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Team-Fly®
Programming Cameras and Pan-Tilts with DirectX and Java
Programming Cameras and
Pan-Tilts with DirectX and Java
(cid:2)
Ioannis Pavlidis, University of Houston Vassilios
(cid:2)
Morellas, Honeywell, Inc. Pete Roeber, Vital Images
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MorganKaufmannPublishers
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©2003byElsevierScience(USA)
Allrightsreserved.
PrintedintheUnitedStatesofAmerica
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LibraryofCongressControlNumber:2002112509
ISBN:1-55860-756-0
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To our families
Praise for Programming Cameras and Pan-Tilts
with DirectX and Java
Thisbookwillbeaninvaluablesupplementaltextforanyimage
processing/computervisioncoursebothattheundergraduateand
graduatelevel.Iwouldalsoconsideritinlowerlevelundergraduate
programmingcourses!Manyfacultymembers,includingmyself,
withexpertiseincomputervisionhavestartedintegrating
computervisionresearchresultsintocorecourseslikeData
StructuresandAlgorithms.Therewillsoonbestrongindustry
demandforcomputervisionscientistsandengineers—forpeople
whounderstandvisiontechnologyandknowhowtoapplyit.
—Dr.GeorgeBebis,Director,ComputerVisionLab,
UniversityofNevada
Thisbookisanexcellentsourcefortheamateurprogrammerand
theprofessionaldeveloperalike.Itdemonstratesthefundamentals
fordevelopingusefulapplicationsusingbothC++withDirectXand
JavawithJMF,anditcollectsallofthecriticalinformationinone
place.
—JonathanDowdall,UniversityofNevada,Reno
Icommendtheauthorsfortheeffortofprovidingtoolsand
techniquesformanyuserswhoarestrugglingtoacquirean
in-depthunderstandingofvideoprogramming.Thereisagrowing
needforthistopic,butthereexistslimitedusefulinformationfor
theaverageuserordeveloperwhomaynothaveenough
knowledgeinthisparticularfield.Mostdocumentsareeithernot
suitablefornoviceusersortheyaredifficulttofollow.
—Dr.BirBhanu,ProfessorofEECSandDirector
CenterforResearchinIntelligentSystems,
UniversityofCaliforniaatRiverside
Introduction................................................... 1
Ubiquitous Cameras and Computers - A
Technological Revolution............................ 2
Interpersonal Communication.......................... 3
Entertainment................................................... 4
Security and Surveillance ................................ 4
Transportation.................................................. 5
Manufacturing Inspection................................. 6
Hardware Architecture................................ 6
Computer ......................................................... 8
Camera ............................................................ 8
Frame Grabber ................................................ 9
Expansion Bus................................................. 10
Software...................................................... 13
Summary .................................................... 13
The DirectShow Software Development
Kit and the Component Object Model1..5.......
Overview..................................................... 16
The COM .................................................... 18
COM Interfaces........................................... 20
COM Objects .............................................. 28
Our First DirectShow Application -
Playing an AVI File ..................................... 30
How to Write a DirectShow Filter................ 31
Summary .................................................... 32
A Video Preview Application - Source
and Render Filters3.3.......................................
The GraphEdit Utility................................... 34
Building the Video Preview Filter Graph..... 34
The Property Pages of Filters..................... 39
The AVI Decompressor .............................. 41
Summary .................................................... 45
A Custom Filter for Video Processing4..7......
A Simple Change Detection Filter............... 48
Define and Instantiate Our Filter’s Class .... 50
Class Declaration............................................. 50
Filter Instantiation............................................. 54
Override the Appropriate Base Class
Member Functions...................................... 58
The CheckInputType Member Function........... 58
The Transform Member Function .................... 60
The Differencing and Thresholding
Operations ....................................................... 66
The Thresholding Algorithm............................. 69
Access Additional Interfaces....................... 74
Create the Property Page........................... 80
Create Registry Information........................ 92
Summary .................................................... 94
A Simple Video-Based Security
Application9..7..................................................
Building the Application Shell ..................... 98
The Document-View Programming
Architecture................................................. 102
The CCDAppApp Class.............................. 105
The CMainFrame Class.............................. 108
The CCDAppView Class............................. 111
Summary .................................................... 117
A Custom Filter for Pan-Tilt Manipulation1..19
Device Driver Categorization ...................... 120
Class CSearial: The Low-Level Serial
Device Driver .............................................. 122
Reading and Writing Data into a Serial Port .... 126
Class CPanTiltDevice: The High-Level
Driver .......................................................... 130
Opening and Closing a Pan-Tilt
Communication Port ........................................ 131
Setting the Mode and Executing a Pan-Tilt
Movement ........................................................ 132
The CPanTiltFilter Source Filter ................. 136
Developing the GUI through a Property
Page................................................................. 136
The Pan-Tilt Interface ...................................... 143
Development of the Pan-Tilt Filter ................... 143
Running the UWan]iltGilter Using the
\raphgdit Utility ............................................ 147
Summary .................................................... 149
A Custom Filter for Object Tracking1..5..1.......
The Theory of Mean-Shift Algorithm........... 152
A Practical Implementation of the Mean-
Shift Algorithm ............................................ 154
The Color Histogram Distribution of the
Target Model.................................................... 154
The Color Histogram Distribution of the
Target Candidate............................................. 155
Object Tracking via Maximization of Color
Histogram Matching......................................... 156
The Mean-Shift Tracking Algorithm ............ 157
The Color Histogram
CColorHistogramIndex Class ..................... 158
The CModel Parameters Class................... 160
Implementation of the Mean-Shift Object-
Tracking Filter............................................. 161
The IPTTrackingInterface of the Tracking
Filter................................................................. 161
The Structure of the CPTTrackingFilter
Class................................................................ 162
