vpVideoReader.cpp

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2024 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 image sequences.
 */

 
#include <visp3/core/vpIoTools.h>
#include <visp3/io/vpVideoReader.h>
 
#include <cctype>
#include <fstream>
#include <iostream>
 
BEGIN_VISP_NAMESPACE

  vpVideoReader::vpVideoReader()
  : vpFrameGrabber(), m_imSequence(nullptr),
#if defined(VISP_HAVE_OPENCV) && \
    (((VISP_HAVE_OPENCV_VERSION < 0x030000) && defined(HAVE_OPENCV_HIGHGUI)) || \
     ((VISP_HAVE_OPENCV_VERSION >= 0x030000) && defined(HAVE_OPENCV_VIDEOIO)))
  m_capture(), m_frame(), m_lastframe_unknown(false),
#endif
  m_formatType(FORMAT_UNKNOWN), m_videoName(), m_frameName(), m_initFileName(false), m_isOpen(false), m_frameCount(0),
  m_firstFrame(0), m_lastFrame(0), m_firstFrameIndexIsSet(false), m_lastFrameIndexIsSet(false), m_frameStep(1),
  m_frameRate(0.)
{ }

vpVideoReader::vpVideoReader(const vpVideoReader &reader) : vpFrameGrabber(reader)
{
  *this = reader;
}

vpVideoReader::~vpVideoReader()
{
  if (m_imSequence != nullptr) {
    delete m_imSequence;
  }
}

vpVideoReader &vpVideoReader::operator=(const vpVideoReader &reader)
{
  m_imSequence = reader.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)))
  m_capture = reader.m_capture;
  m_frame = reader.m_frame;
  m_lastframe_unknown = reader.m_lastframe_unknown;
#endif
  m_formatType = reader.m_formatType;
  m_videoName = reader.m_videoName;
  m_frameName = reader.m_frameName;
  m_initFileName = reader.m_initFileName;
  m_isOpen = reader.m_isOpen;
  m_frameCount = reader.m_frameCount;
  m_firstFrame = reader.m_firstFrame;
  m_lastFrame = reader.m_lastFrame;
  m_firstFrameIndexIsSet = reader.m_firstFrameIndexIsSet;
  m_lastFrameIndexIsSet = reader.m_lastFrameIndexIsSet;
  m_frameStep = reader.m_frameStep;
  m_frameRate = reader.m_frameRate;
  return *this;
}

void vpVideoReader::setFileName(const std::string &filename)
{
  if (filename.empty()) {
    throw(vpImageException(vpImageException::noFileNameError, "filename empty "));
  }
 
  m_videoName = filename;
  m_frameName = filename;
 
  m_formatType = getFormat(filename);
 
  if (m_formatType == FORMAT_UNKNOWN) {
    throw(vpException(vpException::badValue, "Filename extension not supported"));
  }
 
  // checking image name format
  if (isImageExtensionSupported()) {
    std::string format = vpIoTools::getName(m_videoName);
    if (!checkImageNameFormat(format)) {
      throw(vpException(vpException::badValue, "Format of image name wasn't recognized: %s", format.c_str()));
    }
  }
 
  m_initFileName = true;
}

void vpVideoReader::getProperties()
{
  if (m_isOpen) {
    return;
  }
 
  if (!m_initFileName) {
    throw(vpImageException(vpImageException::noFileNameError, "The generic filename has to be set"));
  }
 
  if (isImageExtensionSupported()) {
    m_imSequence = new vpDiskGrabber;
    m_imSequence->setGenericName(m_videoName.c_str());
    m_imSequence->setStep(m_frameStep);
    if (m_firstFrameIndexIsSet) {
      m_imSequence->setImageNumber(m_firstFrame);
    }
    m_frameRate = -1.;
  }
  else if (isVideoExtensionSupported()) {
#if defined(VISP_HAVE_OPENCV) && \
    (((VISP_HAVE_OPENCV_VERSION < 0x030000) && defined(HAVE_OPENCV_HIGHGUI)) || \
     ((VISP_HAVE_OPENCV_VERSION >= 0x030000) && defined(HAVE_OPENCV_VIDEOIO)))
    m_capture.open(m_videoName.c_str());
 
    if (!m_capture.isOpened()) {
      throw(vpException(vpException::ioError, "Could not open the video %s with OpenCV", m_videoName.c_str()));
    }
#if VISP_HAVE_OPENCV_VERSION >= 0x030000
    width = static_cast<unsigned int>(m_capture.get(cv::CAP_PROP_FRAME_WIDTH));
    height = static_cast<unsigned int>(m_capture.get(cv::CAP_PROP_FRAME_HEIGHT));
    m_frameRate = static_cast<double>(m_capture.get(cv::CAP_PROP_FPS));
#else
    width = static_cast<unsigned int>(m_capture.get(CV_CAP_PROP_FRAME_WIDTH));
    height = static_cast<unsigned int>(m_capture.get(CV_CAP_PROP_FRAME_HEIGHT));
    m_frameRate = m_capture.get(CV_CAP_PROP_FPS);
#endif
 
#else
    throw(vpException(vpException::fatalError, "To read video files ViSP should be build with opencv "
                      "3rd >= 2.1.0 party libraries."));
#endif
  }
  else if (m_formatType == FORMAT_UNKNOWN) {
    throw(vpException(vpException::fatalError, "The format of the file does "
                      "not correspond to a readable "
                      "format supported by ViSP."));
  }
 
  findFirstFrameIndex();
  m_isOpen = true;
  findLastFrameIndex();
}

void vpVideoReader::open(vpImage<vpRGBa> &I)
{
  getProperties();
 
  m_frameCount = m_firstFrame;
  if (!getFrame(I, m_firstFrame)) {
    throw(vpException(vpException::ioError, "Could not read the video first frame"));
  }
 
  // Rewind to the first frame since open() should not increase the frame
  // counter
  m_frameCount = m_firstFrame;
 
  if (isVideoExtensionSupported()) {
#if defined(VISP_HAVE_OPENCV) && \
    (((VISP_HAVE_OPENCV_VERSION < 0x030000) && defined(HAVE_OPENCV_HIGHGUI)) || \
     ((VISP_HAVE_OPENCV_VERSION >= 0x030000) && defined(HAVE_OPENCV_VIDEOIO)))
 
#if VISP_HAVE_OPENCV_VERSION >= 0x030000
    m_capture.set(cv::CAP_PROP_POS_FRAMES, m_firstFrame - 1);
#else
    m_capture.set(CV_CAP_PROP_POS_FRAMES, m_firstFrame - 1);
#endif
    m_frameCount--;
#endif
  }
}

void vpVideoReader::open(vpImage<unsigned char> &I)
{
  getProperties();
 
  m_frameCount = m_firstFrame;
  if (!getFrame(I, m_firstFrame)) {
    throw(vpException(vpException::ioError, "Could not read the video first frame"));
  }
 
  // Rewind to the first frame since open() should not increase the frame
  // counter
  m_frameCount = m_firstFrame;
 
  if (isVideoExtensionSupported()) {
#if defined(VISP_HAVE_OPENCV) && \
    (((VISP_HAVE_OPENCV_VERSION < 0x030000) && defined(HAVE_OPENCV_HIGHGUI)) || \
     ((VISP_HAVE_OPENCV_VERSION >= 0x030000) && defined(HAVE_OPENCV_VIDEOIO)))
 
#if VISP_HAVE_OPENCV_VERSION >= 0x030000
    m_capture.set(cv::CAP_PROP_POS_FRAMES, m_firstFrame - 1);
#else
    m_capture.set(CV_CAP_PROP_POS_FRAMES, m_firstFrame - 1);
#endif
    m_frameCount--;
#endif
  }
}

void vpVideoReader::acquire(vpImage<vpRGBa> &I)
{
  if (!m_isOpen) {
    open(I);
  }
  if (m_imSequence != nullptr) {
    m_imSequence->setStep(m_frameStep);
    bool skip_frame = false;
    do {
      try {
        m_imSequence->acquire(I);
        skip_frame = false;
      }
      catch (...) {
        skip_frame = true;
      }
    } while (skip_frame && m_imSequence->getImageNumber() < m_lastFrame);
    m_frameCount = m_imSequence->getImageNumber();
    m_frameName = m_imSequence->getImageName();
    if (m_frameCount + m_frameStep > m_lastFrame) {
      m_imSequence->setImageNumber(m_frameCount);
    }
    else if (m_frameCount + m_frameStep < m_firstFrame) {
      m_imSequence->setImageNumber(m_frameCount);
    }
  }
#if defined(VISP_HAVE_OPENCV) && \
    (((VISP_HAVE_OPENCV_VERSION < 0x030000) && defined(HAVE_OPENCV_HIGHGUI)) || \
     ((VISP_HAVE_OPENCV_VERSION >= 0x030000) && defined(HAVE_OPENCV_VIDEOIO)))
  else {
    m_capture >> m_frame;
    if (m_frameStep == 1) {
      ++m_frameCount;
    }
    else {
#if VISP_HAVE_OPENCV_VERSION >= 0x030000
      m_frameCount = (long)m_capture.get(cv::CAP_PROP_POS_FRAMES);
      if (m_frameStep > 0) {
        if (m_frameCount + m_frameStep <= m_lastFrame) {
          m_capture.set(cv::CAP_PROP_POS_FRAMES, m_frameCount + m_frameStep - 1);
        }
        else {
          m_capture.set(cv::CAP_PROP_POS_FRAMES, m_frameCount - 1);
        }
      }
      else if (m_frameStep < 0) {
        if (m_frameCount + m_frameStep >= m_firstFrame) {
          m_capture.set(cv::CAP_PROP_POS_FRAMES, m_frameCount + m_frameStep - 1);
        }
        else {
          m_capture.set(cv::CAP_PROP_POS_FRAMES, m_firstFrame - 1);
        }
      }
#else
      m_frameCount = (long)m_capture.get(CV_CAP_PROP_POS_FRAMES);
      if (m_frameStep > 0) {
        if (m_frameCount + m_frameStep <= m_lastFrame) {
          m_capture.set(CV_CAP_PROP_POS_FRAMES, m_frameCount + m_frameStep - 1);
        }
        else {
          m_capture.set(CV_CAP_PROP_POS_FRAMES, m_frameCount - 1);
        }
      }
      else if (m_frameStep < 0) {
        if (m_frameCount + m_frameStep >= m_firstFrame) {
          m_capture.set(CV_CAP_PROP_POS_FRAMES, m_frameCount + m_frameStep - 1);
        }
        else {
          m_capture.set(CV_CAP_PROP_POS_FRAMES, m_firstFrame - 1);
        }
      }
#endif
    }
 
    if (m_frame.empty()) {
      std::cout << "Warning: Unable to decode image " << m_frameCount - m_frameStep << std::endl;
      if (m_lastframe_unknown) {
        // Set last frame to this image index
        setLastFrameIndex(m_frameCount - m_frameStep);
      }
    }
    else {
      vpImageConvert::convert(m_frame, I);
    }
  }
#endif
}

void vpVideoReader::acquire(vpImage<unsigned char> &I)
{
  if (!m_isOpen) {
    open(I);
  }
 
  if (m_imSequence != nullptr) {
    m_imSequence->setStep(m_frameStep);
    bool skip_frame = false;
    do {
      try {
        m_imSequence->acquire(I);
        skip_frame = false;
      }
      catch (...) {
        skip_frame = true;
      }
    } while (skip_frame && m_imSequence->getImageNumber() < m_lastFrame);
    m_frameCount = m_imSequence->getImageNumber();
    m_frameName = m_imSequence->getImageName();
    if (m_frameCount + m_frameStep > m_lastFrame) {
      m_imSequence->setImageNumber(m_frameCount);
    }
    else if (m_frameCount + m_frameStep < m_firstFrame) {
      m_imSequence->setImageNumber(m_frameCount);
    }
  }
#if defined(VISP_HAVE_OPENCV) && \
    (((VISP_HAVE_OPENCV_VERSION < 0x030000) && defined(HAVE_OPENCV_HIGHGUI)) || \
     ((VISP_HAVE_OPENCV_VERSION >= 0x030000) && defined(HAVE_OPENCV_VIDEOIO)))
  else {
    m_capture >> m_frame;
    if (m_frameStep == 1) {
      ++m_frameCount;
    }
    else {
#if VISP_HAVE_OPENCV_VERSION >= 0x030000
      m_frameCount = (long)m_capture.get(cv::CAP_PROP_POS_FRAMES);
      if (m_frameStep > 0) {
        if (m_frameCount + m_frameStep <= m_lastFrame) {
          m_capture.set(cv::CAP_PROP_POS_FRAMES, m_frameCount + m_frameStep - 1);
        }
        else {
          m_capture.set(cv::CAP_PROP_POS_FRAMES, m_frameCount - 1);
        }
      }
      else if (m_frameStep < 0) {
        if (m_frameCount + m_frameStep >= m_firstFrame) {
          m_capture.set(cv::CAP_PROP_POS_FRAMES, m_frameCount + m_frameStep - 1);
        }
        else {
          m_capture.set(cv::CAP_PROP_POS_FRAMES, m_firstFrame - 1);
        }
      }
#else
      m_frameCount = (long)m_capture.get(CV_CAP_PROP_POS_FRAMES);
      if (m_frameStep > 0) {
        if (m_frameCount + m_frameStep <= m_lastFrame) {
          m_capture.set(CV_CAP_PROP_POS_FRAMES, m_frameCount + m_frameStep - 1);
        }
        else {
          m_capture.set(CV_CAP_PROP_POS_FRAMES, m_frameCount - 1);
        }
      }
      else if (m_frameStep < 0) {
        if (m_frameCount + m_frameStep >= m_firstFrame) {
          m_capture.set(CV_CAP_PROP_POS_FRAMES, m_frameCount + m_frameStep - 1);
        }
        else {
          m_capture.set(CV_CAP_PROP_POS_FRAMES, m_firstFrame - 1);
        }
      }
#endif
    }
 
    if (m_frame.empty()) {
      std::cout << "Warning: Unable to decode image " << m_frameCount - m_frameStep << std::endl;
    }
    else {
      vpImageConvert::convert(m_frame, I);
    }
  }
#endif
}

bool vpVideoReader::getFrame(vpImage<vpRGBa> &I, long frame_index)
{
  if (m_imSequence != nullptr) {
    try {
      m_imSequence->acquire(I, frame_index);
      width = I.getWidth();
      height = I.getHeight();
      m_frameCount = m_imSequence->getImageNumber();
      m_imSequence->setImageNumber(m_frameCount); // to not increment vpDiskGrabber next image
      if (m_frameCount + m_frameStep > m_lastFrame) {
        m_imSequence->setImageNumber(m_frameCount);
      }
      else if (m_frameCount + m_frameStep < m_firstFrame) {
        m_imSequence->setImageNumber(m_frameCount);
      }
    }
    catch (...) {
      // Couldn't find the %u th frame", frame_index
      return false;
    }
  }
  else {
#if defined(VISP_HAVE_OPENCV) && \
    (((VISP_HAVE_OPENCV_VERSION < 0x030000) && defined(HAVE_OPENCV_HIGHGUI)) || \
     ((VISP_HAVE_OPENCV_VERSION >= 0x030000) && defined(HAVE_OPENCV_VIDEOIO)))
#if (VISP_HAVE_OPENCV_VERSION >= 0x030000)
    if (!m_capture.set(cv::CAP_PROP_POS_FRAMES, frame_index)) {
      // Couldn't find the %ld th frame", frame_index
      return false;
    }
 
    m_capture >> m_frame;
    m_frameCount = frame_index + m_frameStep; // next index
    m_capture.set(cv::CAP_PROP_POS_FRAMES, m_frameCount);
    if (m_frame.empty()) {
      // New trial that makes things working with opencv 3.0.0
      m_capture >> m_frame;
      if (m_frame.empty()) {
        setLastFrameIndex(m_frameCount - m_frameStep);
        return false;
      }
      else {
        vpImageConvert::convert(m_frame, I);
      }
    }
    else
      vpImageConvert::convert(m_frame, I);
#else
    if (!m_capture.set(CV_CAP_PROP_POS_FRAMES, frame_index)) {
      // Couldn't find the %ld th frame", frame_index
      return false;
    }
 
    m_capture >> m_frame;
    m_frameCount = frame_index + m_frameStep; // next index
    m_capture.set(CV_CAP_PROP_POS_FRAMES, m_frameCount);
    if (m_frame.empty())
      setLastFrameIndex(m_frameCount - m_frameStep);
    else
      vpImageConvert::convert(m_frame, I);
#endif
#endif
  }
  return true;
}

bool vpVideoReader::getFrame(vpImage<unsigned char> &I, long frame_index)
{
  if (m_imSequence != nullptr) {
    try {
      m_imSequence->acquire(I, frame_index);
      width = I.getWidth();
      height = I.getHeight();
      m_frameCount = m_imSequence->getImageNumber();
      m_imSequence->setImageNumber(m_frameCount); // to not increment vpDiskGrabber next image
      if (m_frameCount + m_frameStep > m_lastFrame) {
        m_imSequence->setImageNumber(m_frameCount);
      }
      else if (m_frameCount + m_frameStep < m_firstFrame) {
        m_imSequence->setImageNumber(m_frameCount);
      }
    }
    catch (...) {
      // Couldn't find the %u th frame", frame_index
      return false;
    }
  }
  else {
#if defined(VISP_HAVE_OPENCV) && \
    (((VISP_HAVE_OPENCV_VERSION < 0x030000) && defined(HAVE_OPENCV_HIGHGUI)) || \
     ((VISP_HAVE_OPENCV_VERSION >= 0x030000) && defined(HAVE_OPENCV_VIDEOIO)))
#if VISP_HAVE_OPENCV_VERSION >= 0x030000
    if (!m_capture.set(cv::CAP_PROP_POS_FRAMES, frame_index)) {
      // Couldn't find the %ld th frame", frame_index
      return false;
    }
    m_capture >> m_frame;
    if (m_frame.empty()) {
      // New trial that makes things working with opencv 3.0.0
      m_capture >> m_frame;
      if (m_frame.empty()) {
        setLastFrameIndex(m_frameCount - m_frameStep);
        return false;
      }
      else {
        vpImageConvert::convert(m_frame, I);
      }
    }
    else {
      vpImageConvert::convert(m_frame, I);
    }
#else
    if (!m_capture.set(CV_CAP_PROP_POS_FRAMES, frame_index)) {
      // Couldn't find the %ld th frame", frame_index
      return false;
    }
    m_capture >> m_frame;
    m_frameCount = (long)m_capture.get(CV_CAP_PROP_POS_FRAMES);
    if (m_frameStep > 1) {
      m_frameCount += m_frameStep - 1; // next index
      m_capture.set(CV_CAP_PROP_POS_FRAMES, m_frameCount);
    }
    else if (m_frameStep < -1) {
      m_frameCount += m_frameStep - 1; // next index
      m_capture.set(CV_CAP_PROP_POS_FRAMES, m_frameCount);
    }
    if (m_frame.empty())
      setLastFrameIndex(m_frameCount - m_frameStep);
    else
      vpImageConvert::convert(m_frame, I);
#endif
#endif
  }
  return true;
}

vpVideoReader::vpVideoFormatType vpVideoReader::getFormat(const std::string &filename) const
{
  std::string ext = vpVideoReader::getExtension(filename);
 
  if (ext.compare(".PGM") == 0)
    return FORMAT_PGM;
  else if (ext.compare(".pgm") == 0)
    return FORMAT_PGM;
  else if (ext.compare(".PPM") == 0)
    return FORMAT_PPM;
  else if (ext.compare(".ppm") == 0)
    return FORMAT_PPM;
  else if (ext.compare(".JPG") == 0)
    return FORMAT_JPEG;
  else if (ext.compare(".jpg") == 0)
    return FORMAT_JPEG;
  else if (ext.compare(".JPEG") == 0)
    return FORMAT_JPEG;
  else if (ext.compare(".jpeg") == 0)
    return FORMAT_JPEG;
  else if (ext.compare(".PNG") == 0)
    return FORMAT_PNG;
  else if (ext.compare(".png") == 0)
    return FORMAT_PNG;
  else if (ext.compare(".TIFF") == 0)
    return FORMAT_TIFF;
  else if (ext.compare(".tiff") == 0)
    return FORMAT_TIFF;
  else if (ext.compare(".BMP") == 0)
    return FORMAT_BMP;
  else if (ext.compare(".bmp") == 0)
    return FORMAT_BMP;
  else if (ext.compare(".DIB") == 0)
    return FORMAT_DIB;
  else if (ext.compare(".dib") == 0)
    return FORMAT_DIB;
  else if (ext.compare(".PBM") == 0)
    return FORMAT_PBM;
  else if (ext.compare(".pbm") == 0)
    return FORMAT_PBM;
  else if (ext.compare(".SR") == 0)
    return FORMAT_PBM;
  else if (ext.compare(".sr") == 0)
    return FORMAT_PBM;
  else if (ext.compare(".RAS") == 0)
    return FORMAT_RASTER;
  else if (ext.compare(".ras") == 0)
    return FORMAT_RASTER;
  else if (ext.compare(".JP2") == 0)
    return FORMAT_JPEG2000;
  else if (ext.compare(".jp2") == 0)
    return FORMAT_JPEG2000;
  else if (ext.compare(".AVI") == 0)
    return FORMAT_AVI;
  else if (ext.compare(".avi") == 0)
    return FORMAT_AVI;
  else if (ext.compare(".MPEG") == 0)
    return FORMAT_MPEG;
  else if (ext.compare(".mpeg") == 0)
    return FORMAT_MPEG;
  else if (ext.compare(".MPG") == 0)
    return FORMAT_MPEG;
  else if (ext.compare(".mpg") == 0)
    return FORMAT_MPEG;
  else if (ext.compare(".MPEG4") == 0)
    return FORMAT_MPEG4;
  else if (ext.compare(".mpeg4") == 0)
    return FORMAT_MPEG4;
  else if (ext.compare(".MP4") == 0)
    return FORMAT_MPEG4;
  else if (ext.compare(".mp4") == 0)
    return FORMAT_MPEG4;
  else if (ext.compare(".MOV") == 0)
    return FORMAT_MOV;
  else if (ext.compare(".mov") == 0)
    return FORMAT_MOV;
  else if (ext.compare(".OGV") == 0)
    return FORMAT_OGV;
  else if (ext.compare(".ogv") == 0)
    return FORMAT_OGV;
  else if (ext.compare(".WMV") == 0)
    return FORMAT_WMV;
  else if (ext.compare(".wmv") == 0)
    return FORMAT_WMV;
  else if (ext.compare(".FLV") == 0)
    return FORMAT_FLV;
  else if (ext.compare(".flv") == 0)
    return FORMAT_FLV;
  else if (ext.compare(".MKV") == 0)
    return FORMAT_MKV;
  else if (ext.compare(".mkv") == 0)
    return FORMAT_MKV;
  else if (ext.compare(".MTS") == 0)
    return FORMAT_MTS;
  else if (ext.compare(".mts") == 0)
    return FORMAT_MTS;
  else
    return FORMAT_UNKNOWN;
}
 
// return the extension of the file including the dot
std::string vpVideoReader::getExtension(const std::string &filename)
{
  // extract the extension
  size_t dot = filename.find_last_of(".");
  std::string ext = filename.substr(dot, filename.size() - 1);
  return ext;
}

void vpVideoReader::findLastFrameIndex()
{
  if (!m_isOpen) {
    throw(vpException(vpException::notInitialized, "File not yet opened. Use the open() method before"));
  }
 
  if (m_imSequence != nullptr) {
    if (!m_lastFrameIndexIsSet) {
      std::string imageNameFormat = vpIoTools::getName(m_videoName);
      std::string dirName = vpIoTools::getParent(m_videoName);
      if (dirName == "") {
        dirName = ".";
      }
      std::vector<std::string> files = vpIoTools::getDirFiles(dirName);
      m_lastFrame = 0;
      for (size_t i = 0; i < files.size(); ++i) {
        // Checking that file name satisfies image format,
        // specified by imageNameFormat, and extracting imageIndex
        long imageIndex = vpIoTools::getIndex(files[i], imageNameFormat);
        if ((imageIndex != -1) && (imageIndex > m_lastFrame)) {
          m_lastFrame = imageIndex;
        }
      }
    }
  }
 
#if defined(VISP_HAVE_OPENCV) && \
    (((VISP_HAVE_OPENCV_VERSION < 0x030000) && defined(HAVE_OPENCV_HIGHGUI)) || \
     ((VISP_HAVE_OPENCV_VERSION >= 0x030000) && defined(HAVE_OPENCV_VIDEOIO)))
#if VISP_HAVE_OPENCV_VERSION >= 0x030000
  else if (!m_lastFrameIndexIsSet) {
    m_lastFrame = (long)m_capture.get(cv::CAP_PROP_FRAME_COUNT);
    if (m_lastFrame <= 2) {
      // With visp/tutorial/detection/matching/video-postcard.mpeg that is MPEG-2 it return 2 with OpenCV 3.0.0
      // With visp-images/video/cube.mpeg that is MPEG-1 it return 1 with OpenCV 4.1.1
      // We set video last frame to an arbitrary value 100000 and set a flag
      m_lastframe_unknown = true;
      m_lastFrame = 100000; // Set lastFrame to an arbitrary value
    }
  }
#else
  else if (!m_lastFrameIndexIsSet) {
    m_lastFrame = (long)m_capture.get(CV_CAP_PROP_FRAME_COUNT);
    if (m_lastFrame <= 2) {
      // With visp/tutorial/detection/matching/video-postcard.mpeg that is MPEG-2 it return 2 with OpenCV 3.0.0
      // With visp-images/video/cube.mpeg that is MPEG-1 it return 1 with OpenCV 4.1.1
      // We set video last frame to an arbitrary value 100000 and set a flag
      m_lastframe_unknown = true;
      m_lastFrame = 100000; // Set lastFrame to an arbitrary value
    }
  }
#endif
#endif
}

void vpVideoReader::findFirstFrameIndex()
{
  if (m_imSequence != nullptr) {
    if (!m_firstFrameIndexIsSet) {
      std::string imageNameFormat = vpIoTools::getName(m_videoName);
      std::string dirName = vpIoTools::getParent(m_videoName);
      if (dirName == "") {
        dirName = ".";
      }
      std::vector<std::string> files = vpIoTools::getDirFiles(dirName);
      m_firstFrame = -1;
      for (size_t i = 0; i < files.size(); ++i) {
        // Checking that file name satisfies image format, specified by
        // imageNameFormat, and extracting imageIndex
        long imageIndex = vpIoTools::getIndex(files[i], imageNameFormat);
 
        if ((imageIndex != -1) && (imageIndex < m_firstFrame || m_firstFrame == -1)) {
          m_firstFrame = imageIndex;
        }
      }
      m_imSequence->setImageNumber(m_firstFrame);
    }
  }
#if defined(VISP_HAVE_OPENCV) && \
    (((VISP_HAVE_OPENCV_VERSION < 0x030000) && defined(HAVE_OPENCV_HIGHGUI)) || \
     ((VISP_HAVE_OPENCV_VERSION >= 0x030000) && defined(HAVE_OPENCV_VIDEOIO)))
 
  else if (!m_firstFrameIndexIsSet) {
    m_firstFrame = 1L;
  }
#endif
}

bool vpVideoReader::isImageExtensionSupported() const
{
  return (m_formatType == FORMAT_PGM || m_formatType == FORMAT_PPM || m_formatType == FORMAT_JPEG ||
          m_formatType == FORMAT_PNG || m_formatType == FORMAT_TIFF || m_formatType == FORMAT_BMP ||
          m_formatType == FORMAT_DIB || m_formatType == FORMAT_PBM || m_formatType == FORMAT_RASTER ||
          m_formatType == FORMAT_JPEG2000);
}

bool vpVideoReader::isVideoExtensionSupported() const
{
  return (m_formatType == FORMAT_AVI || m_formatType == FORMAT_MPEG || m_formatType == FORMAT_MPEG4 ||
          m_formatType == FORMAT_MOV || m_formatType == FORMAT_OGV || m_formatType == FORMAT_WMV ||
          m_formatType == FORMAT_FLV || m_formatType == FORMAT_MKV || m_formatType == FORMAT_MTS);
}

vpVideoReader &vpVideoReader::operator>>(vpImage<unsigned char> &I)
{
  this->acquire(I);
  return *this;
}

vpVideoReader &vpVideoReader::operator>>(vpImage<vpRGBa> &I)
{
  this->acquire(I);
  return *this;
}

bool vpVideoReader::checkImageNameFormat(const std::string &format) const
{
  size_t indexBegin = format.find_last_of('%');
  size_t indexEnd = format.find_first_of('d', indexBegin);
  if (indexBegin == std::string::npos || indexEnd == std::string::npos) {
    return false;
  }
  for (size_t i = indexBegin + 1; i < indexEnd; ++i) {
    if (!std::isdigit(format[i])) {
      return false;
    }
  }
  return true;
}

bool vpVideoReader::isVideoFormat() const
{
  // Video format
  switch (m_formatType) {
  case FORMAT_AVI:
  case FORMAT_MPEG:
  case FORMAT_MPEG4:
  case FORMAT_MTS:
  case FORMAT_MOV:
  case FORMAT_OGV:
  case FORMAT_WMV:
  case FORMAT_FLV:
  case FORMAT_MKV:
    return true;
  default:
    return false;
  }
}
 
END_VISP_NAMESPACE