SaveToVideo.cpp

SaveToVideo.cpp shows how to create a video from a vector of images.

SaveToVideo.cpp shows how to create a video from a vector of images.It relies on information provided in the Enumeration, Acquisition, and NodeMapInfo examples.

This example introduces the SpinVideo class, which is used to quickly and easily create various types of video files. It demonstrates the creation of four types: uncompressed, MJPG, H264 (AVI) and H264 (MP4).

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//=============================================================================
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//
// This software is the confidential and proprietary information of FLIR
// Integrated Imaging Solutions, Inc. ("Confidential Information"). You
// shall not disclose such Confidential Information and shall use it only in
// accordance with the terms of the license agreement you entered into
// with FLIR Integrated Imaging Solutions, Inc. (FLIR).
//
// FLIR MAKES NO REPRESENTATIONS OR WARRANTIES ABOUT THE SUITABILITY OF THE
// SOFTWARE, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR
// PURPOSE, OR NON-INFRINGEMENT. FLIR SHALL NOT BE LIABLE FOR ANY DAMAGES
// SUFFERED BY LICENSEE AS A RESULT OF USING, MODIFYING OR DISTRIBUTING
// THIS SOFTWARE OR ITS DERIVATIVES.
//=============================================================================
 
#include "Spinnaker.h"
#include "SpinGenApi/SpinnakerGenApi.h"
#include <iostream>
#include <sstream>
#include "SpinVideo.h"
 
using namespace Spinnaker;
using namespace Spinnaker::GenApi;
using namespace Spinnaker::GenICam;
using namespace Spinnaker::Video;
using namespace std;
 
const unsigned int numImages = 100;  // the number of images to be encoded.
 
// Use the following enum and global constant to select the type of video
// file to be created and saved.
enum videoFileType
{
    UNCOMPRESSED,
    MJPG,
    H264_AVI,
    H264_MP4
};
 
const videoFileType chosenVideoFileType = UNCOMPRESSED;
 
// The duration of a video stream depends on the number of encoded images
// and the stream frame rate:
//
//     VIDEO_DURATION (second) = NUM_IMAGES / STREAM_FRAME_RATE
//
// eg. NUM_IMAGES = 100 and STREAM_FRAME_RATE = 20fps will result in a
// 5 seconds video stream.
//
// For normal playback speed, STREAM_FRAME_RATE should be set to the
// acquisition frame rate (useCustomFrameRate = false).
// However, the STREAM_FRAME_RATE can be customized (useCustomFrameRate = true,
// and adjusting customFrameRate)
const bool useCustomFrameRate = false;
const float customFrameRate = 1.0;
 
// This function prepares, saves, and cleans up a video from a vector of images.
int SaveVectorToVideo(INodeMap& nodeMap, INodeMap& nodeMapTLDevice, vector<ImagePtr>& images)
{
    int result = 0;
 
    cout << endl << endl << "*** CREATING VIDEO ***" << endl << endl;
 
    try
    {
        // Retrieve device serial number for filename
        string deviceSerialNumber = "";
 
        CStringPtr ptrStringSerial = nodeMapTLDevice.GetNode("DeviceSerialNumber");
        if (IsReadable(ptrStringSerial))
        {
            deviceSerialNumber = ptrStringSerial->GetValue();
 
            cout << "Device serial number retrieved as " << deviceSerialNumber << "..." << endl;
        }
 
        //
        // Get the current frame rate; acquisition frame rate recorded in hertz
        //
        // *** NOTES ***
        // The video frame rate can be set to anything; however, in order to
        // have videos play in real-time, the acquisition frame rate can be
        // retrieved from the camera.
        //
        CFloatPtr ptrAcquisitionFrameRate = nodeMap.GetNode("AcquisitionFrameRate");
        if (!IsReadable(ptrAcquisitionFrameRate))
        {
            cout << "Unable to retrieve frame rate. Aborting..." << endl << endl;
            return -1;
        }
 
        float frameRateToSet = static_cast<float>(ptrAcquisitionFrameRate->GetValue());
        if (useCustomFrameRate)
        {
            frameRateToSet = customFrameRate;
        }
 
        cout << "Frame rate to be set to " << frameRateToSet << "..." << endl;
 
        //
        // Create a unique filename
        //
        // *** NOTES ***
        // This example creates filenames according to the type of video
        // being created. Notice that '.avi' does not need to be appended to the
        // name of the file. This is because the SpinVideo object takes care
        // of the file extension automatically.
        //
        string videoFilename;
 
        switch (chosenVideoFileType)
        {
        case UNCOMPRESSED:
            videoFilename = "SaveToVideo-Uncompressed";
            if (deviceSerialNumber != "")
            {
                videoFilename = videoFilename + "-" + deviceSerialNumber.c_str();
            }
 
            break;
 
        case MJPG:
            videoFilename = "SaveToVideo-MJPG";
            if (deviceSerialNumber != "")
            {
                videoFilename = videoFilename + "-" + deviceSerialNumber.c_str();
            }
 
            break;
 
        case H264_AVI:
        case H264_MP4:
            videoFilename = "SaveToVideo-H264";
            if (deviceSerialNumber != "")
            {
                videoFilename = videoFilename + "-" + deviceSerialNumber.c_str();
            }
        }
 
        //
        // Select option and open video file type
        //
        // *** NOTES ***
        // Depending on the file type, a number of settings need to be set in
        // an object called an option. An uncompressed option only needs to
        // have the video frame rate set whereas videos with MJPG or H264
        // compressions should have more values set.
        //
        // Once the desired option object is configured, open the video file
        // with the option in order to create the video file.
        //
        // *** LATER ***
        // Once all images have been added, it is important to close the file -
        // this is similar to many other standard file streams.
        //
        SpinVideo video;
 
        // Set maximum video file size to 2GB.
        // A new video file is generated when 2GB
        // limit is reached. Setting maximum file
        // size to 0 indicates no limit.
        // Note that this limit serves only as a hint and can still be slightly exceeded
        // in some cases after the video trailer has been written.
        const unsigned int k_videoFileSize = 2048;
 
        video.SetMaximumFileSize(k_videoFileSize);
 
        if (chosenVideoFileType == UNCOMPRESSED)
        {
            Video::AVIOption option;
 
            option.frameRate = frameRateToSet;
            option.height = static_cast<unsigned int>(images[0]->GetHeight());
            option.width = static_cast<unsigned int>(images[0]->GetWidth());
 
            video.Open(videoFilename.c_str(), option);
        }
        if (chosenVideoFileType == MJPG)
        {
            Video::MJPGOption option;
 
            option.frameRate = frameRateToSet;
            option.quality = 75;
            option.height = static_cast<unsigned int>(images[0]->GetHeight());
            option.width = static_cast<unsigned int>(images[0]->GetWidth());
 
            video.Open(videoFilename.c_str(), option);
        }
        if (chosenVideoFileType == H264_AVI || chosenVideoFileType == H264_MP4)
        {
            Video::H264Option option;
 
            option.frameRate = frameRateToSet;
            option.bitrate = 1000000;
            option.height = static_cast<unsigned int>(images[0]->GetHeight());
            option.width = static_cast<unsigned int>(images[0]->GetWidth());
            // Set this to true to save to a mp4 container
            option.useMP4 = (chosenVideoFileType == H264_MP4);
            // Decrease this for a higher quality
            option.crf = 23;
 
            video.Open(videoFilename.c_str(), option);
        }
 
        //
        // Construct and save video
        //
        // *** NOTES ***
        // Although the video file has been opened, images must be individually
        // appended in order to construct the video.
        //
        cout << "Appending " << images.size() << " images to video file: " << videoFilename << endl
             << endl;
 
        for (unsigned int imageCnt = 0; imageCnt < images.size(); imageCnt++)
        {
            video.Append(images[imageCnt]);
 
            cout << "\tAppended image " << imageCnt << "..." << endl;
        }
 
        //
        // Close video file
        //
        // *** NOTES ***
        // Once all images have been appended, it is important to close the
        // video file. Notice that once a video file has been closed, no more
        // images can be added.
        //
        video.Close();
 
        cout << endl << "Video saved at " << videoFilename << endl << endl;
    }
    catch (Spinnaker::Exception& e)
    {
        cout << "Error: " << e.what() << endl;
        result = -1;
    }
 
    return result;
}
 
// This function prints the device information of the camera from the transport
// layer; please see NodeMapInfo example for more in-depth comments on printing
// device information from the nodemap.
int PrintDeviceInfo(INodeMap& nodeMap)
{
    int result = 0;
 
    cout << endl << "*** DEVICE INFORMATION ***" << endl << endl;
 
    try
    {
        FeatureList_t features;
        CCategoryPtr category = nodeMap.GetNode("DeviceInformation");
        if (IsReadable(category))
        {
            category->GetFeatures(features);
 
            FeatureList_t::const_iterator it;
            for (it = features.begin(); it != features.end(); ++it)
            {
                CNodePtr pfeatureNode = *it;
                cout << pfeatureNode->GetName() << " : ";
                CValuePtr pValue = (CValuePtr)pfeatureNode;
                cout << (IsReadable(pValue) ? pValue->ToString() : "Node not readable");
                cout << endl;
            }
        }
        else
        {
            cout << "Device control information not readable." << endl;
        }
    }
    catch (Spinnaker::Exception& e)
    {
        cout << "Error: " << e.what() << endl;
        result = -1;
    }
 
    return result;
}
 
// This function acquires and saves 30 images from a device; please see
// Acquisition example for more in-depth comments on acquiring images.
int AcquireImages(CameraPtr pCam, INodeMap& nodeMap, vector<ImagePtr>& images)
{
    int result = 0;
 
    cout << endl << endl << "*** IMAGE ACQUISITION ***" << endl << endl;
 
    try
    {
        // Set acquisition mode to continuous
        CEnumerationPtr ptrAcquisitionMode = nodeMap.GetNode("AcquisitionMode");
        if (!IsReadable(ptrAcquisitionMode) ||
            !IsWritable(ptrAcquisitionMode))
        {
            cout << "Unable to get or set acquisition mode to continuous (node retrieval). Aborting..." << endl << endl;
            return -1;
        }
 
        CEnumEntryPtr ptrAcquisitionModeContinuous = ptrAcquisitionMode->GetEntryByName("Continuous");
        if (!IsReadable(ptrAcquisitionModeContinuous))
        {
            cout << "Unable to get acquisition mode to continuous (entry 'continuous' retrieval). Aborting..." << endl
                 << endl;
            return -1;
        }
 
        int64_t acquisitionModeContinuous = ptrAcquisitionModeContinuous->GetValue();
 
        ptrAcquisitionMode->SetIntValue(acquisitionModeContinuous);
 
        cout << "Acquisition mode set to continuous..." << endl;
 
        // Begin acquiring images
        pCam->BeginAcquisition();
 
        cout << "Acquiring images..." << endl << endl;
 
        // Retrieve and convert images
 
        //
        // Create ImageProcessor instance for post processing images
        //
        ImageProcessor processor;
 
        //
        // Set default image processor color processing method
        //
        // *** NOTES ***
        // By default, if no specific color processing algorithm is set, the image
        // processor will default to NEAREST_NEIGHBOR method.
        //
        processor.SetColorProcessing(SPINNAKER_COLOR_PROCESSING_ALGORITHM_HQ_LINEAR);
 
        for (unsigned int imageCnt = 0; imageCnt < numImages; imageCnt++)
        {
            try
            {
                // Retrieve the next received image
                ImagePtr pResultImage = pCam->GetNextImage(1000);
 
                if (pResultImage->IsIncomplete())
                {
                    cout << "Image incomplete with image status " << pResultImage->GetImageStatus() << "..." << endl
                         << endl;
                }
                else
                {
                    cout << "Grabbed image " << imageCnt << ", width = " << pResultImage->GetWidth()
                         << ", height = " << pResultImage->GetHeight() << endl;
 
                    // Deep copy image into image vector
                    images.push_back(processor.Convert(pResultImage, PixelFormat_Mono8));
                }
 
                // Release image
                pResultImage->Release();
            }
            catch (Spinnaker::Exception& e)
            {
                cout << "Error: " << e.what() << endl;
                result = -1;
            }
        }
        // End acquisition
        pCam->EndAcquisition();
    }
    catch (Spinnaker::Exception& e)
    {
        cout << "Error: " << e.what() << endl;
        result = -1;
    }
 
    return result;
}
 
// This function acts as the body of the example; please see NodeMapInfo example
// for more in-depth comments on setting up cameras.
int RunSingleCamera(CameraPtr pCam)
{
    int result = 0;
    int err = 0;
 
    try
    {
        // Retrieve TL device nodemap and print device information
        INodeMap& nodeMapTLDevice = pCam->GetTLDeviceNodeMap();
 
        result = PrintDeviceInfo(nodeMapTLDevice);
 
        // Initialize camera
        pCam->Init();
 
        // Retrieve GenICam nodemap
        INodeMap& nodeMap = pCam->GetNodeMap();
 
        // Acquire images and save into vector
        vector<ImagePtr> images;
 
        err = AcquireImages(pCam, nodeMap, images);
        if (err < 0)
        {
            return err;
        }
 
        // Save vector of images to video
        result = result | SaveVectorToVideo(nodeMap, nodeMapTLDevice, images);
 
        // Deinitialize camera
        pCam->DeInit();
    }
    catch (Spinnaker::Exception& e)
    {
        cout << "Error: " << e.what() << endl;
        result = -1;
    }
 
    return result;
}
 
// Example entry point; please see Enumeration example for more in-depth
// comments on preparing and cleaning up the system.
int main(int /*argc*/, char** /*argv*/)
{
    int result = 0;
 
    // Print application build information
    cout << "Application build date: " << __DATE__ << " " << __TIME__ << endl << endl;
 
    // Retrieve singleton reference to system object
    SystemPtr system = System::GetInstance();
 
    // Print out current library version
    const LibraryVersion spinnakerLibraryVersion = system->GetLibraryVersion();
    cout << "Spinnaker library version: " << spinnakerLibraryVersion.major << "." << spinnakerLibraryVersion.minor
         << "." << spinnakerLibraryVersion.type << "." << spinnakerLibraryVersion.build << endl
         << endl;
 
    // Retrieve list of cameras from the system
    CameraList camList = system->GetCameras();
 
    unsigned int numCameras = camList.GetSize();
 
    cout << "Number of cameras detected: " << numCameras << endl << endl;
 
    // Finish if there are no cameras
    if (numCameras == 0)
    {
        // Clear camera list before releasing system
        camList.Clear();
 
        // Release system
        system->ReleaseInstance();
 
        cout << "Not enough cameras!" << endl;
        cout << "Done! Press Enter to exit..." << endl;
        getchar();
 
        return -1;
    }
 
    // Run example on each camera
    for (unsigned int i = 0; i < numCameras; i++)
    {
        cout << endl << "Running example for camera " << i << "..." << endl;
 
        result = result | RunSingleCamera(camList.GetByIndex(i));
 
        cout << "Camera " << i << " example complete..." << endl << endl;
    }
 
    // Clear camera list before releasing system
    camList.Clear();
 
    // Release system
    system->ReleaseInstance();
 
    cout << endl << "Done! Press Enter to exit..." << endl;
    getchar();
 
    return result;
}