CVideoFileWriter.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */

#include "vision-precomp.h"  // Precompiled headers

#include <mrpt/vision/CVideoFileWriter.h>

// Universal include for all versions of OpenCV
#include <mrpt/otherlibs/do_opencv_includes.h>

#define M_WRITER                 \
        (const_cast<CvVideoWriter*>( \
                static_cast<const CvVideoWriter*>(m_video.get())))
#define M_WRITER_PTR (reinterpret_cast<CvVideoWriter**>(m_video.getPtrToPtr()))

using namespace mrpt;
using namespace mrpt::vision;
using namespace mrpt::system;
using namespace mrpt::utils;

/* ----------------------------------------------------------
                                                Ctor
   ---------------------------------------------------------- */
CVideoFileWriter::CVideoFileWriter() : m_video(), m_img_size(0, 0) {}
/* ----------------------------------------------------------
                                                Dtor
   ---------------------------------------------------------- */
CVideoFileWriter::~CVideoFileWriter() { close(); }
/* ----------------------------------------------------------
                                                open
   ---------------------------------------------------------- */
bool CVideoFileWriter::open(
        const std::string& out_file, double fps,
        const mrpt::utils::TImageSize& frameSize, const std::string& fourcc,
        bool isColor)
{
#if MRPT_HAS_OPENCV
        close();

        int cc;

        if (fourcc.empty())
        {
#if MRPT_OPENCV_VERSION_NUM <= 0x100
                cc = 0;  // Default
#else
#ifdef MRPT_OS_WINDOWS
                cc = CV_FOURCC_DEFAULT;  // Default CV_FOURCC_PROMPT;
#else
                cc = CV_FOURCC_DEFAULT;  // Default
#endif
#endif
        }
        else if (fourcc.size() == 4)
        {
                cc = CV_FOURCC(fourcc[0], fourcc[1], fourcc[2], fourcc[3]);
        }
        else
        {
                std::cerr << "[CVideoFileWriter::open] fourcc string must be four "
                                         "character length or empty for default."
                                  << std::endl;
                return false;
        }

        m_video = cvCreateVideoWriter(
                out_file.c_str(), cc, fps, cvSize(frameSize.x, frameSize.y),
                isColor ? 1 : 0);

        m_img_size = frameSize;

        return m_video.get() != nullptr;
#else
        std::cerr << "[CVideoFileWriter::open] ERROR: MRPT was compiled without "
                                 "OpenCV support "
                          << std::endl;
        return false;
#endif
}

/* ----------------------------------------------------------
                                                close
   ---------------------------------------------------------- */
void CVideoFileWriter::close()
{
#if MRPT_HAS_OPENCV
        if (!M_WRITER) return;
        cvReleaseVideoWriter(M_WRITER_PTR);
        *M_WRITER_PTR = nullptr;
#endif
}

/* ----------------------------------------------------------
                                                isOpen
   ---------------------------------------------------------- */
bool CVideoFileWriter::isOpen() const
{
#if MRPT_HAS_OPENCV
        return (M_WRITER != nullptr);
#else
        return false;
#endif
}

/* ----------------------------------------------------------
                                                operator <<
   ---------------------------------------------------------- */
const CVideoFileWriter& CVideoFileWriter::operator<<(
        const mrpt::utils::CImage& img) const
{
        if (!m_video.get()) THROW_EXCEPTION("Call open first")

        if ((size_t)m_img_size.x != img.getWidth() ||
                (size_t)m_img_size.y != img.getHeight())
                THROW_EXCEPTION(
                        format(
                                "Video frame size is %ix%i but image is %ux%u", m_img_size.x,
                                m_img_size.y, (unsigned)img.getWidth(),
                                (unsigned)img.getHeight()));

#if MRPT_HAS_OPENCV
        if (!cvWriteFrame(M_WRITER, img.getAs<IplImage>()))
                THROW_EXCEPTION("Error writing image frame to video file")
#endif
        return *this;
}

/* ----------------------------------------------------------
                                                writeImage
   ---------------------------------------------------------- */
bool CVideoFileWriter::writeImage(const mrpt::utils::CImage& img) const
{
        if (!m_video.get()) return false;

        if ((size_t)m_img_size.x != img.getWidth() ||
                (size_t)m_img_size.y != img.getHeight())
        {
                std::cout << format(
                                                 "[CVideoFileWriter::writeImage] Error: video frame "
                                                 "size is %ix%i but image is %ux%u",
                                                 m_img_size.x, m_img_size.y, (unsigned)img.getWidth(),
                                                 (unsigned)img.getHeight())
                                  << std::endl;
                return false;
        }

#if MRPT_HAS_OPENCV
        return 0 != cvWriteFrame(M_WRITER, img.getAs<IplImage>());
#else
        return false;
#endif
}