OpenCVWriter.cpp

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/*
 * SPDX-FileCopyrightText: 2025-2025 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: LGPL-2.1-or-later
 */
 
#include "OpenCVWriter.h"
 
#include <string>
#include <yarp/os/Property.h>
#include <yarp/os/Searchable.h>
#include <yarp/os/Value.h>
#include <yarp/os/Log.h>
#include <yarp/os/LogComponent.h>
#include <yarp/os/LogStream.h>
#include <yarp/sig/Image.h>
 
#include <opencv2/core/mat.hpp>
#include <opencv2/imgproc.hpp>
 
 
using yarp::dev::DeviceDriver;
using yarp::dev::IFrameWriterImage;
 
using yarp::os::Property;
using yarp::os::Searchable;
using yarp::os::Value;
 
using yarp::sig::ImageOf;
using yarp::sig::PixelRgb;
 
using namespace yarp::os;
using namespace yarp::sig;
using namespace yarp::dev;
 
 
namespace {
YARP_LOG_COMPONENT(OPENCVWRITER, "yarp.device.openCVWriter")
}
 
 
bool OpenCVWriter::open(Searchable & config)
{
    if (!parseParams(config))
    {
        return false;
    }
 
    if (m_filename == "")
    {
        yCError(OPENCVWRITER) << "Invalid filename null";
        return false;
    }
 
    if (m_framerate == 0)
    {
        yCError(OPENCVWRITER) << "Invalid framerate 0";
        return false;
    }
 
    yCInfo(OPENCVWRITER, "OpenCVWriter opened");
    return true;
}
 
bool OpenCVWriter::close()
{
    if (m_isInitialized)
    {
        m_writer.release();
    }
    yCInfo(OPENCVWRITER, "OpenCVWriter closed");
    return true;
}
 
bool OpenCVWriter::putImage(ImageOf<PixelRgb> & image)
{
    if (image.width() == 0 || image.height() == 0) {
        yCError(OPENCVWRITER) << "Received empty frame";
        return false;
    }
 
    if (m_width == 0) {
        m_width = image.width();
    }
    if (m_height == 0) {
        m_height = image.height();
    }
 
    if (!m_isInitialized)
    {
        m_writer.open(m_filename, cv::VideoWriter::fourcc('M', 'J', 'P', 'G'), m_framerate, cv::Size(m_width, m_height));
        if (!m_writer.isOpened()) {
            yCError(OPENCVWRITER, "Unable to open output file");
            return false;
        }
        m_isInitialized = true;
    }
 
    if (m_width != image.width()) {
        yCError(OPENCVWRITER) << "Received frame has a width different from the current configuration" << m_width << "<<" << image.width();
        return false;
    }
    if (m_height != image.height()) {
        yCError(OPENCVWRITER) << "Received frame has a height different from the current configuration: " << m_height << "<<" << image.height();
        return false;
    }
 
    //process the frame
    cv::Mat frame(m_height, m_width, CV_8UC3, (void*)image.getRawImage());
    cv::cvtColor(frame, frame, cv::COLOR_RGB2BGR);
    m_writer.write(frame);
 
    return true;
}