CVideoFileWriter.h

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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 |
   +------------------------------------------------------------------------+ */
#ifndef CVideoFileWriter_H
#define CVideoFileWriter_H

#include <mrpt/vision/utils.h>
#include <mrpt/utils/CImage.h>
#include <mrpt/utils/safe_pointers.h>

namespace mrpt
{
namespace vision
{
/**  An output stream which takes a sequence of images and writes a video file
 * in any of a given of compatible formats.
  *
  *  The output file is open when calling "open", and it's closed at destructor
 * or after calling "close".
  *
  *   Example of usage:
  *
  *  \code
  *    CVideoFileWriter  vid;
  *    vid.open("test.avi",15,TPixelCoord(320,200), "MJPG");
  *    CImage  img(320,200);
  *    vid << img;
  *    vid.close;
  *  \endcode
  *
  *  There are two methods for adding frames to the video:
  *    - The operator <<: Which will raise an exception on any error.
  *    - The method writeImage, which does not raise any exception on errors.
  *
  * \note This class is a wrapper for OpenCV's CvVideoWriter.
  *  \ingroup mrpt_vision_grp
  */
class CVideoFileWriter
{
   private:
        /** A pointer to CvVideoWriter */
        mrpt::utils::void_ptr_noncopy m_video;
        /** A copy of the video size */
        mrpt::utils::TImageSize m_img_size;

   public:
        /** Default constructor, which does not open any file */
        CVideoFileWriter();
        /** Destructor */
        virtual ~CVideoFileWriter();

        /** Open a file for writing the video.
          *  \param out_file The video file to create for output.
          *  \param fourcc The video codec, as a string. See notes below.
          *  \paam fps The video FPS (frames per seconds).
          *  \param frameSize The size of the video frames. All subsequent images
         * must be of this size.
          *  \param isColor Set to false to create a grayscale video.
          *
          * \note If fourcc is left as an empty string a default codec will be
         * seleceted (e.g. "IYUV").
          * \note Other valid values for "fourcc" are: "PIM1" -> MPEG1, "MJPG" ->
         * Motion JPEG, "XVID", etc...
          *
          * \return false on any error, true on success.
          */
        bool open(
                const std::string& out_file, double fps,
                const mrpt::utils::TImageSize& frameSize,
                const std::string& fourcc = std::string(""), bool isColor = true);

        /** Finish the file writing and close the file output
          */
        void close();

        /** Return true if already successfully open with open() and not closed yet.
         */
        bool isOpen() const;

        /** Write image to the video file.
          * \exception std::exception On any error
          */
        const CVideoFileWriter& operator<<(const mrpt::utils::CImage& img) const;

        /**  Write image to the video file (method function, alternative to the
         * operator <<).
          * \return false on any error
          */
        bool writeImage(const mrpt::utils::CImage& img) const;

};  // end of class

}  // end of namespace
}  // end of namespace

#endif