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CVideoFileWriter.h
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1 /* +---------------------------------------------------------------------------+
2  | The Mobile Robot Programming Toolkit (MRPT) C++ library |
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4  | http://www.mrpt.org/ |
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6  | Copyright (C) 2005-2012 University of Malaga |
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8  | This software was written by the Machine Perception and Intelligent |
9  | Robotics Lab, University of Malaga (Spain). |
10  | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |
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27  +---------------------------------------------------------------------------+ */
28 #ifndef CVideoFileWritter_H
29 #define CVideoFileWritter_H
30 
31 #include <mrpt/vision/utils.h>
32 #include <mrpt/utils/CImage.h>
33 #include <mrpt/utils/safe_pointers.h>
34 
35 namespace mrpt
36 {
37  namespace vision
38  {
39  /** An output stream which takes a sequence of images and writes a video file in any of a given of compatible formats.
40  *
41  * The output file is open when calling "open", and it's closed at destructor or after calling "close".
42  *
43  * Example of usage:
44  *
45  * \code
46  * CVideoFileWriter vid;
47  * vid.open("test.avi","MJPG",15,TPixelCoord(320,200));
48  * CImage img(320,200);
49  * vid << img;
50  * vid.close;
51  * \endcode
52  *
53  * There are two methods for adding frames to the video:
54  * - The operator <<: Which will raise an exception on any error.
55  * - The method writeImage, which does not raise any exception on errors.
56  *
57  * \note This class is a wrapper for OpenCV's CvVideoWriter.
58  * \ingroup mrpt_vision_grp
59  */
60  class VISION_IMPEXP CVideoFileWriter
61  {
62  private:
63  mrpt::utils::void_ptr_noncopy m_video; //!< A pointer to CvVideoWriter
64  mrpt::vision::TImageSize m_img_size; //!< A copy of the video size
65 
66  public:
67  CVideoFileWriter(); //!< Default constructor, which does not open any file
68  virtual ~CVideoFileWriter(); //!< Destructor
69 
70  /** Open a file for writing the video.
71  * \param out_file The video file to create for output.
72  * \param fourcc The video codec, as a string. See notes below.
73  * \paam fps The video FPS (frames per seconds).
74  * \param frameSize The size of the video frames. All subsequent images must be of this size.
75  * \param isColor Set to false to create a grayscale video.
76  *
77  * \note If fourcc is left as an empty string a default codec will be seleceted (e.g. "IYUV").
78  * \note Other valid values for "fourcc" are: "PIM1" -> MPEG1, "MJPG" -> Motion JPEG, "XVID", etc...
79  *
80  * \return false on any error, true on success.
81  */
82  bool open(
83  const std::string &out_file,
84  double fps,
85  const mrpt::vision::TImageSize & frameSize,
86  const std::string &fourcc = std::string(""),
87  bool isColor = true );
88 
89  /** Finish the file writing and close the file output
90  */
91  void close();
92 
93  /** Return true if already successfully open with open() and not closed yet. */
94  bool isOpen() const;
95 
96  /** Write image to the video file.
97  * \exception std::exception On any error
98  */
99  const CVideoFileWriter& operator << (const mrpt::utils::CImage& img) const;
100 
101  /** Write image to the video file (method function, alternative to the operator <<).
102  * \return false on any error
103  */
104  bool writeImage(const mrpt::utils::CImage& img) const;
105 
106 
107  }; // end of class
108 
109  } // end of namespace
110 } // end of namespace
111 
112 #endif


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