vpVideoReader.h

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2025 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Read videos and sequences of images .
 */

 
#ifndef VP_VIDEO_READER_H
#define VP_VIDEO_READER_H
 
#include <string>
 
#include <visp3/core/vpConfig.h>
#include <visp3/io/vpDiskGrabber.h>
 
#if defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION < 0x030000) && defined(HAVE_OPENCV_HIGHGUI)
#include <opencv2/highgui/highgui.hpp>
#elif defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x030000) && defined(HAVE_OPENCV_VIDEOIO)
#include <opencv2/videoio/videoio.hpp>
#endif
 
BEGIN_VISP_NAMESPACE

 
class VISP_EXPORT vpVideoReader : public vpFrameGrabber
{
private:
  vpDiskGrabber *m_imSequence;
#if defined(VISP_HAVE_OPENCV) && \
    (((VISP_HAVE_OPENCV_VERSION < 0x030000) && defined(HAVE_OPENCV_HIGHGUI)) || \
     ((VISP_HAVE_OPENCV_VERSION >= 0x030000) && defined(HAVE_OPENCV_VIDEOIO)))
  cv::VideoCapture m_capture;
  cv::Mat m_frame;
  bool m_lastframe_unknown;
#endif
  typedef enum
  {
    FORMAT_PGM,
    FORMAT_PPM,
    FORMAT_JPEG,
    FORMAT_PNG,
    // Formats supported by opencv
    FORMAT_TIFF,
    FORMAT_BMP,
    FORMAT_DIB,
    FORMAT_PBM,
    FORMAT_RASTER,
    FORMAT_JPEG2000,
    // Video format
    FORMAT_AVI,
    FORMAT_MPEG,
    FORMAT_MPEG4,
    FORMAT_MTS,
    FORMAT_MOV,
    FORMAT_OGV,
    FORMAT_WMV,
    FORMAT_FLV,
    FORMAT_MKV,
    FORMAT_UNKNOWN
  } vpVideoFormatType;

  vpVideoFormatType m_formatType;

  std::string m_videoName;
  std::string m_frameName;
  bool m_initFileName;
  bool m_isOpen;
  long m_frameCount; // Index of the next image
  long m_firstFrame;
  long m_lastFrame;
  bool m_firstFrameIndexIsSet;
  bool m_lastFrameIndexIsSet;
  long m_frameStep;
  double m_frameRate;
 
public:
  vpVideoReader();
  vpVideoReader(const vpVideoReader &reader);
  virtual ~vpVideoReader() VP_OVERRIDE;
  vpVideoReader &operator=(const vpVideoReader &reader);
 
  void acquire(vpImage<vpRGBa> &I) VP_OVERRIDE;
  void acquire(vpImage<unsigned char> &I) VP_OVERRIDE;
  void close() VP_OVERRIDE { }

  inline bool end()
  {
    if (m_frameStep > 0) {
      if (m_frameCount + m_frameStep > m_lastFrame)
        return true;
    }
    else if (m_frameStep < 0) {
      if (m_frameCount + m_frameStep < m_firstFrame)
        return true;
    }
    return false;
  }
  bool getFrame(vpImage<vpRGBa> &I, long frame);
  bool getFrame(vpImage<unsigned char> &I, long frame);

  double getFramerate()
  {
    if (!m_isOpen) {
      getProperties();
    }
    return m_frameRate;
  }

  inline long getFrameIndex() const { return m_frameCount; }

  inline std::string getFrameName() const { return m_frameName; }

  inline long getFirstFrameIndex()
  {
    if (!m_isOpen) {
      getProperties();
    }
    return m_firstFrame;
  }

  inline long getLastFrameIndex()
  {
    if (!m_isOpen) {
      getProperties();
    }
    return m_lastFrame;
  }

  inline long getFrameStep() const { return m_frameStep; }
 
  bool isVideoFormat() const;
  void open(vpImage<vpRGBa> &I) VP_OVERRIDE;
  void open(vpImage<unsigned char> &I) VP_OVERRIDE;
 
  vpVideoReader &operator>>(vpImage<unsigned char> &I);
  vpVideoReader &operator>>(vpImage<vpRGBa> &I);

  inline void resetFrameCounter() { m_frameCount = m_firstFrame; }
  void setFileName(const std::string &filename);

  inline void setFirstFrameIndex(const long first_frame)
  {
    m_firstFrameIndexIsSet = true;
    m_firstFrame = first_frame;
  }

  inline void setLastFrameIndex(const long last_frame)
  {
    this->m_lastFrameIndexIsSet = true;
    m_lastFrame = last_frame;
  }

  inline void setFrameStep(const long frame_step) { m_frameStep = frame_step; }
 
private:
  vpVideoFormatType getFormat(const std::string &filename) const;
  static std::string getExtension(const std::string &filename);
  void findFirstFrameIndex();
  void findLastFrameIndex();
  bool isImageExtensionSupported() const;
  bool isVideoExtensionSupported() const;
  bool checkImageNameFormat(const std::string &format) const;
  void getProperties();
};
 
END_VISP_NAMESPACE
 
#endif