vpVideoWriter.cpp

/****************************************************************************
 *
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See http://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Write image sequences.
 *
 * Authors:
 * Nicolas Melchior
 * Fabien Spindler
 *
 *****************************************************************************/

#include <visp3/core/vpDebug.h>
#include <visp3/io/vpVideoWriter.h>

#if VISP_HAVE_OPENCV_VERSION >= 0x020200
#include <opencv2/imgproc/imgproc.hpp>
#endif

vpVideoWriter::vpVideoWriter()
  :
#if VISP_HAVE_OPENCV_VERSION >= 0x020100
    writer(), fourcc(0), framerate(0.),
#endif
    formatType(FORMAT_UNKNOWN), initFileName(false), isOpen(false), frameCount(0), firstFrame(0), width(0), height(0)
{
  initFileName = false;
  firstFrame = 0;
  frameCount = 0;
  isOpen = false;
  width = height = 0;
#if VISP_HAVE_OPENCV_VERSION >= 0x030000
  framerate = 25.0;
  fourcc = cv::VideoWriter::fourcc('P', 'I', 'M', '1');
#elif VISP_HAVE_OPENCV_VERSION >= 0x020100
  framerate = 25.0;
  fourcc = CV_FOURCC('P', 'I', 'M', '1'); // default is a MPEG-1 codec
#endif
}

vpVideoWriter::~vpVideoWriter() {}

void vpVideoWriter::setFileName(const char *filename)
{
  if (!filename || *filename == '\0') {
    vpERROR_TRACE("filename empty ");
    throw(vpImageException(vpImageException::noFileNameError, "filename empty "));
  }

  if (strlen(filename) >= FILENAME_MAX) {
    throw(vpException(vpException::memoryAllocationError, "Not enough memory to intialize the file name"));
  }

  strcpy(this->fileName, filename);

  formatType = getFormat(fileName);

  if (formatType == FORMAT_UNKNOWN) {
    throw(vpException(vpException::badValue, "Filename extension not supported"));
  }

  initFileName = true;
}

void vpVideoWriter::setFileName(const std::string &filename) { setFileName(filename.c_str()); }

void vpVideoWriter::open(vpImage<vpRGBa> &I)
{
  if (!initFileName) {
    vpERROR_TRACE("The generic filename has to be set");
    throw(vpImageException(vpImageException::noFileNameError, "filename empty"));
  }

  if (formatType == FORMAT_PGM || formatType == FORMAT_PPM || formatType == FORMAT_JPEG || formatType == FORMAT_PNG) {
    width = I.getWidth();
    height = I.getHeight();
  } else if (formatType == FORMAT_AVI || formatType == FORMAT_MPEG || formatType == FORMAT_MPEG4 ||
             formatType == FORMAT_MOV) {
#if VISP_HAVE_OPENCV_VERSION >= 0x020100
    writer = cv::VideoWriter(fileName, fourcc, framerate, cv::Size((int)I.getWidth(), (int)I.getHeight()));

    if (!writer.isOpened()) {
      // vpERROR_TRACE("Could not open encode the video with opencv");
      throw(vpException(vpException::fatalError, "Could not open encode the video with opencv"));
    }
#else
    throw(vpException(vpException::fatalError, "To encode video files ViSP should be build with "
                                               "opencv 3rd >= 2.1.0 party libraries."));
#endif
  }

  frameCount = firstFrame;

  isOpen = true;
}

void vpVideoWriter::open(vpImage<unsigned char> &I)
{
  if (!initFileName) {
    vpERROR_TRACE("The generic filename has to be set");
    throw(vpImageException(vpImageException::noFileNameError, "filename empty"));
  }

  if (formatType == FORMAT_PGM || formatType == FORMAT_PPM || formatType == FORMAT_JPEG || formatType == FORMAT_PNG) {
    width = I.getWidth();
    height = I.getHeight();
  } else if (formatType == FORMAT_AVI || formatType == FORMAT_MPEG || formatType == FORMAT_MPEG4 ||
             formatType == FORMAT_MOV) {
#if VISP_HAVE_OPENCV_VERSION >= 0x020100
    writer = cv::VideoWriter(fileName, fourcc, framerate, cv::Size((int)I.getWidth(), (int)I.getHeight()));

    if (!writer.isOpened()) {
      vpERROR_TRACE("Could not encode the video with opencv");
      throw(vpException(vpException::ioError, "Could not encode the video with opencv"));
    }
#else
    throw(vpException(vpException::fatalError, "To encode video files ViSP should be build with "
                                               "opencv 3rd >= 2.1.0 party libraries."));
#endif
  }

  frameCount = firstFrame;

  isOpen = true;
}

void vpVideoWriter::saveFrame(vpImage<vpRGBa> &I)
{
  if (!isOpen) {
    vpERROR_TRACE("The video has to be open first with the open method");
    throw(vpException(vpException::notInitialized, "file not yet opened"));
  }

  if (formatType == FORMAT_PGM || formatType == FORMAT_PPM || formatType == FORMAT_JPEG || formatType == FORMAT_PNG) {
    char name[FILENAME_MAX];

    sprintf(name, fileName, frameCount);

    vpImageIo::write(I, name);
  } else {
#if VISP_HAVE_OPENCV_VERSION >= 0x020100
    cv::Mat matFrame;
    vpImageConvert::convert(I, matFrame);
    writer << matFrame;
#endif
  }

  frameCount++;
}

void vpVideoWriter::saveFrame(vpImage<unsigned char> &I)
{
  if (!isOpen) {
    vpERROR_TRACE("The video has to be open first with the open method");
    throw(vpException(vpException::notInitialized, "file not yet opened"));
  }

  if (formatType == FORMAT_PGM || formatType == FORMAT_PPM || formatType == FORMAT_JPEG || formatType == FORMAT_PNG) {
    char name[FILENAME_MAX];

    sprintf(name, fileName, frameCount);

    vpImageIo::write(I, name);
  } else {
#if VISP_HAVE_OPENCV_VERSION >= 0x030000
    cv::Mat matFrame, rgbMatFrame;
    vpImageConvert::convert(I, matFrame);
    cv::cvtColor(matFrame, rgbMatFrame, cv::COLOR_GRAY2BGR);
    writer << rgbMatFrame;
#elif VISP_HAVE_OPENCV_VERSION >= 0x020100
    cv::Mat matFrame, rgbMatFrame;
    vpImageConvert::convert(I, matFrame);
    cv::cvtColor(matFrame, rgbMatFrame, CV_GRAY2BGR);
    writer << rgbMatFrame;
#endif
  }

  frameCount++;
}

void vpVideoWriter::close()
{
  if (!isOpen) {
    vpERROR_TRACE("The video has to be open first with the open method");
    throw(vpException(vpException::notInitialized, "file not yet opened"));
  }
}

vpVideoWriter::vpVideoFormatType vpVideoWriter::getFormat(const char *filename)
{
  std::string sfilename(filename);

  std::string ext = vpVideoWriter::getExtension(sfilename);

  if (ext.compare(".PGM") == 0)
    return FORMAT_PGM;
  else if (ext.compare(".pgm") == 0)
    return FORMAT_PGM;
  else if (ext.compare(".PPM") == 0)
    return FORMAT_PPM;
  else if (ext.compare(".ppm") == 0)
    return FORMAT_PPM;
  else if (ext.compare(".JPG") == 0)
    return FORMAT_JPEG;
  else if (ext.compare(".jpg") == 0)
    return FORMAT_JPEG;
  else if (ext.compare(".JPEG") == 0)
    return FORMAT_JPEG;
  else if (ext.compare(".jpeg") == 0)
    return FORMAT_JPEG;
  else if (ext.compare(".PNG") == 0)
    return FORMAT_PNG;
  else if (ext.compare(".png") == 0)
    return FORMAT_PNG;
  else if (ext.compare(".AVI") == 0)
    return FORMAT_AVI;
  else if (ext.compare(".avi") == 0)
    return FORMAT_AVI;
  else if (ext.compare(".MPEG") == 0)
    return FORMAT_MPEG;
  else if (ext.compare(".mpeg") == 0)
    return FORMAT_MPEG;
  else if (ext.compare(".MPG") == 0)
    return FORMAT_MPEG;
  else if (ext.compare(".mpg") == 0)
    return FORMAT_MPEG;
  else if (ext.compare(".MPEG4") == 0)
    return FORMAT_MPEG4;
  else if (ext.compare(".mpeg4") == 0)
    return FORMAT_MPEG4;
  else if (ext.compare(".MP4") == 0)
    return FORMAT_MPEG4;
  else if (ext.compare(".mp4") == 0)
    return FORMAT_MPEG4;
  else if (ext.compare(".MOV") == 0)
    return FORMAT_MOV;
  else if (ext.compare(".mov") == 0)
    return FORMAT_MOV;
  else
    return FORMAT_UNKNOWN;
}

// return the extension of the file including the dot
std::string vpVideoWriter::getExtension(const std::string &filename)
{
  // extract the extension
  size_t dot = filename.find_last_of(".");
  std::string ext = filename.substr(dot, filename.size() - 1);
  return ext;
}