video_writer.cpp
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29 
30 #include <mapviz/video_writer.h>
31 
32 #include <ros/ros.h>
33 
34 #include <opencv2/imgproc/imgproc.hpp>
35 
36 namespace mapviz
37 {
38  bool VideoWriter::initializeWriter(const std::string& directory, int width, int height)
39  {
40  QMutexLocker locker(&video_mutex_);
41  if (!video_writer_)
42  {
43  width_ = width;
44  height_ = height;
45 
46  ROS_INFO("Initializing recording:\nWidth/Height/Filename: %d / %d / %s", width_, height_, directory.c_str() );
47  video_writer_ = boost::make_shared<cv::VideoWriter>(
48  directory,
49  CV_FOURCC('M', 'J', 'P', 'G'),
50  30,
51  cv::Size(width_, height_));
52 
53  if (!video_writer_->isOpened())
54  {
55  ROS_ERROR("Failed to open video file for writing.");
56  stop();
57  return false;
58  }
59  }
60 
61  return true;
62  }
63 
65  {
66  return video_writer_.get() != NULL;
67  }
68 
69  void VideoWriter::processFrame(QImage frame)
70  {
71  try
72  {
73  ROS_DEBUG_THROTTLE(1.0, "VideoWriter::processFrame()");
74  {
75  QMutexLocker locker(&video_mutex_);
76  if (!video_writer_)
77  {
78  ROS_WARN_THROTTLE(1.0, "Got frame, but video writer wasn't open.");
79  return;
80  }
81  }
82 
83  cv::Mat image;
84  cv::Mat temp_image;
85  switch (frame.format())
86  {
87  case QImage::Format_ARGB32:
88  // The image received should have its format set to ARGB32, but it's
89  // actually BGRA. Need to convert it to BGR and flip it vertically
90  // before giving it to the cv::VideoWriter.
91  image = cv::Mat(frame.height(), frame.width(), CV_8UC4, frame.bits());
92  cv::cvtColor(image, temp_image, CV_BGRA2BGR);
93  cv::flip(temp_image, image, 0);
94  break;
95  default:
96  ROS_WARN_THROTTLE(1.0, "Unexpected image format: %d", frame.format());
97  return;
98  }
99 
100  {
101  QMutexLocker locker(&video_mutex_);
102  if (video_writer_)
103  {
104  ROS_DEBUG_THROTTLE(1.0, "Writing frame.");
105  video_writer_->write(image);
106  }
107  }
108  }
109  catch (const std::exception& e)
110  {
111  ROS_ERROR_THROTTLE(1.0, "Error when processing video frame: %s", e.what());
112  }
113  }
114 
116  {
117  ROS_INFO("Stopping video recording.");
118  QMutexLocker locker(&video_mutex_);
119  video_writer_.reset();
120  }
121 }
#define NULL
bool initializeWriter(const std::string &directory, int width, int height)
void processFrame(QImage frame)
#define ROS_WARN_THROTTLE(period,...)
#define ROS_INFO(...)
#define ROS_ERROR_THROTTLE(period,...)
boost::shared_ptr< cv::VideoWriter > video_writer_
Definition: video_writer.h:65
#define ROS_ERROR(...)
#define ROS_DEBUG_THROTTLE(period,...)


mapviz
Author(s): Marc Alban
autogenerated on Thu Jun 6 2019 19:25:08