Video encoder timing test (#110)

Test that verifies video encoder timing, which uses VideoEncoder to encode several frames to a video file and verifies the duration using the Video class with a new Duration() function.

Signed-off-by: Jenn Nguyen <jenn@openrobotics.org>
Co-authored-by: Ian Chen <ichen@osrfoundation.org>

av/include/ignition/common/Video.hh

@@ -58,6 +58,15 @@ namespace ignition
       /// \return the height
       public: int Height() const;
 
+      /// \brief Convenience type alias for duration
+      /// where 1000000 is the same as AV_TIME_BASE fractional seconds
+      public:
+        using Length = std::chrono::duration<int64_t, std::ratio<1, 1000000>>;
+
+      /// \brief Get the duration of the video
+      /// \return the duration
+      public: Length Duration() const;
+
       /// \brief Get the next frame of the video.
       /// \param[out] _img Image in which the frame is stored
       /// \return  false on error

av/src/Video.cc

@@ -289,3 +289,9 @@ int Video::Height() const
 {
   return this->dataPtr->codecCtx->height;
 }
+
+/////////////////////////////////////////////////
+Video::Length Video::Duration() const
+{
+  return Video::Length(this->dataPtr->formatCtx->duration);
+}

test/integration/CMakeLists.txt

@@ -8,7 +8,8 @@ list(REMOVE_ITEM tests mesh.cc)
 
 ign_build_tests(
   TYPE INTEGRATION
-  SOURCES ${tests})
+  SOURCES ${tests}
+  LIB_DEPS ${PROJECT_LIBRARY_TARGET_NAME}-av)
 
 if(TARGET INTEGRATION_plugin)
   # We add this dependency to make sure that DummyPlugins gets generated

test/integration/encoder_timing.cc

@@ -0,0 +1,62 @@
+/*
+ * Copyright (C) 2020 Open Source Robotics Foundation
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+#include <gtest/gtest.h>
+#include <array>
+#include "ignition/common/VideoEncoder.hh"
+#include "ignition/common/Video.hh"
+#include "test_config.h"
+#include "test/util.hh"
+
+using namespace ignition;
+using namespace common;
+
+const unsigned int kSize = 10;
+const std::array<unsigned char, kSize*kSize> kFrame = {};
+
+// set to 720ms because video duration missing additional 18 frames
+//    which may be due to how video encoding works
+const std::chrono::milliseconds kTol(720);
+
+void durationTest(VideoEncoder &_vidEncoder, Video &_video,
+                  const int &_fps, const int &_seconds)
+{
+  _vidEncoder.Start("mp4", "", kSize, kSize, _fps, 0);
+
+  int frameCount = 0;
+  while (frameCount != _fps*_seconds)
+  {
+    if (_vidEncoder.AddFrame(kFrame.data(), kSize, kSize))
+      ++frameCount;
+  }
+
+  _vidEncoder.Stop();
+  _video.Load(common::joinPaths(common::cwd(), "/TMP_RECORDING.mp4"));
+
+  EXPECT_NEAR(std::chrono::duration_cast<std::chrono::milliseconds>(
+              _video.Duration()).count(),
+              _seconds*1000,
+              kTol.count());
+}
+
+TEST(EncoderTimingTest, Duration)
+{
+  VideoEncoder vidEncoder;
+  Video video;
+
+  durationTest(vidEncoder, video, 50, 1);
+  durationTest(vidEncoder, video, 30, 2);
+  durationTest(vidEncoder, video, 25, 5);
+}