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AudioDecoder: support ffmpeg 7.0 #3380

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Apr 13, 2024
Merged

AudioDecoder: support ffmpeg 7.0 #3380

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24 changes: 7 additions & 17 deletions gazebo/common/AudioDecoder.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -138,12 +138,18 @@ bool AudioDecoder::Decode(uint8_t **_outBuffer, unsigned int *_outBufferSize)
return false;
}

#if LIBAVCODEC_VERSION_INT >= AV_VERSION_INT(59, 24, 100)
int numChannels = this->codecCtx->ch_layout.nb_channels;
#else
int numChannels = this->codecCtx->channels;
#endif

// Total size of the data. Some padding can be added to
// decodedFrame->data[0], which is why we can't use
// decodedFrame->linesize[0].
int size = decodedFrame->nb_samples *
av_get_bytes_per_sample(this->codecCtx->sample_fmt) *
this->codecCtx->channels;
numChannels;

// Resize the audio buffer as necessary
if (*_outBufferSize + size > maxBufferSize)
Expand Down Expand Up @@ -331,22 +337,6 @@ bool AudioDecoder::SetFile(const std::string &_filename)
return false;
}

// This copy should be done by avcodec_parameters_to_context, but at least on
// conda-forge with 5.0.0 h594f047_1 this is not happening for some reason.
// As temporary workaround, we copy directly the data structures, taking the code from
// https://github.com/FFmpeg/FFmpeg/blob/n5.0/libavcodec/codec_par.c#L120
AVCodecParameters* par = this->formatCtx->streams[this->audioStream]->codecpar;
this->codecCtx->sample_fmt = static_cast<AVSampleFormat>(par->format);
this->codecCtx->channel_layout = par->channel_layout;
this->codecCtx->channels = par->channels;
this->codecCtx->sample_rate = par->sample_rate;
this->codecCtx->block_align = par->block_align;
this->codecCtx->frame_size = par->frame_size;
this->codecCtx->delay =
this->codecCtx->initial_padding = par->initial_padding;
this->codecCtx->trailing_padding = par->trailing_padding;
this->codecCtx->seek_preroll = par->seek_preroll;

// It would be better to just define codec as const AVCodec *,
// but that is not done to avoid ABI problem. Anyhow, as codec
// it is a private attribute there should be no problem
Expand Down
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