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<div class="title">CFFMPEG_InputStream.h</div> </div>
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<a href="_c_f_f_m_p_e_g___input_stream_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span>
<a name="l00002"></a>00002 <span class="comment"> | The Mobile Robot Programming Toolkit (MRPT) C++ library |</span>
<a name="l00003"></a>00003 <span class="comment"> | |</span>
<a name="l00004"></a>00004 <span class="comment"> | http://www.mrpt.org/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2011 University of Malaga |</span>
<a name="l00007"></a>00007 <span class="comment"> | |</span>
<a name="l00008"></a>00008 <span class="comment"> | This software was written by the Machine Perception and Intelligent |</span>
<a name="l00009"></a>00009 <span class="comment"> | Robotics Lab, University of Malaga (Spain). |</span>
<a name="l00010"></a>00010 <span class="comment"> | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |</span>
<a name="l00011"></a>00011 <span class="comment"> | |</span>
<a name="l00012"></a>00012 <span class="comment"> | This file is part of the MRPT project. |</span>
<a name="l00013"></a>00013 <span class="comment"> | |</span>
<a name="l00014"></a>00014 <span class="comment"> | MRPT is free software: you can redistribute it and/or modify |</span>
<a name="l00015"></a>00015 <span class="comment"> | it under the terms of the GNU General Public License as published by |</span>
<a name="l00016"></a>00016 <span class="comment"> | the Free Software Foundation, either version 3 of the License, or |</span>
<a name="l00017"></a>00017 <span class="comment"> | (at your option) any later version. |</span>
<a name="l00018"></a>00018 <span class="comment"> | |</span>
<a name="l00019"></a>00019 <span class="comment"> | MRPT is distributed in the hope that it will be useful, |</span>
<a name="l00020"></a>00020 <span class="comment"> | but WITHOUT ANY WARRANTY; without even the implied warranty of |</span>
<a name="l00021"></a>00021 <span class="comment"> | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |</span>
<a name="l00022"></a>00022 <span class="comment"> | GNU General Public License for more details. |</span>
<a name="l00023"></a>00023 <span class="comment"> | |</span>
<a name="l00024"></a>00024 <span class="comment"> | You should have received a copy of the GNU General Public License |</span>
<a name="l00025"></a>00025 <span class="comment"> | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |</span>
<a name="l00026"></a>00026 <span class="comment"> | |</span>
<a name="l00027"></a>00027 <span class="comment"> +---------------------------------------------------------------------------+ */</span>
<a name="l00028"></a>00028
<a name="l00029"></a>00029 <span class="preprocessor">#ifndef CFFMPEG_InputStream_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span><span class="preprocessor">#define CFFMPEG_InputStream_H</span>
<a name="l00031"></a>00031 <span class="preprocessor"></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="utils__defs_8h.html">mrpt/utils/utils_defs.h</a>></span>
<a name="l00033"></a>00033 <span class="preprocessor">#include <<a class="code" href="_c_image_8h.html">mrpt/utils/CImage.h</a>></span>
<a name="l00034"></a>00034 <span class="preprocessor">#include <<a class="code" href="safe__pointers_8h.html">mrpt/utils/safe_pointers.h</a>></span>
<a name="l00035"></a>00035
<a name="l00036"></a>00036 <span class="preprocessor">#include <<a class="code" href="hwdrivers_2include_2mrpt_2hwdrivers_2link__pragmas_8h.html">mrpt/hwdrivers/link_pragmas.h</a>></span>
<a name="l00037"></a>00037
<a name="l00038"></a>00038
<a name="l00039"></a>00039 <span class="comment">/*---------------------------------------------------------------</span>
<a name="l00040"></a>00040 <span class="comment"> Class</span>
<a name="l00041"></a>00041 <span class="comment"> ---------------------------------------------------------------*/</span>
<a name="l00042"></a>00042 <span class="keyword">namespace </span>mrpt
<a name="l00043"></a>00043 {
<a name="l00044"></a>00044 <span class="keyword">namespace </span>hwdrivers
<a name="l00045"></a>00045 {<span class="comment"></span>
<a name="l00046"></a>00046 <span class="comment"> /** A generic class which process a video file or other kind of input stream (http, rtsp) and allows the extraction of images frame by frame.</span>
<a name="l00047"></a>00047 <span class="comment"> * Video sources can be open with "openURL", which can manage both video files and "rtsp://" sources (IP cameras).</span>
<a name="l00048"></a>00048 <span class="comment"> *</span>
<a name="l00049"></a>00049 <span class="comment"> * Frames are retrieved by calling CFFMPEG_InputStream::retrieveFrame</span>
<a name="l00050"></a>00050 <span class="comment"> *</span>
<a name="l00051"></a>00051 <span class="comment"> * For an example of usage, see the file "samples/grab_camera_ffmpeg"</span>
<a name="l00052"></a>00052 <span class="comment"> *</span>
<a name="l00053"></a>00053 <span class="comment"> * \note This class is an easy to use C++ wrapper for ffmpeg libraries (libavcodec). In Unix systems these libraries must be installed in the system as explained in <a href="http://www.mrpt.org/Building_and_Installing_Instructions" > MRPT's wiki</a>. In Win32, a precompiled version for Visual Studio must be also downloaded as explained in <a href="http://www.mrpt.org/Building_and_Installing_Instructions" >the wiki</a>.</span>
<a name="l00054"></a>00054 <span class="comment"> * \ingroup mrpt_hwdrivers_grp</span>
<a name="l00055"></a>00055 <span class="comment"> */</span>
<a name="l00056"></a>00056 <span class="keyword">class </span><a class="code" href="hwdrivers__impexp_8h.html#a5bcf681973c7e4e76310bd0791f1b612">HWDRIVERS_IMPEXP</a> CFFMPEG_InputStream
<a name="l00057"></a>00057 {
<a name="l00058"></a>00058 <span class="keyword">private</span>:
<a name="l00059"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_f_f_m_p_e_g___input_stream.html#a5bf3ab77ea19936e32ed1f5952552c05">00059</a> mrpt<a class="code" href="structmrpt_1_1utils_1_1non__copiable__ptr__basic.html">::utils::void_ptr_noncopy</a> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_f_f_m_p_e_g___input_stream.html#a5bf3ab77ea19936e32ed1f5952552c05" title="The internal ffmpeg state.">m_state</a>; <span class="comment">//!< The internal ffmpeg state</span>
<a name="l00060"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_f_f_m_p_e_g___input_stream.html#a828a3e17c94eddf4646c9d089175f250">00060</a> <span class="comment"></span> std<a class="code" href="classstd_1_1string.html" title="STL class.">::string</a> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_f_f_m_p_e_g___input_stream.html#a828a3e17c94eddf4646c9d089175f250" title="The open URL.">m_url</a>; <span class="comment">//!< The open URL</span>
<a name="l00061"></a><a class="code" href="classmrpt_1_1hwdrivers_1_1_c_f_f_m_p_e_g___input_stream.html#a58fd5fc58af7a12628e550596bad80c5">00061</a> <span class="comment"></span> <span class="keywordtype">bool</span> <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_f_f_m_p_e_g___input_stream.html#a58fd5fc58af7a12628e550596bad80c5">m_grab_as_grayscale</a>;
<a name="l00062"></a>00062
<a name="l00063"></a>00063 <span class="keyword">public</span>:
<a name="l00064"></a>00064 <a class="code" href="classmrpt_1_1hwdrivers_1_1_c_f_f_m_p_e_g___input_stream.html" title="A generic class which process a video file or other kind of input stream (http, rtsp) and allows the ...">CFFMPEG_InputStream</a>(); <span class="comment">//!< Default constructor, does not open any video source at startup</span>
<a name="l00065"></a>00065 <span class="comment"></span> <span class="keyword">virtual</span> ~<a class="code" href="classmrpt_1_1hwdrivers_1_1_c_f_f_m_p_e_g___input_stream.html" title="A generic class which process a video file or other kind of input stream (http, rtsp) and allows the ...">CFFMPEG_InputStream</a>(); <span class="comment">//!< Destructor</span>
<a name="l00066"></a>00066 <span class="comment"></span><span class="comment"></span>
<a name="l00067"></a>00067 <span class="comment"> /** Open a video file or a video stream (rtsp://)</span>
<a name="l00068"></a>00068 <span class="comment"> * This can be used to open local video files (eg. "myVideo.avi", "c:\a.mpeg") and also IP cameras (e. "rtsp://a.b.c.d/live.sdp").</span>
<a name="l00069"></a>00069 <span class="comment"> * However, note that there is currently no support for user/password in IP access.</span>
<a name="l00070"></a>00070 <span class="comment"> * If verbose is set to true, more information about the video will be dumped to cout.</span>
<a name="l00071"></a>00071 <span class="comment"> *</span>
<a name="l00072"></a>00072 <span class="comment"> * \sa close, retrieveFrame</span>
<a name="l00073"></a>00073 <span class="comment"> * \return false on any error (and error info dumped to cerr), true on success.</span>
<a name="l00074"></a>00074 <span class="comment"> */</span>
<a name="l00075"></a>00075 <span class="keywordtype">bool</span> openURL( <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &url, <span class="keywordtype">bool</span> grab_as_grayscale = <span class="keyword">false</span>, <span class="keywordtype">bool</span> verbose = <span class="keyword">false</span> );
<a name="l00076"></a>00076
<a name="l00077"></a>00077 <span class="keywordtype">bool</span> isOpen() <span class="keyword">const</span>; <span class="comment">//!< Return whether the video source was open correctly</span>
<a name="l00078"></a>00078 <span class="comment"></span><span class="comment"></span>
<a name="l00079"></a>00079 <span class="comment"> /** Close the video stream (this is called automatically at destruction).</span>
<a name="l00080"></a>00080 <span class="comment"> * \sa openURL</span>
<a name="l00081"></a>00081 <span class="comment"> */</span>
<a name="l00082"></a>00082 <span class="keywordtype">void</span> close();
<a name="l00083"></a>00083
<a name="l00084"></a>00084 <span class="keywordtype">double</span> getVideoFPS() <span class="keyword">const</span>; <span class="comment">//!< Get the frame-per-second (FPS) of the video source, or "-1" if the video is not open.</span>
<a name="l00085"></a>00085 <span class="comment"></span><span class="comment"></span>
<a name="l00086"></a>00086 <span class="comment"> /** Get the next frame from the video stream.</span>
<a name="l00087"></a>00087 <span class="comment"> * Note that for remote streams (IP cameras) this method may block until enough information is read to generate a new frame.</span>
<a name="l00088"></a>00088 <span class="comment"> * Images are returned as 8-bit depth grayscale if "grab_as_grayscale" is true.</span>
<a name="l00089"></a>00089 <span class="comment"> * \return false on any error, true on success.</span>
<a name="l00090"></a>00090 <span class="comment"> * \sa openURL, close, isOpen</span>
<a name="l00091"></a>00091 <span class="comment"> */</span>
<a name="l00092"></a>00092 <span class="keywordtype">bool</span> retrieveFrame( <a class="code" href="classmrpt_1_1utils_1_1_c_image.html" title="A class for storing images as grayscale or RGB bitmaps.">mrpt::utils::CImage</a> &out_img );
<a name="l00093"></a>00093
<a name="l00094"></a>00094
<a name="l00095"></a>00095 };
<a name="l00096"></a>00096
<a name="l00097"></a>00097 }
<a name="l00098"></a>00098 }
<a name="l00099"></a>00099
<a name="l00100"></a>00100
<a name="l00101"></a>00101 <span class="preprocessor">#endif</span>
</pre></div></div>
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