#include <mitkOpenCVVideoSource.h>

Inheritance diagram for mitk::OpenCVVideoSource:

Collaboration diagram for mitk::OpenCVVideoSource:

Public Types
typedef OpenCVVideoSource	Self
typedef itk::Object	Superclass
typedef itk::SmartPointer< Self >	Pointer
typedef itk::SmartPointer < const Self >	ConstPointer
Public Member Functions
virtual const char *	GetClassName () const
virtual void	SetVideoFileInput (const char *filename, bool repeatVideo, bool useCVCAMLib=false)
virtual void	SetVideoCameraInput (int cameraindex, bool useCVCAMLib=false)
virtual double	GetVideoCaptureProperty (int property_id)
virtual int	SetVideoCaptureProperty (int property_id, double value)
virtual void	GetCurrentFrameAsOpenCVImage (IplImage *image)
const IplImage *	GetImage ()
const IplImage *	GetCurrentFrame ()
virtual void	GetCurrentFrameAsItkHSVPixelImage (HSVPixelImageType::Pointer &Image)
virtual void	FetchFrame ()
virtual unsigned char *	GetVideoTexture ()
virtual void	StartCapturing ()
virtual void	StopCapturing ()
virtual IplImage *	RotateImage (IplImage *input)
virtual void	EnableOnlineImageUndistortion (mitk::Point3D focal, mitk::Point3D principal, mitk::Point4D distortion)
virtual void	DisableOnlineImageUndistortion ()
virtual bool	OnlineImageUndistortionEnabled () const
virtual void	PauseCapturing ()
virtual bool	GetCapturePaused () const
virtual std::string	GetVideoFileName () const
virtual short	GetGrabbingDeviceNumber () const
virtual bool	GetRepeatVideo ()
virtual void	SetRepeatVideo (bool _arg)
Static Public Member Functions
static Pointer	New ()
Protected Member Functions
	OpenCVVideoSource ()
virtual	~OpenCVVideoSource ()
void	Reset ()
void	UpdateVideoTexture ()
void	sleep (unsigned int ms)
void	RGBtoHSV (float r, float g, float b, float &h, float &s, float &v)
Protected Attributes
CvCapture *	m_VideoCapture
IplImage *	m_CurrentImage
unsigned char *	m_CurrentVideoTexture
IplImage *	m_PauseImage
bool	m_CapturePaused
std::string	m_VideoFileName
short	m_GrabbingDeviceNumber
bool	m_RepeatVideo
bool	m_UseCVCAMLib
bool	m_UndistortImage
mitk::UndistortCameraImage::Pointer	m_UndistortCameraImage

Detailed Description

Interface for acquiring video data using Intel's OPENCV library. Video data may either be provided from a file or a grabbing device. At the moment, OPENCV includes two separated modules for this grabbing, but only HighGui is used here. Initialize via SetVideoFileInput() or SetVideoCameraInput(), start processing with StartCapturing();

Definition at line 44 of file mitkOpenCVVideoSource.h.

Member Typedef Documentation

typedef itk::SmartPointer<const Self> mitk::OpenCVVideoSource::ConstPointer

Reimplemented from mitk::VideoSource.

Definition at line 55 of file mitkOpenCVVideoSource.h.

typedef itk::SmartPointer<Self> mitk::OpenCVVideoSource::Pointer

Reimplemented from mitk::VideoSource.

Definition at line 55 of file mitkOpenCVVideoSource.h.

typedef OpenCVVideoSource mitk::OpenCVVideoSource::Self

Reimplemented from mitk::VideoSource.

Definition at line 55 of file mitkOpenCVVideoSource.h.

typedef itk::Object mitk::OpenCVVideoSource::Superclass

Reimplemented from mitk::VideoSource.

Definition at line 55 of file mitkOpenCVVideoSource.h.

Constructor & Destructor Documentation

mitk::OpenCVVideoSource::OpenCVVideoSource ( ) [protected]

Definition at line 22 of file mitkOpenCVVideoSource.cpp.

: m_VideoCapture(0),
  m_CurrentImage(0),
  m_CurrentVideoTexture(0),
  m_PauseImage(0),
  m_CapturePaused(false),
  m_GrabbingDeviceNumber(-1),
  m_RepeatVideo(false),
  m_UseCVCAMLib(false),
  m_UndistortImage(false)
{
}

mitk::OpenCVVideoSource::~OpenCVVideoSource ( ) [protected, virtual]

Definition at line 35 of file mitkOpenCVVideoSource.cpp.

{
  this->Reset();
}

Member Function Documentation

void mitk::OpenCVVideoSource::DisableOnlineImageUndistortion ( ) [virtual]

Definition at line 261 of file mitkOpenCVVideoSource.cpp.

{
  m_UndistortImage = false;
}

void mitk::OpenCVVideoSource::EnableOnlineImageUndistortion	(	mitk::Point3D	focal,
		mitk::Point3D	principal,
		mitk::Point4D	distortion
	)		`[virtual]`

Definition at line 247 of file mitkOpenCVVideoSource.cpp.

References mitk::UndistortCameraImage::New().

{
  // Initialize Undistortion
  m_UndistortImage = true;
  float kc[4];
  kc[0] = distortion[0]; kc[1] = distortion[1];
  kc[2] = distortion[2]; kc[3] = distortion[3];
  if(m_CaptureWidth == 0 || m_CaptureHeight == 0)
    FetchFrame();

  m_UndistortCameraImage = mitk::UndistortCameraImage::New();
  m_UndistortCameraImage->SetUndistortImageFastInfo(focal[0], focal[1], principal[0], principal[1],  kc, (float)m_CaptureWidth, (float)m_CaptureHeight);
}

void mitk::OpenCVVideoSource::FetchFrame ( ) [virtual]

Reimplemented from mitk::VideoSource.

Definition at line 125 of file mitkOpenCVVideoSource.cpp.

References MITK_DEBUG.

{ // main procedure for updating video data
  if(m_CapturingInProcess)
  {
    if(m_VideoCapture) // we use highgui
    {
      if(!m_CapturePaused)
      {
        // release old image here
        m_CurrentImage = cvQueryFrame(m_VideoCapture);

        ++m_FrameCount;
      }

      if(m_CurrentImage == NULL) // do we need to repeat the video if it is from video file?
      {
        double framePos = this->GetVideoCaptureProperty(CV_CAP_PROP_POS_AVI_RATIO);
        MITK_DEBUG << "End of video file found. framePos: " << framePos;
        if(m_RepeatVideo &&  framePos >= 0.99)
        {
          MITK_DEBUG << "Restarting video file playback.";
          this->SetVideoCaptureProperty(CV_CAP_PROP_POS_AVI_RATIO, 0);
          m_CurrentImage = cvQueryFrame(m_VideoCapture);
        }
      }
      if(m_CaptureWidth == 0 || m_CaptureHeight == 0)
      {
        MITK_DEBUG << "Trying to set m_CaptureWidth & m_CaptureHeight.";
        m_CaptureWidth  = m_CurrentImage->width;
        m_CaptureHeight = m_CurrentImage->height;
        std::cout << "frame width: " << m_CaptureWidth << ", height: " << m_CaptureHeight << std::endl;
        m_CurrentImage->origin = 0;
      }
    }
  }
}

virtual bool mitk::OpenCVVideoSource::GetCapturePaused ( ) const [virtual]

Referenced by QmitkOpenCVVideoControls::on_PlayButton_clicked(), QmitkOpenCVVideoControls::on_VideoProgressSlider_sliderPressed(), and QmitkOpenCVVideoControls::on_VideoProgressSlider_sliderReleased().

virtual const char* mitk::OpenCVVideoSource::GetClassName ( ) const [virtual]

Reimplemented from mitk::VideoSource.

const IplImage * mitk::OpenCVVideoSource::GetCurrentFrame ( )

Definition at line 108 of file mitkOpenCVVideoSource.cpp.

Referenced by QmitkOpenCVVideoControls::NewFrameAvailable().

{
  return m_CurrentImage;
}

void mitk::OpenCVVideoSource::GetCurrentFrameAsItkHSVPixelImage ( HSVPixelImageType::Pointer & Image ) [virtual]

Definition at line 267 of file mitkOpenCVVideoSource.cpp.

{
  FetchFrame();

  // Prepare iteration
  HSVConstIteratorType itImage( Image, Image->GetLargestPossibleRegion());
  itImage.Begin();
  HSVPixelType pixel;
  int rowsize = 3 * m_CaptureWidth;

  char* bufferend;
  char* picture;
  picture = this->m_CurrentImage->imageData;
  bufferend = this->m_CurrentImage->imageData + 3*(m_CaptureHeight*m_CaptureWidth);

  float r,g,b,h,s,v;
  try
  {
    // we have to flip the image
    for(char* datapointer = bufferend - rowsize;datapointer >= picture; datapointer -= rowsize)
    {
      for(char* current = datapointer; current < datapointer + rowsize; current++)
      {

          b = *current; current++;
          g = *current; current++;
          r = *current;
          RGBtoHSV(r,g,b,h,s,v);
          pixel[0] = h;
          pixel[1] = s;
          pixel[2] = v;

          itImage.Set(pixel);
          ++itImage;
      }
    }
  }
  catch( ... )
  {
    std::cout << "Exception raised mitkOpenCVVideoSource: get hsv itk image conversion error." << std::endl;
  }

}

void mitk::OpenCVVideoSource::GetCurrentFrameAsOpenCVImage ( IplImage * image ) [virtual]

Definition at line 113 of file mitkOpenCVVideoSource.cpp.

{ // get last captured frame for processing the image data
  if(m_CurrentImage)
  {
    if(image)
    {
      image->origin = m_CurrentImage->origin;
      memcpy(image->imageData,m_CurrentImage->imageData,m_CurrentImage->width*m_CurrentImage->height*m_CurrentImage->nChannels);
    }
  }
}

virtual short mitk::OpenCVVideoSource::GetGrabbingDeviceNumber ( ) const [virtual]

Returns the GrabbingDeviceNumber (maybe -1 if a video file is used)

Referenced by QmitkOpenCVVideoControls::SetVideoBackground().

const IplImage * mitk::OpenCVVideoSource::GetImage ( void ) [virtual]

Return the current frame

Implements mitk::OpenCVImageSource.

Definition at line 103 of file mitkOpenCVVideoSource.cpp.

{
  return m_CurrentImage;
}

virtual bool mitk::OpenCVVideoSource::GetRepeatVideo ( ) [virtual]

double mitk::OpenCVVideoSource::GetVideoCaptureProperty ( int property_id ) [virtual]

Definition at line 66 of file mitkOpenCVVideoSource.cpp.

Referenced by QmitkOpenCVVideoControls::NewFrameAvailable(), and QmitkOpenCVVideoControls::on_VideoProgressSlider_sliderPressed().

{
  return cvGetCaptureProperty(m_VideoCapture, property_id);
}

virtual std::string mitk::OpenCVVideoSource::GetVideoFileName ( ) const [virtual]

Returns the video file name (maybe empty if a grabbing device is used)

Referenced by QmitkOpenCVVideoControls::SetVideoBackground().

unsigned char * mitk::OpenCVVideoSource::GetVideoTexture ( ) [virtual]

Reimplemented from mitk::VideoSource.

Definition at line 77 of file mitkOpenCVVideoSource.cpp.

{ // Fetch Frame and return pointer to opengl texture
  FetchFrame();

  if (m_RotationEnabled)
  {
    //store pointer to release memory for the image after rotation
    IplImage * tmpImage = m_CurrentImage;

    //rotate the image to get a static video
    m_CurrentImage = this->RotateImage(m_CurrentImage);

    // release memory
    cvReleaseImage(&tmpImage); //
  }

  //transfer the image to a texture
  this->UpdateVideoTexture();
  return this->m_CurrentVideoTexture;
  this->Modified();
}

static Pointer mitk::OpenCVVideoSource::New ( ) [static]

Reimplemented from mitk::VideoSource.

Referenced by QmitkVideoPlayer::CreateQtPartControl().

bool mitk::OpenCVVideoSource::OnlineImageUndistortionEnabled ( ) const [virtual]

Returns:: true if image undistorsion is enabled

Definition at line 220 of file mitkOpenCVVideoSource.cpp.

{
  return m_UndistortCameraImage;
}

void mitk::OpenCVVideoSource::PauseCapturing ( ) [virtual]

Definition at line 225 of file mitkOpenCVVideoSource.cpp.

Referenced by QmitkOpenCVVideoControls::on_PlayButton_clicked(), QmitkOpenCVVideoControls::on_VideoProgressSlider_sliderPressed(), and QmitkOpenCVVideoControls::on_VideoProgressSlider_sliderReleased().

{
  m_CapturePaused = !m_CapturePaused;

  if(m_CapturePaused)
  {
    m_PauseImage = cvCloneImage(m_CurrentImage);

    // undistort this pause image if necessary
    if(m_UndistortImage)
      m_UndistortCameraImage->UndistortImageFast(m_PauseImage, 0);

    m_CurrentImage = m_PauseImage;
  }
  else
  {
    cvReleaseImage( &m_PauseImage ); // release old pause image if necessary
    m_CurrentImage = 0;
    m_PauseImage = 0;
  }
}

void mitk::OpenCVVideoSource::Reset ( ) [protected]

Resets the whole class for capturing from a new device

Definition at line 383 of file mitkOpenCVVideoSource.cpp.

{
  // set capturing to false
  this->StopCapturing();
  if(m_VideoCapture)
    cvReleaseCapture(&m_VideoCapture);
  m_VideoCapture = 0;
  m_CurrentImage = 0;
  m_CaptureWidth = 0;
  m_CaptureHeight = 0;
  delete m_CurrentVideoTexture;
  m_CurrentVideoTexture = 0;
  if(m_PauseImage)
    cvReleaseImage(&m_PauseImage);
  m_PauseImage = 0;
  m_CapturePaused = false;
  m_VideoFileName.clear();
  m_GrabbingDeviceNumber = -1;
  // do not touch repeat video
  //m_RepeatVideo = false;
  m_UseCVCAMLib = false;
  // do not touch undistort settings
  // bool m_UndistortImage;
}

void mitk::OpenCVVideoSource::RGBtoHSV	(	float	r,
		float	g,
		float	b,
		float &	h,
		float &	s,
		float &	v
	)		`[protected]`

Definition at line 311 of file mitkOpenCVVideoSource.cpp.

{
    if(r > 1.0)
      r = r/255;
    if(b > 1.0)
      b = b/255;
    if(g > 1.0)
      g = g/255;

    float mn=r,mx=r;
    int maxVal=0;

    if (g > mx){ mx=g;maxVal=1;}
    if (b > mx){ mx=b;maxVal=2;}
    if (g < mn) mn=g;
    if (b < mn) mn=b;

    float  delta = mx - mn;

    v = mx;
    if( mx != 0 )
      s = delta / mx;
    else
    {
      s = 0;
      h = 0;
      return;
    }
    if (s==0.0f)
    {
      h=-1;
      return;
    }
    else
    {
      switch (maxVal)
      {
      case 0:{h = ( g - b ) / delta;break;}         // yel < h < mag
      case 1:{h = 2 + ( b - r ) / delta;break;}     // cyan < h < yel
      case 2:{h = 4 + ( r - g ) / delta;break;}     // mag < h < cyan
      }
    }

    h *= 60;
    if( h < 0 ) h += 360;
}

IplImage * mitk::OpenCVVideoSource::RotateImage ( IplImage * input ) [virtual]

Definition at line 362 of file mitkOpenCVVideoSource.cpp.

{
  if(input == NULL)
  { //warn the user and quit
    std::cout<<"openCVVideoSource: Current video image is null! "<< std::endl;
    return input;
  }
  IplImage* dst = cvCloneImage( input );
  double angle =  this->GetRotationAngle(); //degree
  CvPoint2D32f centre;
  CvMat *translate = cvCreateMat(2, 3, CV_32FC1);
  cvSetZero(translate);
  centre.x =   m_CaptureWidth/2;
  centre.y = m_CaptureHeight/2;
  cv2DRotationMatrix(centre, angle, 1.0, translate);
  cvWarpAffine(input, dst, translate,CV_INTER_LINEAR + CV_WARP_FILL_OUTLIERS , cvScalarAll(0));
  cvReleaseMat(&translate);

  return dst;
}

virtual void mitk::OpenCVVideoSource::SetRepeatVideo ( bool _arg ) [virtual]

Referenced by QmitkOpenCVVideoControls::on_PlayButton_clicked(), and QmitkOpenCVVideoControls::on_RepeatVideoButton_clicked().

void mitk::OpenCVVideoSource::SetVideoCameraInput	(	int	cameraindex,
		bool	useCVCAMLib = `false`
	)		`[virtual]`

Definition at line 54 of file mitkOpenCVVideoSource.cpp.

References MITK_ERROR.

Referenced by QmitkOpenCVVideoControls::on_PlayButton_clicked().

{
  this->Reset();

  m_GrabbingDeviceNumber = cameraindex;
  m_VideoCapture = cvCaptureFromCAM(m_GrabbingDeviceNumber);
  if(!m_VideoCapture)
    MITK_ERROR << "Error in initializing CVHighGUI video camera!"<< std::endl;

  this->Modified();
}

int mitk::OpenCVVideoSource::SetVideoCaptureProperty	(	int	property_id,
		double	value
	)		`[virtual]`

Definition at line 71 of file mitkOpenCVVideoSource.cpp.

Referenced by QmitkOpenCVVideoControls::on_VideoProgressSlider_sliderReleased().

{
  return cvSetCaptureProperty(m_VideoCapture, property_id, value);
}

void mitk::OpenCVVideoSource::SetVideoFileInput	(	const char *	filename,
		bool	repeatVideo,
		bool	useCVCAMLib = `false`
	)		`[virtual]`

Definition at line 40 of file mitkOpenCVVideoSource.cpp.

References MITK_WARN.

Referenced by QmitkOpenCVVideoControls::on_PlayButton_clicked().

{
  this->Reset();
  m_VideoFileName = filename;

  m_VideoCapture = cvCaptureFromFile(filename);
  if(!m_VideoCapture)
    MITK_WARN << "Error in initializing video file input!";

  m_RepeatVideo  = repeatVideo;
  //m_CurrentImage        = cvCreateImage(cvSize(m_CaptureWidth,m_CaptureHeight),8,3);
  this->Modified();

}

void mitk::OpenCVVideoSource::sleep ( unsigned int ms ) [protected]

void mitk::OpenCVVideoSource::StartCapturing ( ) [virtual]

Reimplemented from mitk::VideoSource.

Definition at line 207 of file mitkOpenCVVideoSource.cpp.

Referenced by QmitkOpenCVVideoControls::on_PlayButton_clicked().

{
  if(m_VideoCapture != NULL)
    m_CapturingInProcess = true;
  else
    m_CapturingInProcess = false;
}

void mitk::OpenCVVideoSource::StopCapturing ( ) [virtual]

Reimplemented from mitk::VideoSource.

Definition at line 215 of file mitkOpenCVVideoSource.cpp.

Referenced by QmitkOpenCVVideoControls::Stop().

{
  m_CapturingInProcess = false;
}

void mitk::OpenCVVideoSource::UpdateVideoTexture ( ) [protected]

Definition at line 162 of file mitkOpenCVVideoSource.cpp.

{  //write the grabbed frame into an opengl compatible array, that means flip it and swap channel order
  if(!m_CurrentImage)
    return;

  if(m_CurrentVideoTexture == NULL)
    m_CurrentVideoTexture = new unsigned char[m_CaptureWidth*m_CaptureHeight*3];

  // only undistort if not paused
  if(m_UndistortImage && !m_CapturePaused)
    m_UndistortCameraImage->UndistortImageFast(m_CurrentImage, 0);

  int width = m_CurrentImage->width;
  int height = m_CurrentImage->height;
  int widthStep = m_CurrentImage->widthStep;
  int nChannels = m_CurrentImage->nChannels;
  unsigned char* tex = m_CurrentVideoTexture;
  char* data = m_CurrentImage->imageData;
  char* currentData = m_CurrentImage->imageData;

  int hIndex=0;
  int wIndex=0;
  int iout,jout;

  for(int i=0;i<width*height*3;i+=3,++wIndex)
  {
    if(wIndex >= width)
    {
      wIndex=0;
      hIndex++;
    }

    // vertically flip the image
    iout = -hIndex+height-1;
    jout = wIndex;

    currentData = data + iout*widthStep;

    tex[i+2] = currentData[jout*nChannels + 0]; // B
    tex[i+1] = currentData[jout*nChannels + 1]; // G
    tex[i] = currentData[jout*nChannels + 2]; // R
  }

}