YUV420P, SWS_BICUBIC, NULL, NULL, NULL);
  
  encoderWasOpened = true;

  return true;
}


bool vpFFMPEG::saveFrame(vpImage<vpRGBa> &I)
{
  if (encoderWasOpened == false)
  {
    vpTRACE("Couldn't save a frame. The parameters have to be initialized before ");
    return false;
  }
  
  writeBitmap(I);
  sws_scale(img_convert_ctx, pFrameRGB->data, pFrameRGB->linesize, 0, pCodecCtx->height, pFrame->data, pFrame->linesize);
#if LIBAVCODEC_VERSION_INT < AV_VERSION_INT(54,2,100) // libavcodec 54.2.100
  out_size = avcodec_encode_video(pCodecCtx, outbuf, outbuf_size, pFrame);
  fwrite(outbuf, 1, (size_t)out_size, f);
#else
  AVPacket pkt;
  av_init_packet(&pkt);
  pkt.data = NULL;    // packet data will be allocated by the encoder
  pkt.size = 0;

  int got_output;
  int ret = avcodec_encode_video2(pCodecCtx, &pkt, pFrame, &got_output);
  if (ret < 0) {
    std::cerr << "Error encoding frame in " << __FILE__ << " " << __LINE__ << " " << __FUNCTION__ << std::endl;
    return false;
  }
  if (got_output) {
    fwrite(pkt.data, 1, pkt.size, f);
    av_free_packet(&pkt);
  }
#endif
  fflush(stdout);
  return true;
}


bool vpFFMPEG::saveFrame(vpImage<unsigned char> &I)
{
  if (encoderWasOpened == false)
  {
    vpTRACE("Couldn't save a frame. The parameters have to be initialized before ");
    return false;
  }
  
  writeBitmap(I);
  sws_scale(img_convert_ctx, pFrameRGB->data, pFrameRGB->linesize, 0, pCodecCtx->height, pFrame->data, pFrame->linesize);  
#if LIBAVCODEC_VERSION_INT < AV_VERSION_INT(54,2,100) // libavcodec 54.2.100
  out_size = avcodec_encode_video(pCodecCtx, outbuf, outbuf_size, pFrame);
  fwrite(outbuf, 1, (size_t)out_size, f);
#else
  AVPacket pkt;
  av_init_packet(&pkt);
  pkt.data = NULL;    // packet data will be allocated by the encoder
  pkt.size = 0;

  int got_output;
  int ret = avcodec_encode_video2(pCodecCtx, &pkt, pFrame, &got_output);
  if (ret < 0) {
    std::cerr << "Error encoding frame in " << __FILE__ << " " << __LINE__ << " " << __FUNCTION__ << std::endl;
    return false;
  }
  if (got_output) {
    fwrite(pkt.data, 1, pkt.size, f);
    av_free_packet(&pkt);
  }
#endif

  fflush(stdout);
  return true;
}

bool vpFFMPEG::endWrite()
{
  if (encoderWasOpened == false)
  {
    vpTRACE("Couldn't save a frame. The parameters have to be initialized before ");
    return false;
  }
  
  int ret = 1;
  while (ret != 0)
  {

#if LIBAVCODEC_VERSION_INT < AV_VERSION_INT(54,2,100) // libavcodec 54.2.100
    ret = avcodec_encode_video(pCodecCtx, outbuf, outbuf_size, NULL);
    fwrite(outbuf, 1, (size_t)out_size, f);
#else
    AVPacket pkt;
    av_init_packet(&pkt);
    pkt.data = NULL;    // packet data will be allocated by the encoder
    pkt.size = 0;
    int got_output;
    ret = avcodec_encode_video2(pCodecCtx, &pkt, NULL, &got_output);
    if (ret < 0) {
      std::cerr << "Error encoding frame in " << __FILE__ << " " << __LINE__ << " " << __FUNCTION__ << std::endl;
      return false;
    }
    if (got_output) {
      fwrite(pkt.data, 1, pkt.size, f);
      av_free_packet(&pkt);
    }
#endif
  }

  /*The end of a mpeg file*/
  outbuf[0] = 0x00;
  outbuf[1] = 0x00;
  outbuf[2] = 0x01;
  outbuf[3] = 0xb7;
  fwrite(outbuf, 1, 4, f);
  fclose(f);
  f = NULL;
  return true;
}

void vpFFMPEG::writeBitmap(vpImage<vpRGBa> &I)
{
  unsigned char* beginInput = (unsigned char*)I.bitmap;
  unsigned char* input = NULL;
  unsigned char* output = NULL;
  unsigned char* beginOutput = (unsigned char*)pFrameRGB->data[0];
  int widthStep = pFrameRGB->linesize[0];
  
  for(int i=0 ; i < height ; i++)
  {
    input = beginInput + 4 * i * width;
    output = beginOutput + i * widthStep;
    for(int j=0 ; j < width ; j++)
    {
      *(output++) = *(input);
      *(output++) = *(input+1);
      *(output++) = *(input+2);

      input+=4;
    }
  }
}


void vpFFMPEG::writeBitmap(vpImage<unsigned char> &I)
{
  unsigned char* beginInput = (unsigned char*)I.bitmap;
  unsigned char* input = NULL;
  unsigned char* output = NULL;
  unsigned char* beginOutput = (unsigned char*)pFrameRGB->data[0];
  int widthStep = pFrameRGB->linesize[0];
  
  for(int i=0 ; i < height ; i++)
  {
    input = beginInput + i * width;
    output = beginOutput + i * widthStep;
    for(int j=0 ; j < width ; j++)
    {
      *(output++) = *(input);
      *(output++) = *(input);
      *(output++) = *(input);

      input++;
    }
  }
}

#elif !defined(VISP_BUILD_SHARED_LIBS)
// Work arround to avoid warning: libvisp_core.a(vpFFMPEG.cpp.o) has no symbols
void dummy_vpFFMPEG() {};
#endif