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Merge pull request IGSIO#36 from leochan2009/master
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FEATURE: Video Streaming initial commit, IGSIO#35
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@leochan2009
leochan2009 authored Dec 18, 2017
2 parents 568eaeb + 550cfe5 commit b3dc587
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Showing 13 changed files with 218 additions and 176 deletions.
12 changes: 9 additions & 3 deletions Converter/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -14,10 +14,8 @@ set(${PROJECT_NAME}_INCLUDE_DIRECTORIES PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}>
$<INSTALL_INTERFACE:${OpenIGTLinkIO_INCLUDE_INSTALL}>
)

set(${PROJECT_NAME}_SRCS
igtlioBaseConverter.cxx
#igtlioVideoConverter.cxx
igtlioImageConverter.cxx
igtlioPolyDataConverter.cxx
igtlioStatusConverter.cxx
Expand All @@ -28,14 +26,22 @@ set(${PROJECT_NAME}_SRCS

set(${PROJECT_NAME}_HDRS
igtlioBaseConverter.h
#igtlioVideoConverter.h
igtlioImageConverter.h
igtlioPolyDataConverter.h
igtlioStatusConverter.h
igtlioTransformConverter.h
igtlioStringConverter.h
)

IF(OpenIGTLink_ENABLE_VIDEOSTREAMING)
LIST(APPEND ${PROJECT_NAME}_SRCS
igtlioVideoConverter.cxx
)
LIST(APPEND ${PROJECT_NAME}_HDRS
igtlioVideoConverter.h
)
ENDIF()

set(${PROJECT_NAME}_TARGET_LIBRARIES
${OpenIGTLink_LIBRARIES}
${VTK_LIBRARIES}
Expand Down
130 changes: 75 additions & 55 deletions Converter/igtlioVideoConverter.cxx
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Original file line number Diff line number Diff line change
Expand Up @@ -11,9 +11,6 @@

#include "igtlioVideoConverter.h"

#include <igtl_util.h>
#include <igtlVideoMessage.h>

#include <vtkImageData.h>
#include <vtkMatrix4x4.h>
#include <vtkVersion.h>
Expand All @@ -24,8 +21,8 @@ namespace igtlio
int VideoConverter::fromIGTL(igtl::MessageBase::Pointer source,
HeaderData* header,
ContentData* dest,
GenericDecoder * decoder,
bool checkCRC)
std::map<std::string,GenericDecoder*> decoders,
bool checkCRC, igtl::MessageBase::MetaDataMap* metaInfo)
{
// Create a message buffer to receive image data
igtl::VideoMessage::Pointer videoMsg;
Expand All @@ -37,13 +34,32 @@ 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)
{
decoder = decoders.find(IGTL_VIDEO_CODEC_NAME_H264)->second;
}
#endif
#if defined(OpenIGTLink_USE_VP9)
if(videoMsg->GetCodecType().compare(IGTL_VIDEO_CODEC_NAME_VP9)==0)
{
decoder = decoders.find(IGTL_VIDEO_CODEC_NAME_VP9)->second;
}
#endif
#if defined(OpenIGTLink_USE_OpenHEVC)
if(videoMsg->GetCodecType().compare(IGTL_VIDEO_CODEC_NAME_OPENHEVC)==0)
{
decoder = decoders.find(IGTL_VIDEO_CODEC_NAME_OPENHEVC)->second;
}
#endif

// get header
if (!IGTLtoHeader(dynamic_pointer_cast<igtl::MessageBase>(videoMsg), header))
if (!IGTLtoHeader(dynamic_pointer_cast<igtl::MessageBase>(videoMsg), header, metaInfo))
return 0;

// get Video
Expand All @@ -57,89 +73,96 @@ 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;
}

//---------------------------------------------------------------------------
int VideoConverter::toIGTL(const HeaderData& header, const ContentData& source, igtl::VideoMessage::Pointer* dest, GenericEncoder* encoder)
int VideoConverter::toIGTL(const HeaderData& header, const ContentData& source, igtl::VideoMessage::Pointer* dest, GenericEncoder* encoder, igtl::MessageBase::MetaDataMap* metaInfo)
{
if (dest->IsNull())
*dest = igtl::VideoMessage::New();
(*dest)->InitPack();
igtl::MessageBase::Pointer basemsg = dynamic_pointer_cast<igtl::MessageBase>(*dest);

HeadertoIGTL(header, &basemsg, metaInfo);

igtl::VideoMessage::Pointer videoMsg = *dest;
igtl::MessageBase::Pointer basemsg = dynamic_pointer_cast<igtl::MessageBase>(videoMsg);
HeadertoIGTL(header, &basemsg);
if (metaInfo!=NULL)
videoMsg->SetHeaderVersion(IGTL_HEADER_VERSION_2);

vtkImageData* frameImage = source.image;
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 @@ -157,10 +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 @@ -169,9 +192,6 @@ namespace igtlio
static int frameIndex = 0;
frameIndex++;
videoMsg->SetMessageID(frameIndex);
igtl::TimeStamp::Pointer igtlFrameTime = igtl::TimeStamp::New();
igtlFrameTime->SetTime(header.timestamp);
videoMsg->SetTimeStamp(igtlFrameTime);
int iEncFrames = encoder->EncodeSingleFrameIntoVideoMSG(pSrcPic, videoMsg.GetPointer(), isGrayImage);
delete[] YUV420ImagePointer;
YUV420ImagePointer = NULL;
Expand All @@ -183,7 +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 @@ -193,7 +213,7 @@ namespace igtlio
default:
std::cerr << "Invalid IGTL scalar Type: "<<igtlType << std::endl;
return VTK_VOID;
}
}
}

} //namespace igtlio
18 changes: 10 additions & 8 deletions Converter/igtlioVideoConverter.h
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Original file line number Diff line number Diff line change
Expand Up @@ -17,21 +17,23 @@


// OpenIGTLink includes
#include <igtlVideoMessage.h>
#include "igtlVideoMessage.h"
#if OpenIGTLink_LINK_H264
#include "igtlConfigure.h"
#include "igtl_util.h"
#if defined(OpenIGTLink_USE_H264)
#include "H264Encoder.h"
#include "H264Decoder.h"
#endif
#if OpenIGTLink_LINK_VP9
#if defined(OpenIGTLink_USE_VP9)
#include "VP9Encoder.h"
#include "VP9Decoder.h"
#endif
#if OpenIGTLink_LINK_X265
#include "H265Encoder.h"
#if defined(OpenIGTLink_USE_OpenHEVC)
#include "H265Decoder.h"
#endif

#if defined(OpenIGTLink_USE_X265)
#include "H265Encoder.h"
#endif
#include "igtlioBaseConverter.h"

class vtkImageData;
Expand Down Expand Up @@ -59,8 +61,8 @@ namespace igtlio
static const char* GetIGTLName() { return GetIGTLTypeName(); }
static const char* GetIGTLTypeName() { return "VIDEO"; }

static int fromIGTL(igtl::MessageBase::Pointer source, HeaderData* header, ContentData* content, GenericDecoder* decoder, bool checkCRC);
static int toIGTL(const HeaderData& header, const ContentData& source, igtl::VideoMessage::Pointer* dest, GenericEncoder* encoder);
static int fromIGTL(igtl::MessageBase::Pointer source, HeaderData* header, ContentData* content, std::map<std::string,GenericDecoder*> decoders, bool checkCRC, igtl::MessageBase::MetaDataMap* metaInfo = NULL);
static int toIGTL(const HeaderData& header, const ContentData& source, igtl::VideoMessage::Pointer* dest, GenericEncoder* encoder, igtl::MessageBase::MetaDataMap* metaInfo = NULL);

protected:

Expand Down
11 changes: 9 additions & 2 deletions Devices/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -17,7 +17,6 @@ set(${PROJECT_NAME}_INCLUDE_DIRECTORIES PUBLIC

set(${PROJECT_NAME}_SRCS
igtlioDevice.cxx
#igtlioVideoDevice.cxx
igtlioImageDevice.cxx
igtlioStatusDevice.cxx
igtlioStringDevice.cxx
Expand All @@ -28,7 +27,6 @@ set(${PROJECT_NAME}_SRCS

set(${PROJECT_NAME}_HDRS
igtlioDevice.h
#igtlioVideoDevice.h
igtlioImageDevice.h
igtlioStatusDevice.h
igtlioStringDevice.h
Expand All @@ -37,6 +35,15 @@ set(${PROJECT_NAME}_HDRS
igtlioPolyDataDevice.h
)

IF(OpenIGTLink_ENABLE_VIDEOSTREAMING)
LIST(APPEND ${PROJECT_NAME}_SRCS
igtlioVideoDevice.cxx
)
LIST(APPEND ${PROJECT_NAME}_HDRS
igtlioVideoDevice.h
)
ENDIF()

set(${PROJECT_NAME}_TARGET_LIBRARIES
igtlioConverter
${OpenIGTLink_LIBRARIES}
Expand Down
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