SaveToVideo¶
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.
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/**
* @example SaveToVideo.cpp
*
* @brief 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).
*
* Please leave us feedback at: https://www.surveymonkey.com/r/TDYMVAPI
* More source code examples at: https://github.com/Teledyne-MV/Spinnaker-Examples
* Need help? Check out our forum at: https://teledynevisionsolutions.zendesk.com/hc/en-us/community/topics
*/
#include "Spinnaker.h"
#include "SpinGenApi/SpinnakerGenApi.h"
#include <cctype>
#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;
namespace
{
std::string SanitizeFileNameComponent(const std::string& value)
{
std::string sanitized;
sanitized.reserve(value.size());
for (std::string::const_iterator it = value.begin(); it != value.end(); ++it)
{
const unsigned char c = static_cast<unsigned char>(*it);
if (std::isalnum(c) || c == '-' || c == '_')
{
sanitized.push_back(static_cast<char>(c));
}
else if (!sanitized.empty() && sanitized[sanitized.size() - 1] != '_')
{
sanitized.push_back('_');
}
}
if (sanitized.empty())
{
sanitized = "camera";
}
return sanitized;
}
}
// 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 = SanitizeFileNameComponent(ptrStringSerial->GetValue().c_str());
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.height = static_cast<unsigned int>(images[0]->GetHeight());
option.width = static_cast<unsigned int>(images[0]->GetWidth());
// Bitrate is set to 1Mbps; increase this value for a higher quality video
//
// *** NOTES ***
// The bitrate value serves as a hint to the encoder, and the actual bitrate may differ. If both bitrate
// and crf values are set, the encoder will attempt to meet both targets, but prioritizes bitrate over
// crf, and may exceed the specified crf value in order to meet the bitrate target.
option.bitrate = 1000000;
// Decrease this for a higher quality (0 to ignore this setting)
option.crf = 23;
// Set this to true to save to a mp4 container
//
// *** NOTES ***
// The AVI container format can store H264 encoded video, but some media players may have
// difficulty playing these files. AVI containers have limited support for CRF encoding, and may not
// properly recognize keyframes, which can lead to choppy playback.
option.useMP4 = (chosenVideoFileType == H264_MP4);
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)
{
try
{
CNodePtr pfeatureNode = *it;
cout << pfeatureNode->GetName() << " : ";
CValuePtr pValue = (CValuePtr)pfeatureNode;
cout << (IsReadable(pValue) ? pValue->ToString() : gcstring("Node not readable"));
cout << endl;
}
catch (Spinnaker::Exception)
{
cout << "Node not readable" << 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;
}