Merge pull request #18 from viam-modules/RSDK-8903

[RSDK-8903] - Implement simple keyframe force interval

cam/cam.go

@@ -31,7 +31,7 @@ const (
 	defaultVideoFormat    = "mp4"
 	defaultUploadPath     = ".viam/capture/video-upload"
 	defaultStoragePath    = ".viam/video-storage"
-	defaultLogLevel       = "info"
+	defaultLogLevel       = "error"
 
 	maxGRPCSize     = 1024 * 1024 * 32 // bytes
 	deleterInterval = 10               // minutes

cam/encoder.go

@@ -60,8 +60,11 @@ func newEncoder(
 	enc.codecCtx.max_b_frames = 0
 	presetCStr := C.CString(preset)
 	tuneCStr := C.CString("zerolatency")
+	forceKeyFramesExpr := fmt.Sprintf("expr:gte(t,n_forced*%d)", framerate)
+	forceKeyFramesCStr := C.CString(forceKeyFramesExpr)
 	defer C.free(unsafe.Pointer(presetCStr))
 	defer C.free(unsafe.Pointer(tuneCStr))
+	defer C.free(unsafe.Pointer(forceKeyFramesCStr))
 
 	// The user can set the preset and tune for the encoder. This affects the
 	// encoding speed and quality. See https://trac.ffmpeg.org/wiki/Encode/H.264
@@ -76,6 +79,10 @@ func newEncoder(
 	if ret < 0 {
 		return nil, fmt.Errorf("av_dict_set failed: %s", ffmpegError(ret))
 	}
+	ret = C.av_dict_set(&opts, C.CString("force_key_frames"), forceKeyFramesCStr, 0)
+	if ret < 0 {
+		return nil, fmt.Errorf("av_dict_set failed: %s", ffmpegError(ret))
+	}
 
 	ret = C.avcodec_open2(enc.codecCtx, codec, &opts)
 	if ret < 0 {

examples/save_client.go

@@ -9,6 +9,7 @@ package main
 
 import (
 	"context"
+	"math/rand"
 	"os"
 	"time"
 
@@ -17,7 +18,6 @@ import (
 	"go.viam.com/rdk/logging"
 	"go.viam.com/rdk/robot/client"
 	"go.viam.com/utils/rpc"
-	"golang.org/x/exp/rand"
 )
 
 func main() {