VideoTask.h

/*
 * Copyright (c) 2018, Stefan Osswald
 * All rights reserved.
 * 
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 * 
 * * Redistributions of source code must retain the above copyright notice, this
 *   list of conditions and the following disclaimer.
 * 
 * * Redistributions in binary form must reproduce the above copyright notice,
 *   this list of conditions and the following disclaimer in the documentation
 *   and/or other materials provided with the distribution.
 * 
 * * Neither the name of the copyright holder nor the names of its
 *   contributors may be used to endorse or promote products derived from
 *   this software without specific prior written permission.
 * 
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
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 */ 

#ifndef INCLUDE_ARTICULATION_VIDEOTASK_H_
#define INCLUDE_ARTICULATION_VIDEOTASK_H_

#include <gpu_coverage/AbstractRenderer.h>
#include <gpu_coverage/AbstractTask.h>
#include <gpu_coverage/Scene.h>

#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>

#include <vector>

namespace gpu_coverage {

class VideoTask: public AbstractTask {
public:
    VideoTask(Scene * const scene, const size_t threadNr, SharedData * const sharedData, const size_t startFrame,
            const size_t endFrame);
    virtual ~VideoTask();

    virtual void run();

protected:
    Scene * const scene;
    const size_t startFrame;
    const size_t endFrame;
    const size_t captureFrame;
    const bool writeVideo;

    typedef std::vector<AbstractRenderer*> Renderers;
    Renderers renderers;
    Texture * costmapTexture;

    int pbufferWidth, pbufferHeight, panoWidth, panoHeight;
    cv::Mat mat, flip, panoMat, panoFlip;
    cv::VideoWriter *outputVideo, *outputCubemapVideo;
    GLuint panoTexture;

};

} /* namespace gpu_coverage */

#endif /* INCLUDE_ARTICULATION_VIDEOTASK_H_ */