output_sensor_file.cpp

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/******************************************************************************
Copyright (c), 2023 - Analog Devices Inc. All Rights Reserved.
This software is PROPRIETARY & CONFIDENTIAL to Analog Devices, Inc.
and its licensors.
******************************************************************************/
 
#include "output_sensor_file.h"
#include "image_proc_utils.h"
 
OutputSensorFile::OutputSensorFile()
{
  video_enabled_ = false;
  output_video_writer_ = NULL;
  output_video_file_name_ = "";
}
 
void OutputSensorFile::open(std::string input_file_name, int image_width, int image_height)
{
  // Open output video file
  openOutputVideoFile(input_file_name, image_width,
                      image_height * 2);  // Multiplied height by 2 as we will be sending
                                          // both depth and IR out, vertically concatenated
}
 
void OutputSensorFile::write(const cv::Mat& stitched_depth_frame_16bb,
                             const cv::Mat& stitched_ir_frame_16bb, int image_width, int image_height)
{
  // Get 8bit image
  cv::Mat depth_8bit_image = cv::Mat::zeros(image_height, image_width, CV_8UC1);
  unsigned short max_element = 8192;
  float scale_factor = 255.0f / max_element;
  stitched_depth_frame_16bb.convertTo(depth_8bit_image, CV_8UC1, scale_factor, 0);
 
  // Get rgb 8 bit image
  cv::Mat depth_8bit_rgb_image = cv::Mat::zeros(image_height, image_width, CV_8UC3);
  cv::cvtColor(depth_8bit_image, depth_8bit_rgb_image, cv::COLOR_GRAY2BGR);
 
  // Get 8bit image
  cv::Mat ir_8bit_image = cv::Mat::zeros(image_height, image_width, CV_8UC1);
  ImageProcUtils::gammaCorrect((unsigned short*)stitched_ir_frame_16bb.data, image_height * image_width);
  stitched_ir_frame_16bb.convertTo(ir_8bit_image, CV_8UC1, 1, 0);
 
  // Get rgb 8 bit image
  cv::Mat ir_8bit_rgb_image = cv::Mat::zeros(image_height, image_width, CV_8UC3);
  cv::cvtColor(ir_8bit_image, ir_8bit_rgb_image, cv::COLOR_GRAY2BGR);
 
  // Concatenation of input depth and algo output image
  cv::Mat final_out_image = cv::Mat::zeros(cv::Size(image_width, image_height * 2), CV_8UC3);
  cv::vconcat(ir_8bit_rgb_image, depth_8bit_rgb_image, final_out_image);
 
  // Show output in opencv window
  cv::namedWindow("Stitch_Output", cv::WINDOW_AUTOSIZE);
  cv::imshow("Stitch_Output", final_out_image);
  cv::waitKey(1);
 
  writeOutputVideoFile(final_out_image);
}
 
void OutputSensorFile::close()
{
  closeOutputVideoFile();
}
 
void OutputSensorFile::openOutputVideoFile(const std::string& input_file_name, int image_width, int image_height)
{
  output_video_file_name_ = input_file_name.substr(0, input_file_name.find_last_of('.')) + ".avi";
  output_video_writer_ = new cv::VideoWriter(output_video_file_name_, cv::VideoWriter::fourcc('M', 'J', 'P', 'G'), 10,
                                             cv::Size(image_width, image_height), true);
  if (!output_video_writer_->isOpened())
  {
    std::cout << "Could not open output video file for the input " << input_file_name << std::endl;
  }
}
 
void OutputSensorFile::writeOutputVideoFile(const cv::Mat& image)
{
  if (output_video_writer_->isOpened())
  {
    output_video_writer_->write(image);
  }
}
 
void OutputSensorFile::closeOutputVideoFile()
{
  if (output_video_writer_->isOpened())
  {
    output_video_writer_->release();
    output_video_writer_ = nullptr;
  }
}