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Index: gazebo-11.10.1/gazebo/common/AudioDecoder.cc
===================================================================
--- gazebo-11.10.1.orig/gazebo/common/AudioDecoder.cc
+++ gazebo-11.10.1/gazebo/common/AudioDecoder.cc
@@ -113,8 +113,13 @@ bool AudioDecoder::Decode(uint8_t **_out
# pragma GCC diagnostic push
# pragma GCC diagnostic ignored "-Wdeprecated-declarations"
#endif
- bytesDecoded = avcodec_decode_audio4(this->codecCtx, decodedFrame,
- &gotFrame, &packet1);
+ bytesDecoded = avcodec_send_packet(this->codecCtx, &packet1);
+ if (bytesDecoded >= 0 || bytesDecoded == AVERROR_EOF) {
+ bytesDecoded = avcodec_receive_frame(this->codecCtx, decodedFrame);
+ gotFrame = bytesDecoded >= 0;
+ if (bytesDecoded == AVERROR(EAGAIN) || bytesDecoded == AVERROR_EOF) bytesDecoded = 0;
+ }
+
#ifndef _WIN32
# pragma GCC diagnostic pop
#endif
@@ -214,7 +219,7 @@ bool AudioDecoder::SetFile(const std::st
# pragma GCC diagnostic push
# pragma GCC diagnostic ignored "-Wdeprecated-declarations"
#endif
- if (this->formatCtx->streams[i]->codec->codec_type == AVMEDIA_TYPE_AUDIO)
+ if (this->formatCtx->streams[i]->codecpar->codec_type == AVMEDIA_TYPE_AUDIO)
#ifndef _WIN32
# pragma GCC diagnostic pop
#endif
@@ -238,7 +243,9 @@ bool AudioDecoder::SetFile(const std::st
# pragma GCC diagnostic push
# pragma GCC diagnostic ignored "-Wdeprecated-declarations"
#endif
- this->codecCtx = this->formatCtx->streams[audioStream]->codec;
+ this->codecCtx = avcodec_alloc_context3(nullptr);
+ avcodec_parameters_to_context(this->codecCtx, this->formatCtx->streams[audioStream]->codecpar);
+
#ifndef _WIN32
# pragma GCC diagnostic pop
#endif
Index: gazebo-11.10.1/gazebo/common/AudioDecoder.hh
===================================================================
--- gazebo-11.10.1.orig/gazebo/common/AudioDecoder.hh
+++ gazebo-11.10.1/gazebo/common/AudioDecoder.hh
@@ -75,7 +75,7 @@ namespace gazebo
private: AVCodecContext *codecCtx;
/// \brief libavcodec audio codec.
- private: AVCodec *codec;
+ private: const AVCodec *codec;
/// \brief Index of the audio stream.
private: int audioStream;
Index: gazebo-11.10.1/gazebo/common/Video.cc
===================================================================
--- gazebo-11.10.1.orig/gazebo/common/Video.cc
+++ gazebo-11.10.1/gazebo/common/Video.cc
@@ -77,7 +77,7 @@ void Video::Cleanup()
#ifdef HAVE_FFMPEG
bool Video::Load(const std::string &_filename)
{
- AVCodec *codec = nullptr;
+ const AVCodec *codec = nullptr;
this->videoStream = -1;
if (this->formatCtx || this->avFrame || this->codecCtx)
@@ -107,7 +107,7 @@ bool Video::Load(const std::string &_fil
# pragma GCC diagnostic push
# pragma GCC diagnostic ignored "-Wdeprecated-declarations"
#endif
- if (this->formatCtx->streams[i]->codec->codec_type == AVMEDIA_TYPE_VIDEO)
+ if (this->formatCtx->streams[i]->codecpar->codec_type == AVMEDIA_TYPE_VIDEO)
#ifndef _WIN32
# pragma GCC diagnostic pop
#endif
@@ -128,13 +128,14 @@ bool Video::Load(const std::string &_fil
# pragma GCC diagnostic push
# pragma GCC diagnostic ignored "-Wdeprecated-declarations"
#endif
- this->codecCtx = this->formatCtx->streams[this->videoStream]->codec;
+ this->codecCtx = avcodec_alloc_context3(nullptr);
+ avcodec_parameters_to_context(this->codecCtx, this->formatCtx->streams[this->videoStream]->codecpar);
#ifndef _WIN32
# pragma GCC diagnostic pop
#endif
// Find the decoder for the video stream
- codec = avcodec_find_decoder(this->codecCtx->codec_id);
+ codec = avcodec_find_decoder(this->formatCtx->streams[this->videoStream]->codecpar->codec_id);
if (codec == nullptr)
{
gzerr << "Codec not found\n";
@@ -231,15 +232,19 @@ bool Video::GetNextFrame(unsigned char *
# pragma GCC diagnostic push
# pragma GCC diagnostic ignored "-Wdeprecated-declarations"
#endif
- int processedLength = avcodec_decode_video2(this->codecCtx, this->avFrame,
- &frameAvailable, &tmpPacket);
+ int processedLength = avcodec_send_packet(this->codecCtx, !tmpPacket.data && !tmpPacket.size ? nullptr : &tmpPacket);
#ifndef _WIN32
# pragma GCC diagnostic pop
#endif
+ if (processedLength >= 0 || processedLength == AVERROR_EOF) {
+ processedLength = avcodec_receive_frame(this->codecCtx, this->avFrame);
+ frameAvailable = processedLength >= 0;
+ if (processedLength == AVERROR(EAGAIN) || processedLength == AVERROR_EOF) processedLength = 0;
+ }
if (processedLength < 0)
{
gzerr << "Error while processing the data\n";
- break;
+ break;
}
tmpPacket.data = tmpPacket.data + processedLength;
Index: gazebo-11.10.1/gazebo/common/VideoEncoder.cc
===================================================================
--- gazebo-11.10.1.orig/gazebo/common/VideoEncoder.cc
+++ gazebo-11.10.1/gazebo/common/VideoEncoder.cc
@@ -224,7 +224,7 @@ bool VideoEncoder::Start(const std::stri
// The remainder of this function handles FFMPEG initialization of a video
// stream
- AVOutputFormat *outputFormat = nullptr;
+ const AVOutputFormat *outputFormat = nullptr;
// This 'if' and 'free' are just for safety. We chech the value of formatCtx
// below.
@@ -294,7 +294,7 @@ bool VideoEncoder::Start(const std::stri
}
// find the video encoder
- AVCodec *encoder = avcodec_find_encoder(
+ const AVCodec *encoder = avcodec_find_encoder(
this->dataPtr->formatCtx->oformat->video_codec);
if (!encoder)
{
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