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EHN: indent is corrected according to convention.
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@leochan2009
leochan2009 committed Dec 18, 2017
1 parent 06b8aa7 commit 550cfe5
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Showing 3 changed files with 64 additions and 62 deletions.
92 changes: 47 additions & 45 deletions Converter/igtlioVideoConverter.cxx
View file
Original file line number Diff line number Diff line change
Expand Up @@ -34,10 +34,10 @@ namespace igtlio
int c = videoMsg->Unpack(checkCRC);

if ((c & igtl::MessageHeader::UNPACK_BODY) == 0) // if CRC check fails
{
{
// TODO: error handling
return 0;
}
}
GenericDecoder* decoder = NULL;
#if defined(OpenIGTLink_USE_H264)
if(videoMsg->GetCodecType().compare(IGTL_VIDEO_CODEC_NAME_H264)==0)
Expand All @@ -52,7 +52,7 @@ namespace igtlio
}
#endif
#if defined(OpenIGTLink_USE_OpenHEVC)
if(videoMsg->GetCodecType().compare(IGTL_VIDEO_CODEC_NAME_OPENHEVC)==0)
if(videoMsg->GetCodecType().compare(IGTL_VIDEO_CODEC_NAME_OPENHEVC)==0)
{
decoder = decoders.find(IGTL_VIDEO_CODEC_NAME_OPENHEVC)->second;
}
Expand All @@ -73,51 +73,53 @@ namespace igtlio
//---------------------------------------------------------------------------
int VideoConverter::IGTLToVTKImageData(igtl::VideoMessage::Pointer videoMsg, ContentData *dest,GenericDecoder * videoStreamDecoder)
{
if(videoStreamDecoder == NULL)
{
std::cerr<<"Failed to decode video message - input video message decoder is NULL";
}
if (!dest->image)
dest->image = vtkSmartPointer<vtkImageData>::New();
vtkSmartPointer<vtkImageData> imageData = dest->image;
if(videoStreamDecoder)
{
int32_t Width = videoMsg->GetWidth();
int32_t Height = videoMsg->GetHeight();
if (videoMsg->GetWidth() != imageData->GetDimensions()[0] ||
videoMsg->GetHeight() != imageData->GetDimensions()[1])

int32_t Width = videoMsg->GetWidth();
int32_t Height = videoMsg->GetHeight();
if (videoMsg->GetWidth() != imageData->GetDimensions()[0] ||
videoMsg->GetHeight() != imageData->GetDimensions()[1])
{
imageData->SetDimensions(Width , Height, 1);
imageData->SetExtent(0, Width-1, 0, Height-1, 0, 0 );
imageData->SetOrigin(0, 0, 0);
imageData->AllocateScalars(VTK_UNSIGNED_CHAR,3);
imageData->SetDimensions(Width , Height, 1);
imageData->SetExtent(0, Width-1, 0, Height-1, 0, 0 );
imageData->SetOrigin(0, 0, 0);
imageData->AllocateScalars(VTK_UNSIGNED_CHAR,3);
}
SourcePicture* pDecodedPic = new SourcePicture();
pDecodedPic->data[0] = new igtl_uint8[Width * Height*3/2];
memset(pDecodedPic->data[0], 0, Width * Height * 3 / 2);
if(!videoStreamDecoder->DecodeVideoMSGIntoSingleFrame(videoMsg, pDecodedPic))
SourcePicture* pDecodedPic = new SourcePicture();
pDecodedPic->data[0] = new igtl_uint8[Width * Height*3/2];
memset(pDecodedPic->data[0], 0, Width * Height * 3 / 2);
if(!videoStreamDecoder->DecodeVideoMSGIntoSingleFrame(videoMsg, pDecodedPic))
{
pDecodedPic->~SourcePicture();
return 0;
pDecodedPic->~SourcePicture();
return 0;
}
igtl_uint16 frameType = videoMsg->GetFrameType();
bool isGrayImage = false;
if(frameType > 0x00FF)//Using first byte of video frame type to indicate gray or color video. It might be better to change the video stream protocol to add additional field for indicating Gray or color image.
igtl_uint16 frameType = videoMsg->GetFrameType();
bool isGrayImage = false;
if(frameType > 0x00FF)//Using first byte of video frame type to indicate gray or color video. It might be better to change the video stream protocol to add additional field for indicating Gray or color image.
{
isGrayImage = true;
frameType = frameType >> 8;
isGrayImage = true;
frameType = frameType >> 8;
}
else
else
{
isGrayImage = false;
isGrayImage = false;
}
if (isGrayImage)
if (isGrayImage)
{
videoStreamDecoder->ConvertYUVToGrayImage(pDecodedPic->data[0], (uint8_t*)imageData->GetScalarPointer(), Height, Width);
videoStreamDecoder->ConvertYUVToGrayImage(pDecodedPic->data[0], (uint8_t*)imageData->GetScalarPointer(), Height, Width);
}
else
else
{
videoStreamDecoder->ConvertYUVToRGB(pDecodedPic->data[0], (uint8_t*)imageData->GetScalarPointer(),Height, Width);
videoStreamDecoder->ConvertYUVToRGB(pDecodedPic->data[0], (uint8_t*)imageData->GetScalarPointer(),Height, Width);
}
imageData->Modified();
delete pDecodedPic;
}
imageData->Modified();
delete pDecodedPic;
return 1;
}

Expand All @@ -139,28 +141,28 @@ namespace igtlio
int scalarType = frameImage->GetScalarType(); // scalar type, currently only unsigned char is supported
int ncomp = frameImage->GetNumberOfScalarComponents();
if (ncomp != 3 && (scalarType != videoMsg->TYPE_INT8 || scalarType != videoMsg->TYPE_UINT8) )
{
{
std::cerr<<"Invalid image data format!";
return 0;
}
}

if (encoder == NULL)
{
{
std::cerr<<"Failed to pack video message - input video message encoder is NULL";
return 0;
}
}

if (videoMsg.IsNull())
{
{
std::cerr<<"Failed to pack video message - input video message is NULL";
return 0;
}
}

if (!source.image->GetScalarPointer())
{
{
std::cerr<<"Unable to send video message - image data is NOT valid!";
return 0;
}
}

int imageSizePixels[3] = { 0 };

Expand All @@ -178,10 +180,10 @@ namespace igtlio
pSrcPic->picHeight = imageSizePixels[1];
if (encoder->GetPicHeight() != iSourceHeight
|| encoder->GetPicWidth() != iSourceWidth)
{
{
encoder->SetPicWidthAndHeight(iSourceWidth,iSourceHeight);
encoder->InitializeEncoder();
}
}
pSrcPic->data[0] = YUV420ImagePointer;
pSrcPic->data[1] = pSrcPic->data[0] + (iSourceWidth * iSourceHeight);
pSrcPic->data[2] = pSrcPic->data[1] + (iSourceWidth * iSourceHeight >> 2);
Expand All @@ -201,7 +203,7 @@ namespace igtlio
int VideoConverter::IGTLToVTKScalarType(int igtlType)
{
switch (igtlType)
{
{
case igtl::VideoMessage::TYPE_INT8: return VTK_CHAR;
case igtl::VideoMessage::TYPE_UINT8: return VTK_UNSIGNED_CHAR;
case igtl::VideoMessage::TYPE_INT16: return VTK_SHORT;
Expand All @@ -211,7 +213,7 @@ namespace igtlio
default:
std::cerr << "Invalid IGTL scalar Type: "<<igtlType << std::endl;
return VTK_VOID;
}
}
}

} //namespace igtlio
14 changes: 7 additions & 7 deletions Devices/igtlioVideoDevice.cxx
View file
Original file line number Diff line number Diff line change
Expand Up @@ -61,7 +61,7 @@ VideoDevice::VideoDevice()
#if defined(OpenIGTLink_USE_OpenHEVC)
VideoStreamDecoderX265 = new H265Decoder();
#endif
#if defined(USE_H265)
#if defined(OpenIGTLink_USE_X265)
VideoStreamEncoderX265 = new H265Encoder();
#endif

Expand Down Expand Up @@ -145,31 +145,31 @@ igtl::MessageBase::Pointer VideoDevice::GetIGTLMessage()
this->OutVideoMessage = igtl::VideoMessage::New();
#if defined(OpenIGTLink_USE_H264)
if(this->CurrentCodecType.compare(IGTL_VIDEO_CODEC_NAME_H264) == 0)
{
{
VideoStreamEncoderH264->SetPicWidthAndHeight(imageSizePixels[0], imageSizePixels[1]);
//newEncoder->SetKeyFrameDistance(25);
VideoStreamEncoderH264->SetRCTaregetBitRate((int)(imageSizePixels[0] * imageSizePixels[1] * 8 * frameRate * bitRatePercent));
VideoStreamEncoderH264->InitializeEncoder();
VideoStreamEncoderH264->SetLosslessLink(true);
this->OutVideoMessage->SetCodecType(IGTL_VIDEO_CODEC_NAME_H264);
iReturn = VideoConverter::toIGTL(HeaderData, Content, &this->OutVideoMessage, VideoStreamEncoderH264, &this->metaInfo);
}
}
#endif
#if defined(OpenIGTLink_USE_VP9)
if(this->CurrentCodecType.compare(IGTL_VIDEO_CODEC_NAME_VP9) == 0)
{
{
VideoStreamEncoderVPX->SetPicWidthAndHeight(imageSizePixels[0], imageSizePixels[1]);
//newEncoder->SetKeyFrameDistance(25);
VideoStreamEncoderVPX->SetRCTaregetBitRate((int)(imageSizePixels[0] * imageSizePixels[1] * 8 * frameRate * bitRatePercent));
VideoStreamEncoderVPX->InitializeEncoder();
VideoStreamEncoderVPX->SetLosslessLink(true);
this->OutVideoMessage->SetCodecType(IGTL_VIDEO_CODEC_NAME_VP9);
iReturn = VideoConverter::toIGTL(HeaderData, Content, &this->OutVideoMessage, VideoStreamEncoderVPX, &this->metaInfo);
}
}
#endif
#if defined(OpenIGTLink_USE_X265)
if(this->CurrentCodecType.compare(IGTL_VIDEO_CODEC_NAME_X265) == 0)
{
{
VideoStreamEncoderX265->SetPicWidthAndHeight(imageSizePixels[0], imageSizePixels[1]);
int bitRateFactor = 7;
VideoStreamEncoderX265->SetLosslessLink(true);
Expand All @@ -178,7 +178,7 @@ igtl::MessageBase::Pointer VideoDevice::GetIGTLMessage()
VideoStreamEncoderX265->SetSpeed(9);
this->OutVideoMessage->SetCodecType(IGTL_VIDEO_CODEC_NAME_X265);
iReturn = VideoConverter::toIGTL(HeaderData, Content, &this->OutVideoMessage, VideoStreamEncoderX265, &this->metaInfo);
}
}
#endif
if (!iReturn)
{
Expand Down
20 changes: 10 additions & 10 deletions Testing/testReceiveVideo.cxx
View file
Original file line number Diff line number Diff line change
Expand Up @@ -58,10 +58,10 @@ int main(int argc, char **argv)


if (fixture.Client.Logic->GetNumberOfDevices() != 0)
{
{
std::cout << "ERROR: Client has devices before they have been added or fundamental error!" << std::endl;
return 1;
}
}

std::cout << "*** Connection done" << std::endl;
//---------------------------------------------------------------------------
Expand All @@ -73,30 +73,30 @@ int main(int argc, char **argv)
//---------------------------------------------------------------------------

if (!fixture.LoopUntilEventDetected(&fixture.Client, igtlio::Logic::NewDeviceEvent))
{
{
return 1;
}
}

if (fixture.Client.Logic->GetNumberOfDevices() == 0)
{
{
std::cout << "FAILURE: No devices received." << std::endl;
return 1;
}
}

igtlio::VideoDevicePointer receivedDevice;
receivedDevice = igtlio::VideoDevice::SafeDownCast(fixture.Client.Logic->GetDevice(0));
if (!receivedDevice)
{
{
std::cout << "FAILURE: Non-video device received." << std::endl;
return 1;
}
}

std::cout << "*** Client received video device." << std::endl;
//---------------------------------------------------------------------------

if (!compare(videoDevice, receivedDevice))
{
{
std::cout << "FAILURE: frame differs from the one sent from server." << std::endl;
return 1;
}
}
}

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