i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-01 17:10:26 +08:00
Code Issues Packages Projects Releases Wiki Activity

rgbd_camera: added option to choose codec (FourCC) when recording stereo images to video

Browse Source
This commit is contained in:
matlabbe
2015-07-16 20:59:33 -04:00
parent 8754da7420
commit d80c730d3b
1 changed files with 35 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files

37
tools/CameraRGBD/main.cpp
View File

@@ -53,7 +53,10 @@ void showUsage()
" 7=FlyCapture2 (Bumblebee2)\n"
" Options:\n"
" -rate #.# Input rate Hz (default 0=inf)\n"
" -save_stereo \"path\" Save stereo images in a folder or a video file (side by side *.avi).\n");
" -save_stereo \"path\" Save stereo images in a folder or a video file (side by side *.avi).\n"
" -fourcc \"XXXX\" Four characters FourCC code (default is \"MJPG\") used\n"
" when saving stereo images to a video file.\n"
" See http://www.fourcc.org/codecs.php for more codes.\n");
exit(1);
}
@@ -75,6 +78,7 @@ int main(int argc, char * argv[])
int driver = 0;
std::string stereoSavePath;
float rate = 0.0f;
std::string fourcc = "MJPG";
if(argc < 2)
{
showUsage();
@@ -113,10 +117,33 @@ int main(int argc, char * argv[])
}
continue;
}
if(strcmp(argv[i], "-fourcc") == 0)
{
++i;
if(i < argc)
{
fourcc = argv[i];
if(fourcc.size() != 4)
{
UERROR("fourcc should be 4 characters.");
showUsage();
}
}
else
{
showUsage();
}
continue;
}
if(strcmp(argv[i], "--help") == 0 || strcmp(argv[i], "-help") == 0)
{
showUsage();
}
else if(i< argc-1)
{
printf("Unrecognized option \"%s\"", argv[i]);
showUsage();
}
// last
driver = atoi(argv[i]);
@@ -254,7 +281,13 @@ int main(int argc, char * argv[])
}
cv::Size targetSize = data.imageRaw().size();
targetSize.width *= 2;
videoWriter.open(stereoSavePath, CV_FOURCC('M', 'J', 'P', 'G'), rate, targetSize, data.imageRaw().channels() == 3);
UASSERT(fourcc.size() == 4);
videoWriter.open(
stereoSavePath,
CV_FOURCC(fourcc.at(0), fourcc.at(1), fourcc.at(2), fourcc.at(3)),
rate,
targetSize,
data.imageRaw().channels() == 3);
}
else
{