The videoOutput API is for rendering and transmitting frames to video input devices such as display windows, broadcasting RTP network streams to remote hosts over UDP/IP, and saving videos/images/directories to disk. More...

#include <videoOutput.h>

Inheritance diagram for videoOutput:

Public Member Functions
virtual	~videoOutput ()
	Destroy interface and release all resources. More...

template<typename T >
bool	Render (T *image, uint32_t width, uint32_t height)
	Render and output the next frame to the stream. More...

virtual bool	Render (void *image, uint32_t width, uint32_t height, imageFormat format)
	Render and output the next frame to the stream. More...

virtual bool	Open ()
	Begin streaming the device. More...

virtual void	Close ()
	Stop streaming the device. More...

bool	IsStreaming () const
	Check if the device is actively streaming or not. More...

uint32_t	GetWidth () const
	Return the width of the stream, in pixels. More...

uint32_t	GetHeight () const
	Return the height of the stream, in pixels. More...

float	GetFrameRate () const
	Return the framerate, in Hz or FPS. More...

uint64_t	GetFrameCount () const
	Return the number of frames output. More...

const URI &	GetResource () const
	Return the resource URI of the stream. More...

const videoOptions &	GetOptions () const
	Return the videoOptions of the stream. More...

void	AddOutput (videoOutput *output)
	Add an output sub-stream. More...

uint32_t	GetNumOutputs () const
	Return the number of sub-streams. More...

videoOutput *	GetOutput (uint32_t index) const
	Return a sub-stream. More...

virtual void	SetStatus (const char *str)
	Set a status string (i.e. More...

virtual uint32_t	GetType () const
	Return the interface type of the stream. More...

bool	IsType (uint32_t type) const
	Check if this stream is of a particular type. More...

template<typename T >
bool	IsType () const
	Check if a this stream is of a particular type. More...

const char *	TypeToStr () const
	Convert this stream's class type to string. More...

Static Public Member Functions
static videoOutput *	Create (const videoOptions &options)
	Create videoOutput interface from a videoOptions struct that's already been filled out. More...

static videoOutput *	Create (const char *URI, const videoOptions &options=videoOptions())
	Create videoOutput interface from a resource URI string and optional videoOptions. More...

static videoOutput *	Create (const char *URI, const commandLine &cmdLine)
	Create videoOutput interface from a resource URI string and parsing command line arguments. More...

static videoOutput *	Create (const char URI, const int argc, char *argv)
	Create videoOutput interface from a resource URI string and parsing command line arguments. More...

static videoOutput *	Create (const int argc, char **argv, int positionArg=-1)
	Create videoOutput interface by parsing command line arguments, including the resource URI. More...

static videoOutput *	Create (const commandLine &cmdLine, int positionArg=-1)
	Create videoOutput interface by parsing command line arguments, including the resource URI. More...

static videoOutput *	CreateNullOutput ()
	Create videoOutput interface that acts as a NULL output and does nothing with incoming frames. More...

static const char *	Usage ()
	Usage string for command line arguments to Create() More...

static const char *	TypeToStr (uint32_t type)
	Convert a class type to a string. More...

Protected Member Functions
	videoOutput (const videoOptions &options)

Protected Attributes
bool	mStreaming

videoOptions	mOptions

std::vector< videoOutput * >	mOutputs

Detailed Description

The videoOutput API is for rendering and transmitting frames to video input devices such as display windows, broadcasting RTP network streams to remote hosts over UDP/IP, and saving videos/images/directories to disk.

videoOutput interfaces are implemented by glDisplay, gstEncoder, and imageWriter.
The specific implementation is selected at runtime based on the type of resource URI. An instance can have multiple sub-streams, for example simultaneously outputting to a display and encoded video on disk or RTP stream.

videoOutput supports the following protocols and resource URI's:

- `display://0` for rendering to display using OpenGL, where `0` corresponds to the display number.
By default, an OpenGL window will be created, unless the `--headless` command line option is used.

- `rtp://<remote-host>:1234` to broadcast a compressed RTP stream to a remote host, where you should
substitute `<remote-host>` with the remote host's IP address or hostname, and `1234` is the port.

- `rtsp://@:8554/my_stream` to serve a compressed RTSP stream at the specified port and stream path.
RTSP clients can connect to the stream at the specified path. Using this will create a RTSP server
that can handle multiple videoOutput streams on the same port but with different paths
(e.g. `rtsp://<hostname>:8554/my_stream_1`, `rtsp://<hostname>:8554/my_stream_2`, ect)

- `webrtc://@:1234/my_stream` to serve a compressed WebRTC stream at the specified port and path
that browsers can connect to and view. Users will be able to navigate their browser to
`http://<hostname>:1234/my_stream` and view a rudimentary video player that plays the stream.
More advanced web front-ends can be created by using standard client-side Javascript WebRTC APIs.

- `file:///home/user/my_video.mp4` for saving videos, images, and directories of images to disk.
You can leave off the `file://` protocol identifier and it will be deduced from the path.
It can be a relative or absolute path. You can output a sequence of images using a path of
the form `my_dir/image_%i.jpg` (where `%i` can include printf-style modifiers like `%03i`).
The `%i` will be replaced with the image number in the sequence. If just a directory is
specified, then by default it will create a sequence of the form `%i.jpg` in that directory.
Supported video formats for saving include MKV, MP4, AVI, and FLV. Supported codecs for
encoding include H.264, H.265, VP8, VP9, and MJPEG. Supported image formats for saving
include JPG, PNG, TGA, and BMP.

See also: URI for info about resource URI formats.; videoOptions for additional options and command-line arguments.

Constructor & Destructor Documentation

◆ ~videoOutput()

virtual videoOutput::~videoOutput ( )

virtual

Destroy interface and release all resources.

◆ videoOutput()

videoOutput::videoOutput ( const videoOptions & options )

protected

Member Function Documentation

◆ AddOutput()

void videoOutput::AddOutput ( videoOutput * output )

inline

Add an output sub-stream.

When a frame is rendered to this stream, it will be rendered to each sub-stream.

◆ Close()

virtual void videoOutput::Close ( )

virtual

Stop streaming the device.

Note: Close() is automatically called by the videoOutput destructor when it gets deleted, so you do not explicitly need to call Close() before exiting the program if you delete your videoSource object.

Reimplemented in gstEncoder.

◆ Create() [1/6]

static videoOutput* videoOutput::Create	(	const char *	URI,
		const commandLine &	cmdLine
	)

static

Create videoOutput interface from a resource URI string and parsing command line arguments.

See also: videoOptions for valid command-line arguments to be parsed.; the documentation above and the URI struct for more info about resource URI's.

◆ Create() [2/6]

static videoOutput* videoOutput::Create	(	const char *	URI,
		const int	argc,
		char **	argv
	)

static

Create videoOutput interface from a resource URI string and parsing command line arguments.

See also: videoOptions for valid command-line arguments to be parsed.; the documentation above and the URI struct for more info about resource URI's.

◆ Create() [3/6]

static videoOutput* videoOutput::Create	(	const char *	URI,
		const videoOptions &	options = `videoOptions()`
	)

static

Create videoOutput interface from a resource URI string and optional videoOptions.

See also: the documentation above and the URI struct for more info about resource URI's.

◆ Create() [4/6]

static videoOutput* videoOutput::Create	(	const commandLine &	cmdLine,
		int	positionArg = `-1`
	)

static

Create videoOutput interface by parsing command line arguments, including the resource URI.

Parameters

positionArg indicates the positional argument number in the command line of the resource URI (or -1 if a positional argument isn't used, and should instead be parsed from the --input= option).

See also: videoOptions for valid command-line arguments to be parsed.; the documentation above and the URI struct for more info about resource URI's.

◆ Create() [5/6]

static videoOutput* videoOutput::Create	(	const int	argc,
		char **	argv,
		int	positionArg = `-1`
	)

static

Create videoOutput interface by parsing command line arguments, including the resource URI.

Parameters

positionArg indicates the positional argument number in the command line of the resource URI (or -1 if a positional argument isn't used, and should instead be parsed from the --input= option).

See also: videoOptions for valid command-line arguments to be parsed.; the documentation above and the URI struct for more info about resource URI's.

◆ Create() [6/6]

static videoOutput* videoOutput::Create ( const videoOptions & options )

static

Create videoOutput interface from a videoOptions struct that's already been filled out.

It's expected that the supplied videoOptions already contain a valid resource URI.

◆ CreateNullOutput()

static videoOutput* videoOutput::CreateNullOutput ( )

static

Create videoOutput interface that acts as a NULL output and does nothing with incoming frames.

CreateNullOutput() can be used when there are no other outputs created and programs expect one to run.

◆ GetFrameCount()

uint64_t videoOutput::GetFrameCount ( ) const

inline

Return the number of frames output.

◆ GetFrameRate()

float videoOutput::GetFrameRate ( ) const

inline

Return the framerate, in Hz or FPS.

◆ GetHeight()

uint32_t videoOutput::GetHeight ( ) const

inline

Return the height of the stream, in pixels.

◆ GetNumOutputs()

uint32_t videoOutput::GetNumOutputs ( ) const

inline

Return the number of sub-streams.

◆ GetOptions()

const videoOptions& videoOutput::GetOptions ( ) const

inline

Return the videoOptions of the stream.

◆ GetOutput()

videoOutput* videoOutput::GetOutput ( uint32_t index ) const

inline

Return a sub-stream.

◆ GetResource()

const URI& videoOutput::GetResource ( ) const

inline

Return the resource URI of the stream.

◆ GetType()

virtual uint32_t videoOutput::GetType ( ) const

inlinevirtual

Return the interface type of the stream.

This could be one of the following values:

Reimplemented in glDisplay, gstEncoder, and imageWriter.

◆ GetWidth()

uint32_t videoOutput::GetWidth ( ) const

inline

Return the width of the stream, in pixels.

◆ IsStreaming()

bool videoOutput::IsStreaming ( ) const

inline

Check if the device is actively streaming or not.

Returns: true if the device is streaming (open), or false if it's closed or has reached EOS (End Of Stream).

◆ IsType() [1/2]

template<typename T >

bool videoOutput::IsType ( ) const

inline

Check if a this stream is of a particular type.

Can be used with glDisplay, gstEncoder, and imageWriter. For example:

if( stream->IsType<glDisplay>() ) glDisplay* display = (glDisplay*)stream; // safe to cast

◆ IsType() [2/2]

bool videoOutput::IsType ( uint32_t type ) const

inline

Check if this stream is of a particular type.

See also: GetType() for possible values.

◆ Open()

virtual bool videoOutput::Open ( )

virtual

Begin streaming the device.

After Open() is called, frames from the device can begin to be rendered.

Open() is not stricly necessary to call, if you call one of the Render() functions they will first check to make sure that the stream is opened, and if not they will open it automatically for you.

Returns: true on success, false if an error occurred opening the stream.

Reimplemented in gstEncoder, and glDisplay.

◆ Render() [1/2]

template<typename T >

bool videoOutput::Render	(	T *	image,
		uint32_t	width,
		uint32_t	height
	)

inline

Render and output the next frame to the stream.

The image formats supported by this templated version of Render() include the following:

uchar3 (IMAGE_RGB8)
uchar4 (IMAGE_RGBA8)
float3 (IMAGE_RGB32F)
float4 (IMAGE_RGBA32F)

The image format will automatically be deduced from these types. If other types are used with this overload, a static compile-time error will be asserted.

Parameters

image	CUDA pointer containing the image to output.
width	width of the image, in pixels.
height	height of the image, in pixels.

Returns: true on success, false on error.

◆ Render() [2/2]

virtual bool videoOutput::Render	(	void *	image,
		uint32_t	width,
		uint32_t	height,
		imageFormat	format
	)

virtual

Render and output the next frame to the stream.

The image formats supported by Render() are IMAGE_RGB8 (uchar3), IMAGE_RGBA8 (uchar4), IMAGE_RGB32F (float3), and IMAGE_RGBA32F (float4).

See also: imageFormat for more info.

Parameters

image	CUDA pointer containing the image to output.
width	width of the image, in pixels.
height	height of the image, in pixels.
format	format of the image (

See also: imageFormat)

Returns: true on success, false on error.

Reimplemented in glDisplay, gstEncoder, and imageWriter.

◆ SetStatus()

virtual void videoOutput::SetStatus ( const char * str )

virtual

Set a status string (i.e.

status bar text on display window). Other types of interfaces may ignore the status text.

Reimplemented in glDisplay.

◆ TypeToStr() [1/2]

const char* videoOutput::TypeToStr ( ) const

inline

Convert this stream's class type to string.

◆ TypeToStr() [2/2]

static const char* videoOutput::TypeToStr ( uint32_t type )

static

Convert a class type to a string.

◆ Usage()

static const char* videoOutput::Usage ( )

inlinestatic

Usage string for command line arguments to Create()

Member Data Documentation

◆ mOptions

videoOptions videoOutput::mOptions

protected

◆ mOutputs

std::vector<videoOutput*> videoOutput::mOutputs

protected

◆ mStreaming

bool videoOutput::mStreaming

protected

The documentation for this class was generated from the following file:

jetson-utils/videoOutput.h

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ~videoOutput()

◆ videoOutput()

Member Function Documentation

◆ AddOutput()

◆ Close()

◆ Create() [1/6]

◆ Create() [2/6]

◆ Create() [3/6]

◆ Create() [4/6]

◆ Create() [5/6]

◆ Create() [6/6]

◆ CreateNullOutput()

◆ GetFrameCount()

◆ GetFrameRate()

◆ GetHeight()

◆ GetNumOutputs()

◆ GetOptions()

◆ GetOutput()

◆ GetResource()

◆ GetType()

◆ GetWidth()

◆ IsStreaming()

◆ IsType() [1/2]

◆ IsType() [2/2]

◆ Open()

◆ Render() [1/2]

◆ Render() [2/2]

◆ SetStatus()

◆ TypeToStr() [1/2]

◆ TypeToStr() [2/2]

◆ Usage()

Member Data Documentation

◆ mOptions

◆ mOutputs

◆ mStreaming