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ardupilot/Tools/ArdupilotMegaPlanner/AviWriter.cs

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using System;
using System.Runtime.InteropServices;
using System.Drawing;
using System.Drawing.Imaging;
using System.IO;
using u32 = System.UInt32;
using u16 = System.UInt16;
using u8 = System.Byte;
/// <summary>
/// based off ftp://pserver.samba.org/pub/unpacked/picturebook/avi.c
/// </summary>
public class AviWriter
{
/*
avi debug: * LIST-root size:1233440040 pos:0
avi debug: + RIFF-AVI size:1233440032 pos:0
avi debug: | + LIST-hdrl size:310 pos:12
avi debug: | | + avih size:56 pos:24
avi debug: | | + LIST-strl size:124 pos:88
avi debug: | | | + strh size:64 pos:100
avi debug: | | | + strf size:40 pos:172
avi debug: | | + LIST-strl size:102 pos:220
avi debug: | | | + strh size:64 pos:232
avi debug: | | | + strf size:18 pos:304
avi debug: | + JUNK size:1698 pos:330
avi debug: | + LIST-movi size:1232936964 pos:2036
avi debug: | + idx1 size:501024 pos:1232939008
avi debug: AVIH: 2 stream, flags HAS_INDEX
avi debug: stream[0] rate:1000000 scale:33333 samplesize:0
avi debug: stream[0] video(MJPG) 1280x720 24bpp 30.000300fps
*/
[StructLayout(LayoutKind.Sequential, Pack = 1)]
public struct riff_head
{
[MarshalAs(
UnmanagedType.ByValArray,
SizeConst = 4)]
public char[] riff; /* "RIFF" */
public u32 size;
[MarshalAs(
UnmanagedType.ByValArray,
SizeConst = 4)]
public char[] avistr; /* "AVI " */
};
[StructLayout(LayoutKind.Sequential, Pack = 1)]
public struct stream_head
{ /* 56 bytes */
[MarshalAs(
UnmanagedType.ByValArray,
SizeConst = 4)]
public char[] strh; /* "strh" */
public u32 size;
[MarshalAs(
UnmanagedType.ByValArray,
SizeConst = 4)]
public char[] vids; /* "vids" */
[MarshalAs(
UnmanagedType.ByValArray,
SizeConst = 4)]
public char[] codec; /* codec name */
public u32 flags;
public u32 reserved1;
public u32 initialframes;
public u32 scale; /* 1 */
public u32 rate; /* in frames per second */
public u32 start;
public u32 length; /* what units?? fps*nframes ?? */
public u32 suggested_bufsize;
public u32 quality; /* -1 */
public u32 samplesize;
public short l;
public short t;
public short r;
public short b;
};
[StructLayout(LayoutKind.Sequential, Pack = 1)]
public struct avi_head
{ /* 64 bytes */
[MarshalAs(
UnmanagedType.ByValArray,
SizeConst = 4)]
public char[] avih; /* "avih" */
public u32 size;
public u32 time; /* microsec per frame? 1e6 / fps ?? */
public u32 maxbytespersec;
public u32 reserved1;
public u32 flags;
public u32 nframes;
public u32 initialframes;
public u32 numstreams; /* 1 */
public u32 suggested_bufsize;
public u32 width;
public u32 height;
public u32 scale; /* 1 */
public u32 rate; /* fps */
public u32 start;
public u32 length; /* what units?? fps*nframes ?? */
};
[StructLayout(LayoutKind.Sequential, Pack = 1)]
public struct list_head
{ /* 12 bytes */
[MarshalAs(
UnmanagedType.ByValArray,
SizeConst = 4)]
public char[] list; /* "LIST" */
public u32 size;
[MarshalAs(
UnmanagedType.ByValArray,
SizeConst = 4)]
public char[] type;
};
[StructLayout(LayoutKind.Sequential, Pack = 1)]
public struct db_head
{
[MarshalAs(
UnmanagedType.ByValArray,
SizeConst = 4)]
public char[] db; /* "00db" */
public u32 size;
};
[StructLayout(LayoutKind.Sequential, Pack = 1)]
public struct frame_head
{ /* 48 bytes */
[MarshalAs(
UnmanagedType.ByValArray,
SizeConst = 4)]
public char[] strf; /* "strf" */
public u32 size;
public UInt32 size2; /* repeat of previous field? */
public Int32 width;
public Int32 height;
public Int16 planes; /* 1 */
public Int16 bitcount; /* 24 */
[MarshalAs(
UnmanagedType.ByValArray,
SizeConst = 4)]
public char[] codec; /* MJPG */
public UInt32 unpackedsize; /* 3 * w * h */
public Int32 r1;
public Int32 r2;
public UInt32 clr_used;
public UInt32 clr_important;
};
[StructLayout(LayoutKind.Sequential, Pack = 1)]
public struct BITMAPINFOHEADER
{
public UInt32 biSize;
public Int32 biWidth;
public Int32 biHeight;
public Int16 biPlanes;
public Int16 biBitCount;
public UInt32 biCompression;
public UInt32 biSizeImage;
public Int32 biXPelsPerMeter;
public Int32 biYPelsPerMeter;
public UInt32 biClrUsed;
public UInt32 biClrImportant;
}
static int nframes;
static uint totalsize;
System.IO.BufferedStream fd;
public void avi_close()
{
if (fd != null)
fd.Close();
}
/* start writing an AVI file */
public void avi_start(string filename)
{
avi_close();
fd = new BufferedStream(File.Open(filename, FileMode.Create));
fd.Seek(2048,SeekOrigin.Begin);
nframes = 0;
totalsize = 0;
}
/* add a jpeg frame to an AVI file */
public void avi_add(u8[] buf, uint size)
{
Console.WriteLine(DateTime.Now.Millisecond + "avi frame");
db_head db = new db_head { db = "00dc".ToCharArray(), size = size };
fd.Write(StructureToByteArray(db), 0, Marshal.SizeOf(db));
fd.Write(buf, 0, (int)size);
if (size % 2 == 1)
{
size++;
fd.Seek(1, SeekOrigin.Current);
}
nframes++;
totalsize += size;
}
void strcpy(ref char[] to,string orig)
{
to = orig.ToCharArray();
}
/* finish writing the AVI file - filling in the header */
public void avi_end(int width, int height, int fps)
{
riff_head rh = new riff_head { riff = "RIFF".ToCharArray(), size = 0, avistr = "AVI ".ToCharArray() };
list_head lh1 = new list_head { list = "LIST".ToCharArray(), size = 0, type = "hdrl".ToCharArray() };
avi_head ah = new avi_head();
list_head lh2 = new list_head { list = "LIST".ToCharArray(), size = 0, type = "strl".ToCharArray() };
stream_head sh = new stream_head();
frame_head fh = new frame_head();
list_head junk = new list_head() { list = "JUNK".ToCharArray(), size = 0 };
list_head lh3 = new list_head { list = "LIST".ToCharArray(), size = 0, type = "movi".ToCharArray() };
//bzero(&ah, sizeof(ah));
strcpy(ref ah.avih, "avih");
ah.time = (u32)(1e6 / fps);
ah.numstreams = 1;
//ah.scale = (u32)(1e6 / fps);
//ah.rate = (u32)fps;
//ah.length = (u32)(nframes);
ah.nframes = (u32)(nframes);
ah.width = (u32)width;
ah.height = (u32)height;
ah.flags = 0;
ah.suggested_bufsize = (u32)(3 * width * height * fps);
ah.maxbytespersec = (u32)(3 * width * height * fps);
//bzero(&sh, sizeof(sh));
strcpy(ref sh.strh, "strh");
strcpy(ref sh.vids, "vids");
strcpy(ref sh.codec, "MJPG");
sh.scale = (u32)(1e6 / fps);
sh.rate = (u32)1000000;
sh.length = (u32)(nframes);
sh.suggested_bufsize = (u32)(3 * width * height * fps);
unchecked
{
sh.quality = (uint)-1;
}
//bzero(&fh, sizeof(fh));
strcpy(ref fh.strf, "strf");
fh.width = width;
fh.height = height;
fh.planes = 1;
fh.bitcount = 24;
strcpy(ref fh.codec, "MJPG");
fh.unpackedsize = (u32)(3 * width * height);
rh.size = (u32)(Marshal.SizeOf(lh1) + Marshal.SizeOf(ah) + Marshal.SizeOf(lh2) + Marshal.SizeOf(sh) +
Marshal.SizeOf(fh) + Marshal.SizeOf(lh3) +
nframes * Marshal.SizeOf((new db_head())) +
totalsize);
lh1.size = (u32)(4 + Marshal.SizeOf(ah) + Marshal.SizeOf(lh2) + Marshal.SizeOf(sh) + Marshal.SizeOf(fh));
ah.size = (u32)(Marshal.SizeOf(ah) - 8);
lh2.size = (u32)(4 + Marshal.SizeOf(sh) + Marshal.SizeOf(fh));
sh.size = (u32)(Marshal.SizeOf(sh) - 8);
fh.size = (u32)(Marshal.SizeOf(fh) - 8);
fh.size2 = fh.size;
lh3.size = (u32)(4 +
nframes * Marshal.SizeOf((new db_head())) +
totalsize);
junk.size = 2048 - lh1.size - 12 - 12 - 12 - 4; // junk head, list head, rif head , 4
long pos = fd.Position;
fd.Seek(0, SeekOrigin.Begin);
fd.Write(StructureToByteArray(rh),0, Marshal.SizeOf(rh));
fd.Write(StructureToByteArray(lh1), 0, Marshal.SizeOf(lh1));
fd.Write(StructureToByteArray(ah), 0, Marshal.SizeOf(ah));
fd.Write(StructureToByteArray(lh2), 0, Marshal.SizeOf(lh2));
fd.Write(StructureToByteArray(sh), 0, Marshal.SizeOf(sh));
fd.Write(StructureToByteArray(fh), 0, Marshal.SizeOf(fh));
fd.Write(StructureToByteArray(junk), 0, Marshal.SizeOf(junk));
fd.Seek(2036, SeekOrigin.Begin);
fd.Write(StructureToByteArray(lh3), 0, Marshal.SizeOf(lh3));
fd.Seek(pos, SeekOrigin.Begin);
}
byte[] StructureToByteArray(object obj)
{
int len = Marshal.SizeOf(obj);
byte[] arr = new byte[len];
IntPtr ptr = Marshal.AllocHGlobal(len);
Marshal.StructureToPtr(obj, ptr, true);
Marshal.Copy(ptr, arr, 0, len);
Marshal.FreeHGlobal(ptr);
return arr;
}
}