mitkOpenCVVideoSource.cpp

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/*============================================================================

The Medical Imaging Interaction Toolkit (MITK)

Copyright (c) German Cancer Research Center (DKFZ)
All rights reserved.

Use of this source code is governed by a 3-clause BSD license that can be
found in the LICENSE file.

============================================================================*/

#include "mitkOpenCVVideoSource.h"
#include <iostream>
#include <algorithm>

mitk::OpenCVVideoSource::OpenCVVideoSource()
: m_VideoCapture(nullptr),
  m_CurrentImage(nullptr),
  m_CurrentVideoTexture(nullptr),
  m_PauseImage(nullptr),
  m_GrabbingDeviceNumber(-1),
  m_RepeatVideo(false),
  m_UseCVCAMLib(false),
  m_UndistortImage(false),
  m_FlipXAxisEnabled(false),
  m_FlipYAxisEnabled(false)
{
}

mitk::OpenCVVideoSource::~OpenCVVideoSource()
{
  this->Reset();
}

void mitk::OpenCVVideoSource::SetVideoFileInput(const char * filename, bool repeatVideo, bool /*useCVCAMLib*/)
{
  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::SetVideoCameraInput(int cameraindex, bool /*useCVCAMLib*/)
{
  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();
}

double mitk::OpenCVVideoSource::GetVideoCaptureProperty(int property_id)
{
  return cvGetCaptureProperty(m_VideoCapture, property_id);
}

int mitk::OpenCVVideoSource::SetVideoCaptureProperty(int property_id, double value)
{
  return cvSetCaptureProperty(m_VideoCapture, property_id, value);
}

//method extended for "static video feature" if enabled
unsigned char* mitk::OpenCVVideoSource::GetVideoTexture()
{ // Fetch Frame and return pointer to opengl texture
  FetchFrame();

  if (m_FlipXAxisEnabled || m_FlipYAxisEnabled)
  {
    //rotate the image to get a static video
    m_CurrentImage = this->FlipImage(m_CurrentImage);

  }

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

cv::Mat mitk::OpenCVVideoSource::GetImage()
{
  if(m_CurrentImage)
  {
    cv::Mat copy = cv::cvarrToMat( m_CurrentImage, false );
    return copy.clone();
  }
  return cv::Mat();
}

const IplImage * mitk::OpenCVVideoSource::GetCurrentFrame()
{
  return m_CurrentImage;
}

void mitk::OpenCVVideoSource::GetCurrentFrameAsOpenCVImage(IplImage * image)
{ // 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);
    }
  }
}

void mitk::OpenCVVideoSource::FetchFrame()
{ // 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 == nullptr) // 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_FrameCount = 0;
          m_CurrentImage = cvQueryFrame(m_VideoCapture);
        }
        else
        {
          std::ostringstream s;
          s << "End of video file " << m_VideoFileName;
          std::logic_error err( s.str() );
          throw err;
        }
      }
      else
      {
        // only undistort if not paused
        if(m_UndistortImage && m_UndistortCameraImage.IsNotNull())
          m_UndistortCameraImage->UndistortImageFast(m_CurrentImage, nullptr);
      }

      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;
        MITK_INFO << "frame width: " << m_CaptureWidth << ", height: " << m_CaptureHeight;
        m_CurrentImage->origin = 0;
      }
    }
  }
}

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

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

  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
  }

}

void mitk::OpenCVVideoSource::StartCapturing()
{
  if(m_VideoCapture != nullptr)
    m_CapturingInProcess = true;
  else
    m_CapturingInProcess = false;
}

void mitk::OpenCVVideoSource::StopCapturing()
{
  m_CapturePaused = false;
  m_CapturingInProcess = false;
}

bool mitk::OpenCVVideoSource::OnlineImageUndistortionEnabled() const
{
  return m_UndistortCameraImage;
}

void mitk::OpenCVVideoSource::PauseCapturing()
{
  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, nullptr);
    m_CurrentImage = m_PauseImage;
  }
  else
  {
    cvReleaseImage( &m_PauseImage ); // release old pause image if necessary
    m_CurrentImage = nullptr;
    m_PauseImage = nullptr;
  }
}

void mitk::OpenCVVideoSource::EnableOnlineImageUndistortion(mitk::Point3D focal, mitk::Point3D principal, mitk::Point4D distortion)
{
  // 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::DisableOnlineImageUndistortion()
{
  m_UndistortImage = false;
}

// functions for compatibility with ITK segmentation only
void mitk::OpenCVVideoSource::GetCurrentFrameAsItkHSVPixelImage(HSVPixelImageType::Pointer &Image)
{
  FetchFrame();

  // Prepare iteration
  HSVConstIteratorType itImage( Image, Image->GetLargestPossibleRegion());
  itImage.GoToBegin();
  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::RGBtoHSV(float r, float g, float b, float &h, float &s, float &v)
{
    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;
}

/*
* Rotate input image according to rotation angle around the viewing direction.
* Angle is supposed to be calculated in QmitkARRotationComponet in the update() method.
*/
IplImage* mitk::OpenCVVideoSource::FlipImage(IplImage* input)
{
  if(input == nullptr)
  { //warn the user and quit
    std::cout<<"openCVVideoSource: Current video image is null! "<< std::endl;
    return input;
  }

  if(m_FlipXAxisEnabled && !m_FlipYAxisEnabled)
  {
  cvFlip(input,nullptr,0);
  }
  if(!m_FlipXAxisEnabled && m_FlipYAxisEnabled)
  {
  cvFlip(input,nullptr,1);
  }
  if(m_FlipXAxisEnabled && m_FlipYAxisEnabled)
  {
  cvFlip(input,nullptr,-1);
  }

  return input;
}

void mitk::OpenCVVideoSource::Reset()
{
  // set capturing to false
  this->StopCapturing();
  this->m_FrameCount = 0;
  if(m_VideoCapture)
    cvReleaseCapture(&m_VideoCapture);
  m_VideoCapture = nullptr;
  m_CurrentImage = nullptr;
  m_CaptureWidth = 0;
  m_CaptureHeight = 0;
  delete m_CurrentVideoTexture;
  m_CurrentVideoTexture = nullptr;
  if(m_PauseImage)
    cvReleaseImage(&m_PauseImage);
  m_PauseImage = nullptr;
  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::SetEnableXAxisFlip(bool enable)
{
   this->m_FlipXAxisEnabled = enable;
   this->Modified();
}

void mitk::OpenCVVideoSource::SetEnableYAxisFlip(bool enable)
{
   this->m_FlipXAxisEnabled = enable;
   this->Modified();
}