cxImageStreamerOpenCV.cpp

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/*=========================================================================
This file is part of CustusX, an Image Guided Therapy Application.

Copyright (c) 2008-2014, SINTEF Department of Medical Technology
All rights reserved.

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modification, are permitted provided that the following conditions are met:

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   this list of conditions and the following disclaimer.

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   this list of conditions and the following disclaimer in the documentation 
   and/or other materials provided with the distribution.

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   may be used to endorse or promote products derived from this software 
   without specific prior written permission.

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AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 
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=========================================================================*/
#include "cxImageStreamerOpenCV.h"
#include "cxConfig.h"

#include <QCoreApplication>
#include <QTimer>
#include <QTime>
#include <QHostAddress>
#include "igtlOSUtil.h"
#include "igtlImageMessage.h"
#include "igtlServerSocket.h"
#include "vtkImageData.h"
#include "vtkSmartPointer.h"
#include "vtkMetaImageReader.h"
#include "vtkImageImport.h"
#include "vtkLookupTable.h"
#include "vtkImageMapToColors.h"
#include "vtkMetaImageWriter.h"

#include "cxTypeConversions.h"
#include "cxCommandlineImageStreamerFactory.h"
#include "cxStringHelpers.h"
#include "cxDoubleProperty.h"
#include "cxBoolProperty.h"

#ifdef CX_USE_OpenCV
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#endif

namespace cx
{

std::vector<PropertyPtr> ImageStreamerOpenCVArguments::getSettings(QDomElement root)
{
        std::vector<PropertyPtr> retval;
        retval.push_back(this->getVideoPortOption(root));
        retval.push_back(this->getPrintPropertiesOption(root));
        return retval;
}

DoublePropertyBasePtr ImageStreamerOpenCVArguments::getVideoPortOption(QDomElement root)
{
        DoublePropertyPtr retval;
        retval = DoubleProperty::initialize("videoport", "Video Port", "Select video source as an integer from 0 and up.", 0, DoubleRange(0, 10, 1), 0, root);
        retval->setGuiRepresentation(DoublePropertyBase::grSPINBOX);
        retval->setGroup("OpenCV");
        return retval;
}

BoolPropertyBasePtr ImageStreamerOpenCVArguments::getPrintPropertiesOption(QDomElement root)
{
        BoolPropertyPtr retval;
        bool defaultValue = false;
        retval = BoolProperty::initialize("properties", "Print Properties",
                                                                                        "When starting OpenCV, print properties to console",
                                                                                        defaultValue, root);
        retval->setAdvanced(true);
        retval->setGroup("OpenCV");
        return retval;
}

StringMap ImageStreamerOpenCVArguments::convertToCommandLineArguments(QDomElement root)
{
        StringMap retval;
        retval["--type"] = "OpenCV";
        retval["--videoport"] = this->getVideoPortOption(root)->getValueAsVariant().toString();
        if (this->getPrintPropertiesOption(root)->getValue())
                retval["--properties"] = "1";
        return retval;
}

QStringList ImageStreamerOpenCVArguments::getArgumentDescription()
{
        QStringList retval;
#ifdef CX_USE_OpenCV
        retval << "--videoport:         video id,     default=0";
        retval << "--in_width:          width of incoming image, default=camera";
        retval << "--in_height:         height of incoming image, default=camera";
        retval << "--out_width:         width of outgoing image, default=camera";
        retval << "--out_height:                width of outgoing image, default=camera";
        retval << "--properties:                dump image properties";
#endif
        return retval;
}

} // namespace cx

//------------------------------------------------------------
//------------------------------------------------------------
//------------------------------------------------------------

namespace
{

//------------------------------------------------------------
// Function to generate random matrix.
void GetRandomTestMatrix(igtl::Matrix4x4& matrix)
{
        //float position[3];
        //float orientation[4];

        matrix[0][0] = 1.0;
        matrix[1][0] = 0.0;
        matrix[2][0] = 0.0;
        matrix[3][0] = 0.0;
        matrix[0][1] = 0.0;
        matrix[1][1] = -1.0;
        matrix[2][1] = 0.0;
        matrix[3][1] = 0.0;
        matrix[0][2] = 0.0;
        matrix[1][2] = 0.0;
        matrix[2][2] = 1.0;
        matrix[3][2] = 0.0;
        matrix[0][3] = 0.0;
        matrix[1][3] = 0.0;
        matrix[2][3] = 0.0;
        matrix[3][3] = 1.0;
}

}

namespace cx
{
ImageStreamerOpenCV::ImageStreamerOpenCV()
{
        mGrabbing = false;
        mAvailableImage = false;
        setSendInterval(40);

#ifdef CX_USE_OpenCV
        mVideoCapture.reset(new cv::VideoCapture());
#endif
        mSendTimer = new QTimer(this);
        connect(mSendTimer, SIGNAL(timeout()), this, SLOT(send())); // this signal will be executed in the thread of THIS, i.e. the main thread.
}

ImageStreamerOpenCV::~ImageStreamerOpenCV()
{
        this->deinitialize_local();
}

QString ImageStreamerOpenCV::getType()
{
        return "OpenCV";
}

QStringList ImageStreamerOpenCV::getArgumentDescription()
{
        return ImageStreamerOpenCVArguments().getArgumentDescription();
}


void ImageStreamerOpenCV::initialize(StringMap arguments)
{
        CommandLineStreamer::initialize(arguments);
}

void ImageStreamerOpenCV::deinitialize_local()
{
#ifdef CX_USE_OpenCV
        while (mGrabbing) // grab() method seems to call processmessages itself...
                qApp->processEvents();
        mVideoCapture->release();
        mVideoCapture.reset(new cv::VideoCapture());
#endif
}

void ImageStreamerOpenCV::initialize_local()
{

        if (!mArguments.count("videoport"))
                mArguments["videoport"] = "0";
        if (!mArguments.count("out_width"))
                mArguments["out_width"] = "";
        if (!mArguments.count("out_height"))
                mArguments["out_height"] = "";
    if (!mArguments.count("in_width"))
        mArguments["in_width"] = "";
    if (!mArguments.count("in_height"))
        mArguments["in_height"] = "";

        QString videoSource = mArguments["videoport"];
        int videoport = convertStringWithDefault(mArguments["videoport"], 0);

        bool sourceIsInt = false;
        videoSource.toInt(&sourceIsInt);

#ifdef CX_USE_OpenCV
        if (sourceIsInt){
            // open device (camera)
                mVideoCapture->open(videoport);
        }
        else{
        // open file
                mVideoCapture->open(videoSource.toStdString().c_str());
        }

        if (!mVideoCapture->isOpened())
        {
                cerr << "ImageStreamerOpenCV: Failed to open a video device or video file!\n" << endl;
                return;
        }
        else
        {
                //determine default values
                int default_width = mVideoCapture->get(CV_CAP_PROP_FRAME_WIDTH);
                int default_height = mVideoCapture->get(CV_CAP_PROP_FRAME_HEIGHT);

                //set input size
                int in_width = convertStringWithDefault(mArguments["in_width"], default_width);
                int in_height = convertStringWithDefault(mArguments["in_height"], default_height);
                mVideoCapture->set(CV_CAP_PROP_FRAME_WIDTH, in_width);
                mVideoCapture->set(CV_CAP_PROP_FRAME_HEIGHT, in_height);

                //set output size (resize)
                int out_width = convertStringWithDefault(mArguments["out_width"], in_width);
                int out_height = convertStringWithDefault(mArguments["out_height"], in_height);
                mRescaleSize.setWidth(out_width);
                mRescaleSize.setHeight(out_height);

                if (mArguments.count("properties"))
                        this->dumpProperties();

                std::cout << "ImageStreamerOpenCV: Started streaming from openCV device "
                        << videoSource.toStdString()
                        << ", size=(" << in_width << "," << in_height << ")";
                if (( in_width!=mRescaleSize.width() )|| (in_height!=mRescaleSize.height()))
                        std::cout << ". Scaled to (" << mRescaleSize.width() << "," << mRescaleSize.height() << ")";

                std::cout << std::endl;
        }
#endif
}

bool ImageStreamerOpenCV::startStreaming(SenderPtr sender)
{
        this->initialize_local();

        if (!mSendTimer)
        {
                std::cout << "ImageStreamerOpenCV: Failed to start streaming: Not initialized." << std::endl;
                return false;
        }

        mSender = sender;
        mSendTimer->start(getSendInterval());
        this->continousGrabEvent(); // instead of grabtimer

        return true;
}

void ImageStreamerOpenCV::stopStreaming()
{
        if (!mSendTimer)
                return;
        mSendTimer->stop();
        mSender.reset();

        this->deinitialize_local();
}

void ImageStreamerOpenCV::dumpProperties()
{
#ifdef CX_USE_OpenCV
        this->dumpProperty(CV_CAP_PROP_POS_MSEC, "CV_CAP_PROP_POS_MSEC");
        this->dumpProperty(CV_CAP_PROP_POS_FRAMES, "CV_CAP_PROP_POS_FRAMES");
        this->dumpProperty(CV_CAP_PROP_POS_AVI_RATIO, "CV_CAP_PROP_POS_AVI_RATIO");
        this->dumpProperty(CV_CAP_PROP_FRAME_WIDTH, "CV_CAP_PROP_FRAME_WIDTH");
        this->dumpProperty(CV_CAP_PROP_FRAME_HEIGHT, "CV_CAP_PROP_FRAME_HEIGHT");
        this->dumpProperty(CV_CAP_PROP_FPS, "CV_CAP_PROP_FPS");
        this->dumpProperty(CV_CAP_PROP_FOURCC, "CV_CAP_PROP_FOURCC");
        this->dumpProperty(CV_CAP_PROP_FRAME_COUNT, "CV_CAP_PROP_FRAME_COUNT");
        this->dumpProperty(CV_CAP_PROP_FORMAT, "CV_CAP_PROP_FORMAT");
        this->dumpProperty(CV_CAP_PROP_MODE, "CV_CAP_PROP_MODE");
        this->dumpProperty(CV_CAP_PROP_BRIGHTNESS, "CV_CAP_PROP_BRIGHTNESS");
        this->dumpProperty(CV_CAP_PROP_CONTRAST, "CV_CAP_PROP_CONTRAST");
        this->dumpProperty(CV_CAP_PROP_SATURATION, "CV_CAP_PROP_SATURATION");
        this->dumpProperty(CV_CAP_PROP_HUE, "CV_CAP_PROP_HUE");
        this->dumpProperty(CV_CAP_PROP_GAIN, "CV_CAP_PROP_GAIN");
        this->dumpProperty(CV_CAP_PROP_EXPOSURE, "CV_CAP_PROP_EXPOSURE");
        this->dumpProperty(CV_CAP_PROP_CONVERT_RGB, "CV_CAP_PROP_CONVERT_RGB");
        //  this->dumpProperty(CV_CAP_PROP_WHITE_BALANCE, "CV_CAP_PROP_WHITE_BALANCE");
        this->dumpProperty(CV_CAP_PROP_RECTIFICATION, "CV_CAP_PROP_RECTIFICATION");
#endif
}

void ImageStreamerOpenCV::dumpProperty(int val, QString name)
{
#ifdef CX_USE_OpenCV
        double value = mVideoCapture->get(val);
        if (value != -1)
                std::cout << "Property " << name.toStdString() << " : " << mVideoCapture->get(val) << std::endl;
#endif
}

void ImageStreamerOpenCV::continousGrabEvent()
{
        if (!mSendTimer->isActive())
                return;
        this->grab();
        QMetaObject::invokeMethod(this, "continousGrabEvent", Qt::QueuedConnection);
}

void ImageStreamerOpenCV::grab()
{
#ifdef CX_USE_OpenCV
        if (!mVideoCapture->isOpened())
        {
                return;
        }
        mGrabbing = true;
        // grab images from camera to opencv internal buffer, do not process
        mVideoCapture->grab();
        mLastGrabTime = QDateTime::currentDateTime();
        mAvailableImage = true;
        mGrabbing = false;
#endif
}

void ImageStreamerOpenCV::send()
{
        if (!mSender || !mSender->isReady())
                return;
        if (!mAvailableImage)
        {
//              reportDebug("dropped resend of frame");
                return;
        }
        PackagePtr package(new Package());
        package->mIgtLinkImageMessage = this->getImageMessage();
        mSender->send(package);
        mAvailableImage = false;

//      static int counter=0;
//      if (++counter%50==0)
//              std::cout << "=== ImageStreamerOpenCV   send: " << start.msecsTo(QTime::currentTime()) << " ms" << std::endl;
}

IGTLinkImageMessage::Pointer ImageStreamerOpenCV::getImageMessage()
{
        IGTLinkImageMessage::Pointer imgMsg = IGTLinkImageMessage::New();

#ifdef CX_USE_OpenCV
        if (!mVideoCapture->isOpened())
                return IGTLinkImageMessage::Pointer();

        QTime start = QTime::currentTime();

        cv::Mat frame_source;
        //  mVideoCapture >> frame_source;
        if (!mVideoCapture->retrieve(frame_source, 0))
                return IGTLinkImageMessage::Pointer();

        if (this->thread() == QCoreApplication::instance()->thread() && !mSender)
        {
                cv::imshow("ImageStreamerOpenCV", frame_source);
        }

        //  std::cout << "grab" << start.msecsTo(QTime::currentTime()) << " ms" << std::endl;
        //  return igtl::ImageMessage::Pointer();

        igtl::TimeStamp::Pointer timestamp;
        timestamp = igtl::TimeStamp::New();
        //  double now = 1.0/1000*(double)QDateTime::currentDateTime().toMSecsSinceEpoch();
        double grabTime = 1.0 / 1000 * (double) mLastGrabTime.toMSecsSinceEpoch();
        timestamp->SetTime(grabTime);
        static QDateTime lastlastGrabTime = mLastGrabTime;
//      std::cout << "OpenCV stamp:\t" << mLastGrabTime.toString("hh:mm:ss.zzz").toStdString() << std::endl;
//      std::cout << "OpenCV diff:\t" <<lastlastGrabTime.msecsTo(mLastGrabTime) << "\tdelay:\t" << mLastGrabTime.msecsTo(QDateTime::currentDateTime()) << std::endl;
        lastlastGrabTime = mLastGrabTime;

        cv::Mat frame = frame_source;
        if (( frame.cols!=mRescaleSize.width() )|| (frame.rows!=mRescaleSize.height()))
        {
                cv::resize(frame_source, frame, cv::Size(mRescaleSize.width(), mRescaleSize.height()), 0, 0, CV_INTER_LINEAR);
        }

        //  std::cout << "grab " << start.msecsTo(QTime::currentTime()) << " ms" << std::endl;
//      std::cout << "WH=("<< frame.cols << "," << frame.rows << ")" << ", Channels,Depth=("<< frame.channels() << "," << frame.depth() << ")" << std::endl;


        int size[] =
        { 1.0, 1.0, 1.0 }; // spacing (mm/pixel)
        size[0] = frame.cols;
        size[1] = frame.rows;

        float spacingF[] =
        { 1.0, 1.0, 1.0 }; // spacing (mm/pixel)
        int* svsize = size;
        int svoffset[] =
        { 0, 0, 0 }; // sub-volume offset
        int scalarType = -1;

        if (frame.channels() == 3 || frame.channels() == 4)
        {
                scalarType = IGTLinkImageMessage::TYPE_UINT32;// scalar type
        }
        else if (frame.channels() == 1)
        {
                if (frame.depth() == 16)
                {
                        scalarType = IGTLinkImageMessage::TYPE_UINT16;// scalar type
                }
                else if (frame.depth() == 8)
                {
                        scalarType = IGTLinkImageMessage::TYPE_UINT8;// scalar type
                }
        }

        if (scalarType == -1)
        {
                std::cerr << "unknown image type" << std::endl;
                return IGTLinkImageMessage::Pointer();
        }
        //------------------------------------------------------------
        // Create a new IMAGE type message
//      IGTLinkImageMessage::Pointer imgMsg = IGTLinkImageMessage::New();
        imgMsg->SetDimensions(size);
        imgMsg->SetSpacing(spacingF);
        imgMsg->SetScalarType(scalarType);
        imgMsg->SetSubVolume(svsize, svoffset);
        imgMsg->AllocateScalars();
        imgMsg->SetTimeStamp(timestamp);

        unsigned char* destPtr = reinterpret_cast<unsigned char*> (imgMsg->GetScalarPointer());
        uchar* src = frame.data;
        //  std::cout << "pre copy " << start.msecsTo(QTime::currentTime()) << " ms" << std::endl;
        int N = size[0] * size[1];
        QString colorFormat;

        if (frame.channels() >= 3)
        {
                if (frame.isContinuous())
                {
                        // 3-channel continous colors
                        for (int i = 0; i < N; ++i)
                        {
                                *destPtr++ = 255;
                                *destPtr++ = src[2];
                                *destPtr++ = src[1];
                                *destPtr++ = src[0];
                                src += 3;
                        }
                }
                else
                {
//                      std::cout << "noncontinous conversion, rows=" << size[1] << std::endl;
                        for (int i=0; i<size[1]; ++i)
                        {
                                 const uchar* src = frame.ptr<uchar>(i);
                                 for (int j=0; j<size[0]; ++j)
                                 {
                                                *destPtr++ = 255;
                                                *destPtr++ = src[2];
                                                *destPtr++ = src[1];
                                                *destPtr++ = src[0];
                                                src += 3;
                                 }
                        }
                }
                colorFormat = "ARGB";
        }
        if (frame.channels() == 1)
        {
                if (!frame.isContinuous())
                {
                        std::cout << "Error: Non-continous frame data." << std::endl;
                        return IGTLinkImageMessage::Pointer();
                }

                // BW camera
                for (int i = 0; i < N; ++i)
                {
                        *destPtr++ = *src++;
                }
                colorFormat = "R";
        }

        imgMsg->SetDeviceName(cstring_cast(QString("cxOpenCV [%1]").arg(colorFormat)));

        //------------------------------------------------------------
        // Get randome orientation matrix and set it.
        igtl::Matrix4x4 matrix;
        GetRandomTestMatrix(matrix);
        imgMsg->SetMatrix(matrix);

//        std::cout << "   grab+process " << start.msecsTo(QTime::currentTime()) << " ms" << std::endl;
#endif
        return imgMsg;
}

//------------------------------------------------------------
//------------------------------------------------------------
//------------------------------------------------------------

}