support video output

src/CMakeLists.txt

@@ -12,11 +12,12 @@ ADD_EXECUTABLE(reanimator reanimator.cpp Prop.h Prop.cpp Pixer.h
   Mapping.h Repository.h Repository.cpp Render.h Render.cpp
   Input.h Input.cpp Inputs.h Renders.h Renders.cpp
   GifAnim.h GifAnim.cpp
+  VidAnim.h VidAnim.cpp
   gd_topal.c)
 TARGET_LINK_LIBRARIES(reanimator filer)
 
 if (USE_OPENCV)
   add_definitions("-DMAKESWEET_USE_OPENCV")
-  TARGET_LINK_LIBRARIES(reanimator opencv_core opencv_imgproc)
+  TARGET_LINK_LIBRARIES(reanimator opencv_core opencv_highgui opencv_imgproc)
 endif()
 

src/VidAnim.cpp

@@ -0,0 +1,70 @@
+#include "VidAnim.h"
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+
+#include <yarp/sig/Image.h>
+using namespace yarp::sig;
+using namespace yarp::os;
+
+#include <opencv2/opencv.hpp>
+ 
+using namespace std;
+using namespace cv;
+
+#include "Dbg.h"
+
+VidAnim::~VidAnim() {
+}
+
+void VidAnim::check() {
+  if (!renders) {
+    fprintf(stderr,"No renders for VidAnim!\n");
+    exit(1);
+  }
+}
+
+void VidAnim::apply(const char *fname) {
+  int loops = 0;
+  bool have_prev = false;
+
+  // period and hold available in seconds
+
+  check();
+
+  int frames = renders->length();
+
+  int rate = 30;
+  float frame_rate = 1.0/rate;
+
+  float curr = 0;
+  float target = -1;
+  int base = 0;
+
+  Render *r = renders->get_render(0);
+
+  // for some reason filename / container needs to be avi?
+  VideoWriter video(fname, CV_FOURCC('M','P','4','V'), rate, Size(r->get().width(),
+                                                                  r->get().height()));
+  Mat m;
+  while (true) {
+    int i = (base + ((first_frame >= 0) ? first_frame : 0)) % frames;
+    if (curr >= target) {
+      if (base >= frames) break;
+      float step = period;
+      if (i == frames - 1) {
+        step += hold;
+      }
+      target = curr + step;
+      Render *r = renders->get_render(i);
+      ImageOf<PixelBgr> v1;
+      v1.copy(r->get());
+      m = cvarrToMat(static_cast<const IplImage*>(v1.getIplImage()));
+      base++;
+    }
+    video.write(m);
+    curr += frame_rate;
+  }
+  video.release();
+}

src/VidAnim.h

@@ -0,0 +1,46 @@
+#ifndef VIDANIM_INC
+#define VIDANIM_INC
+
+#include "Renders.h"
+
+#include <vector>
+
+// #include <yarp/os/Bytes.h>
+
+class VidAnim {
+private:
+  Renders *renders;
+  double period;
+  double hold;
+  int first_frame;
+
+public:
+
+  VidAnim() {
+    renders = 0 /*NULL*/;
+    period = 0.1;
+    hold = 5;
+    first_frame = -1;
+  }
+
+  ~VidAnim();
+
+  void attach_renders(Renders *renders) {
+    this->renders = renders;
+  }
+
+  void check();
+
+  void set_first_frame(int index) {
+    first_frame = index;
+  }
+
+  void apply(const char *fname);
+
+  void set_timing(double period, double hold) {
+    this->period = period;
+    this->hold = hold;
+  }
+};
+
+#endif

src/reanimator.cpp

@@ -13,6 +13,7 @@
 #include "Render.h"
 #include "Renders.h"
 #include "GifAnim.h"
+#include "VidAnim.h"
 #include "Dbg.h"
 
 using namespace std;
@@ -115,6 +116,16 @@ int main(int argc, char *argv[]) {
     anim.save(options.find("gif").asString().c_str());
   }
 
+  if (options.check("vid")) {
+    VidAnim anim;
+    anim.attach_renders(&renders);
+    anim.set_timing(repo.get_period(),repo.get_hold());
+    if (options.check("start")) {
+      anim.set_first_frame(options.check("start",Value(0)).asInt());
+    }
+    anim.apply(options.find("vid").asString().c_str());
+  }
+
   if (options.check("files")) {
     printf("animation=%s\n", repo.is_animation()?"true":"false");
     printf("length=%d\n", repo.length());