diff --git a/Modules/OpenCL/Testing/mitkOclResourceServiceTest.cpp b/Modules/OpenCL/Testing/mitkOclResourceServiceTest.cpp index 7ad78da5cf..87cb8ec36d 100644 --- a/Modules/OpenCL/Testing/mitkOclResourceServiceTest.cpp +++ b/Modules/OpenCL/Testing/mitkOclResourceServiceTest.cpp @@ -1,115 +1,114 @@ /*=================================================================== The Medical Imaging Interaction Toolkit (MITK) Copyright (c) German Cancer Research Center, Division of Medical and Biological Informatics. All rights reserved. This software is distributed WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See LICENSE.txt or http://www.mitk.org for details. ===================================================================*/ #include "mitkTestingMacros.h" #include "mitkOclUtils.h" #include #include #include #include "mitkOclResourceService.h" #include "mitkException.h" #include #include using namespace mitk; /** This function is testing the class mitk::OclContextManager. */ int mitkOclResourceServiceTest( int argc, char* argv[] ) { MITK_TEST_BEGIN("mitkOclResourceServiceTest"); us::ServiceReference ref = us::GetModuleContext()->GetServiceReference(); MITK_TEST_CONDITION_REQUIRED( ref != NULL, "Resource service available." ); OclResourceService* resources = us::GetModuleContext()->GetService(ref); MITK_TEST_CONDITION_REQUIRED( resources != NULL, "Resource service available." ); cl_context first = resources->GetContext(); MITK_TEST_CONDITION_REQUIRED(first != NULL, "Got not-null OpenCL context."); OclResourceService* resources_2 = us::GetModuleContext()->GetService(ref); MITK_TEST_CONDITION_REQUIRED( resources == resources_2, "Same resource reference the second time." ); cl_context second = resources_2->GetContext(); MITK_TEST_CONDITION_REQUIRED( first == second, "Both return same context"); // further tests requires for valid context if( first ) { cl_image_format testFmt; testFmt.image_channel_data_type = CL_FLOAT; testFmt.image_channel_order = CL_RGBA; MITK_TEST_CONDITION( resources->GetIsFormatSupported( &testFmt ), "Checking if format CL_FLOAT / CL_RGBA supported." ); } // create test program const std::string testProgramSource = "__kernel void testKernel( __global uchar* buffer ){ \ const unsigned int globalPosX = get_global_id(0); \ buffer[globalPosX] = buffer[globalPosX] + 1;}"; cl_int err = 0; size_t progSize = testProgramSource.length(); const char* progSource = testProgramSource.c_str(); cl_program testProgram = clCreateProgramWithSource( first, 1, &progSource, &progSize, &err ); MITK_TEST_CONDITION_REQUIRED( err == CL_SUCCESS, "Test program loaded succesfully."); err = clBuildProgram(testProgram, 0, NULL, NULL, NULL, NULL); MITK_TEST_CONDITION_REQUIRED( err == CL_SUCCESS, "Test program built succesfully."); resources->InsertProgram( testProgram, "test_program", true); MITK_TEST_CONDITION( resources->GetProgram("test_program") == testProgram, "Program correctly stored by ResourceService"); // the manger throws exception when accessing non-existant programs MITK_TEST_FOR_EXCEPTION( mitk::Exception, resources->GetProgram("blah"); ); // another test source, this one does not compile const std::string testProgramSource_notCompiling = "__kernel void testKernel( __global uchar* buffer ){ \ const unsigned intt globalPosX = get_global_id(0); }"; progSize = testProgramSource_notCompiling.length(); const char* progSource2 = testProgramSource_notCompiling.c_str(); cl_program notComp_testProgram = clCreateProgramWithSource( first, 1, &progSource2, &progSize, &err ); // the error in the source code has no influence on loading the program MITK_TEST_CONDITION_REQUIRED( err == CL_SUCCESS, "Test program 2 loaded succesfully."); err = clBuildProgram(notComp_testProgram, 0, NULL, NULL, NULL, NULL); MITK_TEST_CONDITION_REQUIRED( err == CL_BUILD_PROGRAM_FAILURE, "Test program 2 failed to build."); std::cout << " --> The (expected) OpenCL Build Error occured : ";// << GetOclErrorString(err); resources->InsertProgram( notComp_testProgram, "test_program_failed", true); MITK_TEST_CONDITION( resources->GetProgram("test_program_failed") == notComp_testProgram, "Program correctly stored by ResourceService"); // calling the InvalidateStorage() will result in removing the _failed test program inserted above resources->InvalidateStorage(); // the second test program should no more exist in the storage, hence we await an exception MITK_TEST_FOR_EXCEPTION( mitk::Exception, resources->GetProgram("test_program_failed"); ); MITK_TEST_END(); } - -US_INITIALIZE_MODULE("OpenCLTestDriver", "", "", "" ) \ No newline at end of file +US_INITIALIZE_MODULE("OpenCLTestDriver", "" ) diff --git a/Modules/ToFProcessing/mitkToFDistanceImageToSurfaceFilter.cpp b/Modules/ToFProcessing/mitkToFDistanceImageToSurfaceFilter.cpp index 140342ec4a..5eff6f4042 100644 --- a/Modules/ToFProcessing/mitkToFDistanceImageToSurfaceFilter.cpp +++ b/Modules/ToFProcessing/mitkToFDistanceImageToSurfaceFilter.cpp @@ -1,344 +1,345 @@ /*=================================================================== The Medical Imaging Interaction Toolkit (MITK) Copyright (c) German Cancer Research Center, Division of Medical and Biological Informatics. All rights reserved. This software is distributed WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See LICENSE.txt or http://www.mitk.org for details. ===================================================================*/ #include #include #include #include "mitkImageReadAccessor.h" #include #include #include #include #include #include #include #include #include #include mitk::ToFDistanceImageToSurfaceFilter::ToFDistanceImageToSurfaceFilter() : m_IplScalarImage(NULL), m_CameraIntrinsics(), m_TextureImageWidth(0), m_TextureImageHeight(0), m_InterPixelDistance(), m_TextureIndex(0), m_GenerateTriangularMesh(true), m_TriangulationThreshold(-1.0) { m_InterPixelDistance.Fill(0.045); m_CameraIntrinsics = mitk::CameraIntrinsics::New(); m_CameraIntrinsics->SetFocalLength(273.138946533,273.485900879); m_CameraIntrinsics->SetPrincipalPoint(107.867935181,98.3807373047); m_CameraIntrinsics->SetDistorsionCoeffs(-0.486690014601f,0.553943634033f,0.00222016777843f,-0.00300851115026f); m_ReconstructionMode = WithInterPixelDistance; } mitk::ToFDistanceImageToSurfaceFilter::~ToFDistanceImageToSurfaceFilter() { } void mitk::ToFDistanceImageToSurfaceFilter::SetInput( Image* distanceImage, mitk::CameraIntrinsics::Pointer cameraIntrinsics ) { this->SetCameraIntrinsics(cameraIntrinsics); this->SetInput(0,distanceImage); } void mitk::ToFDistanceImageToSurfaceFilter::SetInput( unsigned int idx, Image* distanceImage, mitk::CameraIntrinsics::Pointer cameraIntrinsics ) { this->SetCameraIntrinsics(cameraIntrinsics); this->SetInput(idx,distanceImage); } void mitk::ToFDistanceImageToSurfaceFilter::SetInput( mitk::Image* distanceImage ) { this->SetInput(0,distanceImage); } void mitk::ToFDistanceImageToSurfaceFilter::SetInput( unsigned int idx, mitk::Image* distanceImage ) { if ((distanceImage == NULL) && (idx == this->GetNumberOfInputs() - 1)) // if the last input is set to NULL, reduce the number of inputs by one this->SetNumberOfInputs(this->GetNumberOfInputs() - 1); else this->ProcessObject::SetNthInput(idx, distanceImage); // Process object is not const-correct so the const_cast is required here this->CreateOutputsForAllInputs(); } mitk::Image* mitk::ToFDistanceImageToSurfaceFilter::GetInput() { return this->GetInput(0); } mitk::Image* mitk::ToFDistanceImageToSurfaceFilter::GetInput( unsigned int idx ) { if (this->GetNumberOfInputs() < 1) { mitkThrow() << "No input given for ToFDistanceImageToSurfaceFilter"; } return static_cast< mitk::Image*>(this->ProcessObject::GetInput(idx)); } void mitk::ToFDistanceImageToSurfaceFilter::GenerateData() { mitk::Surface::Pointer output = this->GetOutput(); assert(output); mitk::Image::Pointer input = this->GetInput(); assert(input); // mesh points int xDimension = input->GetDimension(0); int yDimension = input->GetDimension(1); unsigned int size = xDimension*yDimension; //size of the image-array std::vector isPointValid; isPointValid.resize(size); vtkSmartPointer points = vtkSmartPointer::New(); points->SetDataTypeToDouble(); vtkSmartPointer polys = vtkSmartPointer::New(); vtkSmartPointer vertices = vtkSmartPointer::New(); vtkSmartPointer scalarArray = vtkSmartPointer::New(); vtkSmartPointer textureCoords = vtkSmartPointer::New(); textureCoords->SetNumberOfComponents(2); textureCoords->Allocate(size); //Make a vtkIdList to save the ID's of the polyData corresponding to the image //pixel ID's. See below for more documentation. m_VertexIdList = vtkSmartPointer::New(); //Allocate the object once else it would automatically allocate new memory //for every vertex and perform a copy which is expensive. m_VertexIdList->Allocate(size); m_VertexIdList->SetNumberOfIds(size); for(unsigned int i = 0; i < size; ++i) { m_VertexIdList->SetId(i, 0); } float* scalarFloatData = NULL; if (this->m_IplScalarImage) // if scalar image is defined use it for texturing { scalarFloatData = (float*)this->m_IplScalarImage->imageData; } else if (this->GetInput(m_TextureIndex)) // otherwise use intensity image (input(2)) { ImageReadAccessor inputAcc(this->GetInput(m_TextureIndex)); scalarFloatData = (float*)inputAcc.GetData(); } ImageReadAccessor inputAcc(input, input->GetSliceData(0,0,0)); float* inputFloatData = (float*)inputAcc.GetData(); //calculate world coordinates mitk::ToFProcessingCommon::ToFPoint2D focalLengthInPixelUnits; mitk::ToFProcessingCommon::ToFScalarType focalLengthInMm; if((m_ReconstructionMode == WithOutInterPixelDistance) || (m_ReconstructionMode == Kinect)) { focalLengthInPixelUnits[0] = m_CameraIntrinsics->GetFocalLengthX(); focalLengthInPixelUnits[1] = m_CameraIntrinsics->GetFocalLengthY(); } else if( m_ReconstructionMode == WithInterPixelDistance) { //convert focallength from pixel to mm focalLengthInMm = (m_CameraIntrinsics->GetFocalLengthX()*m_InterPixelDistance[0]+m_CameraIntrinsics->GetFocalLengthY()*m_InterPixelDistance[1])/2.0; } mitk::ToFProcessingCommon::ToFPoint2D principalPoint; principalPoint[0] = m_CameraIntrinsics->GetPrincipalPointX(); principalPoint[1] = m_CameraIntrinsics->GetPrincipalPointY(); mitk::Point3D origin = input->GetGeometry()->GetOrigin(); for (int j=0; jInsertPoint(pixelID, cartesianCoordinates.GetDataPointer()). //If we use points->InsertNextPoint(...) instead, the ID's do not //correspond to the image pixel ID's. Thus, we have to save them //in the vertexIdList. m_VertexIdList->SetId(pixelID, points->InsertNextPoint(cartesianCoordinates.GetDataPointer())); if (m_GenerateTriangularMesh) { if((i >= 1) && (j >= 1)) { //This little piece of art explains the ID's: // // P(x_1y_1)---P(xy_1) // | | // | | // | | // P(x_1y)-----P(xy) // //We can only start triangulation if we are at vertex (1,1), //because we need the other 3 vertices near this one. //To go one pixel line back in the image array, we have to //subtract 1x xDimension. vtkIdType xy = pixelID; vtkIdType x_1y = pixelID-1; vtkIdType xy_1 = pixelID-xDimension; vtkIdType x_1y_1 = xy_1-1; //Find the corresponding vertex ID's in the saved vertexIdList: vtkIdType xyV = m_VertexIdList->GetId(xy); vtkIdType x_1yV = m_VertexIdList->GetId(x_1y); vtkIdType xy_1V = m_VertexIdList->GetId(xy_1); vtkIdType x_1y_1V = m_VertexIdList->GetId(x_1y_1); - if (isPointValid[xy]&&isPointValid[x_1y]&&isPointValid[x_1y_1]&&isPointValid[xy_1]) // check if points of cell are valid { double pointXY[3], pointX_1Y[3], pointXY_1[3], pointX_1Y_1[3]; points->GetPoint(xyV, pointXY); points->GetPoint(x_1yV, pointX_1Y); points->GetPoint(xy_1V, pointXY_1); points->GetPoint(x_1y_1V, pointX_1Y_1); - if( (m_TriangulationThreshold == -1.0) || ((vtkMath::Distance2BetweenPoints(pointXY, pointX_1Y) <= m_TriangulationThreshold) - && (vtkMath::Distance2BetweenPoints(pointXY, pointXY_1) <= m_TriangulationThreshold) - && (vtkMath::Distance2BetweenPoints(pointX_1Y, pointX_1Y_1) <= m_TriangulationThreshold) - && (vtkMath::Distance2BetweenPoints(pointXY_1, pointX_1Y_1) <= m_TriangulationThreshold))) + if( (mitk::Equal(m_TriangulationThreshold, 0.0)) || ((vtkMath::Distance2BetweenPoints(pointXY, pointX_1Y) <= m_TriangulationThreshold) + && (vtkMath::Distance2BetweenPoints(pointXY, pointXY_1) <= m_TriangulationThreshold) + && (vtkMath::Distance2BetweenPoints(pointX_1Y, pointX_1Y_1) <= m_TriangulationThreshold) + && (vtkMath::Distance2BetweenPoints(pointXY_1, pointX_1Y_1) <= m_TriangulationThreshold))) { polys->InsertNextCell(3); polys->InsertCellPoint(x_1yV); polys->InsertCellPoint(xyV); polys->InsertCellPoint(x_1y_1V); polys->InsertNextCell(3); polys->InsertCellPoint(x_1y_1V); polys->InsertCellPoint(xyV); polys->InsertCellPoint(xy_1V); } else { //We dont want triangulation, but we want to keep the vertex vertices->InsertNextCell(1); vertices->InsertCellPoint(xyV); } } + + //Scalar values are necessary for mapping colors/texture onto the surface + if (scalarFloatData) + { + scalarArray->InsertTuple1(m_VertexIdList->GetId(pixelID), scalarFloatData[pixelID]); + } + //These Texture Coordinates will map color pixel and vertices 1:1 (e.g. for Kinect). + float xNorm = (((float)i)/xDimension);// correct video texture scale for kinect + float yNorm = ((float)j)/yDimension; //don't flip. we don't need to flip. + textureCoords->InsertTuple2(m_VertexIdList->GetId(pixelID), xNorm, yNorm); } - else - { - vertices->InsertNextCell(1); - vertices->InsertCellPoint(m_VertexIdList->GetId(pixelID)); - } - //Scalar values are necessary for mapping colors/texture onto the surface - if (scalarFloatData) - { - scalarArray->InsertTuple1(m_VertexIdList->GetId(pixelID), scalarFloatData[pixelID]); - } - //These Texture Coordinates will map color pixel and vertices 1:1 (e.g. for Kinect). - float xNorm = (((float)i)/xDimension);// correct video texture scale for kinect - float yNorm = ((float)j)/yDimension; //don't flip. we don't need to flip. - textureCoords->InsertTuple2(m_VertexIdList->GetId(pixelID), xNorm, yNorm); + } + else + { + //We dont want triangulation, we only want vertices + vertices->InsertNextCell(1); + vertices->InsertCellPoint(m_VertexIdList->GetId(pixelID)); } } } + } - vtkSmartPointer mesh = vtkSmartPointer::New(); - mesh->SetPoints(points); - mesh->SetPolys(polys); - mesh->SetVerts(vertices); - //Pass the scalars to the polydata (if they were set). - if (scalarArray->GetNumberOfTuples()>0) - { - mesh->GetPointData()->SetScalars(scalarArray); - } - //Pass the TextureCoords to the polydata anyway (to save them). - mesh->GetPointData()->SetTCoords(textureCoords); - output->SetVtkPolyData(mesh); + vtkSmartPointer mesh = vtkSmartPointer::New(); + mesh->SetPoints(points); + mesh->SetPolys(polys); + mesh->SetVerts(vertices); + //Pass the scalars to the polydata (if they were set). + if (scalarArray->GetNumberOfTuples()>0) + { + mesh->GetPointData()->SetScalars(scalarArray); } + //Pass the TextureCoords to the polydata anyway (to save them). + mesh->GetPointData()->SetTCoords(textureCoords); + output->SetVtkPolyData(mesh); } void mitk::ToFDistanceImageToSurfaceFilter::CreateOutputsForAllInputs() { this->SetNumberOfOutputs(this->GetNumberOfInputs()); // create outputs for all inputs for (unsigned int idx = 0; idx < this->GetNumberOfOutputs(); ++idx) if (this->GetOutput(idx) == NULL) { DataObjectPointer newOutput = this->MakeOutput(idx); this->SetNthOutput(idx, newOutput); } this->Modified(); } void mitk::ToFDistanceImageToSurfaceFilter::GenerateOutputInformation() { this->GetOutput(); itkDebugMacro(<<"GenerateOutputInformation()"); } void mitk::ToFDistanceImageToSurfaceFilter::SetScalarImage(IplImage* iplScalarImage) { this->m_IplScalarImage = iplScalarImage; this->Modified(); } IplImage* mitk::ToFDistanceImageToSurfaceFilter::GetScalarImage() { return this->m_IplScalarImage; } void mitk::ToFDistanceImageToSurfaceFilter::SetTextureImageWidth(int width) { this->m_TextureImageWidth = width; } void mitk::ToFDistanceImageToSurfaceFilter::SetTextureImageHeight(int height) { this->m_TextureImageHeight = height; } void mitk::ToFDistanceImageToSurfaceFilter::SetTriangulationThreshold(double triangulationThreshold) { //vtkMath::Distance2BetweenPoints returns the squared distance between two points and //hence we square m_TriangulationThreshold in order to save run-time. this->m_TriangulationThreshold = triangulationThreshold*triangulationThreshold; } diff --git a/Modules/ToFUI/Qmitk/QmitkToFConnectionWidget.cpp b/Modules/ToFUI/Qmitk/QmitkToFConnectionWidget.cpp index 1c54f3269c..6fd0be11bc 100644 --- a/Modules/ToFUI/Qmitk/QmitkToFConnectionWidget.cpp +++ b/Modules/ToFUI/Qmitk/QmitkToFConnectionWidget.cpp @@ -1,381 +1,381 @@ /*=================================================================== The Medical Imaging Interaction Toolkit (MITK) Copyright (c) German Cancer Research Center, Division of Medical and Biological Informatics. All rights reserved. This software is distributed WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See LICENSE.txt or http://www.mitk.org for details. ===================================================================*/ //#define _USE_MATH_DEFINES #include //QT headers #include #include #include //mitk headers #include "mitkToFConfig.h" #include "mitkCameraIntrinsics.h" #include "mitkCameraIntrinsicsProperty.h" //itk headers #include //Setting the View_ID const std::string QmitkToFConnectionWidget::VIEW_ID = "org.mitk.views.qmitktofconnectionwidget2"; //Constructor of QmitkToFConnectionWidget QmitkToFConnectionWidget::QmitkToFConnectionWidget(QWidget* parent, Qt::WindowFlags f): QWidget(parent, f) , m_Controls(NULL) , m_IntegrationTime(0) , m_ModulationFrequency(0) , m_SelectedCameraName("") { this->m_ToFImageGrabber = mitk::ToFImageGrabber::New(); //Calling CreateQtPartControl CreateQtPartControl(this); } //Destructor of QmitkToFConnectionWidget QmitkToFConnectionWidget::~QmitkToFConnectionWidget() { //MitkServiceListWidget must not be deinizialized here. Qmitk methods destroy their children automatically before self-destruction } void QmitkToFConnectionWidget::CreateQtPartControl(QWidget *parent) //Definition of CreateQtPartControll-Methode in QmitkToFConnectionWidget; Input= Pointer { if (!m_Controls) //Define if not alreaddy exists { // create GUI widgets m_Controls = new Ui::QmitkToFConnectionWidgetControls2; m_Controls->setupUi(parent); //and hide them on startup this->HideAllParameterWidgets(); // initzializing MitkServiceListWidget here std::string empty= ""; m_Controls->m_DeviceList->Initialize("ToFDeviceName", empty);// the empty could just be any kind of filter this->CreateConnections(); } } //Creating the SIGNAL-SLOT-Connectuions void QmitkToFConnectionWidget::CreateConnections() { if ( m_Controls ) { //ConnectCameraButton as a trigger for OnConnectCamera() connect( (QObject*)(m_Controls->m_ConnectCameraButton), SIGNAL(clicked()),(QObject*) this, SLOT(OnConnectCamera()) ); //QmitkServiceListWidget::ServiceSelectionChanged as a Signal for the OnSlectCamera() slot - connect( m_Controls->m_DeviceList, SIGNAL(ServiceSelectionChanged(mitk::ServiceReference)), this, SLOT(OnSelectCamera())); + connect( m_Controls->m_DeviceList, SIGNAL(ServiceSelectionChanged(us::ServiceReferenceU)), this, SLOT(OnSelectCamera())); /*Creating an other Datanode structur for Kinect is done here: As soon as a Kinect is connected, the KinectParameterWidget is enabled, which can be used to trigger the KinectAcqusitionModeChanged-Method, to create a working Data-Node-structure*/ connect( m_Controls->m_KinectParameterWidget, SIGNAL(AcquisitionModeChanged()), this, SIGNAL(KinectAcquisitionModeChanged()) ); } } mitk::ToFImageGrabber::Pointer QmitkToFConnectionWidget::GetToFImageGrabber() { return m_ToFImageGrabber; } //The OnSelectCamer-Method is in charge of activating the appropiate ParameterWidgets void QmitkToFConnectionWidget::OnSelectCamera() { //Here we are getting our decvie through the QmitkServiceListWidget-Instance m_DeviceList through the GetSelectedService-Method mitk::ToFCameraDevice* device = m_Controls->m_DeviceList->GetSelectedService(); //getting the selectedCamera through a static Method used to transform the device->GetNameOfClass QString selectedCamera = QString::fromStdString(device->GetNameOfClass()); this->HideAllParameterWidgets(); //reactivating the Widgets on slecting a device if (selectedCamera.contains("PMD")) //Check if selectedCamera string contains ".." for each device { this->m_Controls->m_PMDParameterWidget->show(); //and activate the correct widget } else if (selectedCamera.contains("MESA")) { this->m_Controls->m_MESAParameterWidget->show(); } else if (selectedCamera.contains("Kinect")) { this->m_Controls->m_KinectParameterWidget->show(); } m_Controls->m_ConnectCameraButton->setEnabled(true); //ConnectCameraButton gets enabled m_SelectedCameraName = selectedCamera; emit (selectedCamera); } //This Methods hides all Widgets (later each widget is activated on its own) void QmitkToFConnectionWidget::HideAllParameterWidgets() { this->m_Controls->m_PMDParameterWidget->hide(); this->m_Controls->m_MESAParameterWidget->hide(); this->m_Controls->m_KinectParameterWidget->hide(); } //OnConnectCamera-Method; represents one of the main parts of ToFConnectionWidget2. void QmitkToFConnectionWidget::OnConnectCamera() { //After connecting a device if (m_Controls->m_ConnectCameraButton->text()=="Connect") { //Getting the device- and the slectedCamera-variables using the ServiceListWidget as we did it in the CameraSelect-Method mitk::ToFCameraDevice* device = m_Controls->m_DeviceList->GetSelectedService(); if (device) { QString tmpFileName(""); QString fileFilter(""); QString selectedCamera = QString::fromStdString(device->GetNameOfClass()); emit ToFCameraSelected(selectedCamera); //Feeding it with the Info from ServiceListWidget this->m_ToFImageGrabber->SetCameraDevice(device); // Calling Alex FixForKinect, if the Kinect is selected if (selectedCamera.contains("Kinect") ) { MITK_INFO<< "Kinect is connected here"; //If the particular property is selected, the suitable data-node will be generated this->m_ToFImageGrabber->SetBoolProperty("RGB", m_Controls->m_KinectParameterWidget->IsAcquisitionModeRGB());//-------------------------------------------------------- this->m_ToFImageGrabber->SetBoolProperty("IR", m_Controls->m_KinectParameterWidget->IsAcquisitionModeIR()); } //Activation of "PlayerMode". If the selectedCamera String contains "Player", we start the Player Mode if (selectedCamera.contains("Player")) { //IF PMD-Player selected if (selectedCamera.contains("PMD")) { fileFilter.append("PMD Files (*.pmd)"); //And seting the corresponding fileFilter } else { fileFilter.append("NRRD Images (*.nrrd);;PIC Images - deprecated (*.pic)"); } //open a QFileDialog to chose the corresponding file from the disc tmpFileName = QFileDialog::getOpenFileName(NULL, "Play Image From...", "", fileFilter); //If no fileName is returned by the Dialog,Button and Widget have to return to default(disconnected) + Opening a MessageBox if (tmpFileName.isEmpty()) { m_Controls->m_ConnectCameraButton->setChecked(false); m_Controls->m_ConnectCameraButton->setEnabled(true); //re-enabling the ConnectCameraButton m_Controls->m_DeviceList->setEnabled(true); //Reactivating ServiceListWidget this->OnSelectCamera(); //Calling the OnSelctCamera-Method -> Hides all Widget and just activates the needed ones QMessageBox::information( this, "Template functionality", "Please select a valid image before starting some action."); return; } if(selectedCamera.contains("PMDPlayer")) //If PMD-Player is selected, set ToFImageGrabberProperty correspondingly { this->m_ToFImageGrabber->SetStringProperty("PMDFileName", tmpFileName.toStdString().c_str() ); } else //Default action { std::string msg = ""; try { //get 3 corresponding file names std::string dir = itksys::SystemTools::GetFilenamePath( tmpFileName.toStdString() ); std::string baseFilename = itksys::SystemTools::GetFilenameWithoutLastExtension( tmpFileName.toStdString() ); std::string extension = itksys::SystemTools::GetFilenameLastExtension( tmpFileName.toStdString() ); //"Incorrect format"-warning while using .nrrd or .pic files if (extension != ".pic" && extension != ".nrrd") { msg = msg + "Invalid file format, please select a \".nrrd\"-file"; throw std::logic_error(msg.c_str()); } //Checking for npos. If available, check for the Amplitude-, Intensity- and RGBImage int found = baseFilename.rfind("_DistanceImage"); //Defining "found" variable+checking if baseFilname contains "_DistanceImage". If not, found == npos(0) - if (found == std::string::npos) //If found =0 + if (found == static_cast(std::string::npos)) //If found =0 { found = baseFilename.rfind("_AmplitudeImage"); //If "_AmplitudeImage" is found, the found variable is 1-> the next if statment is false } - if (found == std::string::npos) + if (found == static_cast(std::string::npos)) { found = baseFilename.rfind("_IntensityImage"); //found = true if baseFilename cotains "_IntesityImage" } - if (found == std::string::npos) + if (found == static_cast(std::string::npos)) { found = baseFilename.rfind("_RGBImage"); } - if (found == std::string::npos) //If none of the Nodes is found, display an error + if (found == static_cast(std::string::npos)) //If none of the Nodes is found, display an error { msg = msg + "Input file name must end with \"_DistanceImage\", \"_AmplitudeImage\", \"_IntensityImage\" or \"_RGBImage\"!"; throw std::logic_error(msg.c_str()); } std::string baseFilenamePrefix = baseFilename.substr(0,found);//Set the baseFilenamePrefix as a substring from baseFilname //Set corresponding FileNames std::string distanceImageFileName = dir + "/" + baseFilenamePrefix + "_DistanceImage" + extension; //Set the name as: directory+FilenamePrefix+""+extension std::string amplitudeImageFileName = dir + "/" + baseFilenamePrefix + "_AmplitudeImage" + extension; std::string intensityImageFileName = dir + "/" + baseFilenamePrefix + "_IntensityImage" + extension; std::string rgbImageFileName = dir + "/" + baseFilenamePrefix + "_RGBImage" + extension; if (!itksys::SystemTools::FileExists(distanceImageFileName.c_str(), true)) { this->m_ToFImageGrabber->SetStringProperty("DistanceImageFileName", ""); } else { this->m_ToFImageGrabber->SetStringProperty("DistanceImageFileName", distanceImageFileName.c_str()); } if (!itksys::SystemTools::FileExists(amplitudeImageFileName.c_str(), true)) { } else { this->m_ToFImageGrabber->SetStringProperty("AmplitudeImageFileName", amplitudeImageFileName.c_str()); } if (!itksys::SystemTools::FileExists(intensityImageFileName.c_str(), true)) { this->m_ToFImageGrabber->SetStringProperty("IntensityImageFileName", ""); } else { this->m_ToFImageGrabber->SetStringProperty("IntensityImageFileName", intensityImageFileName.c_str()); } if (!itksys::SystemTools::FileExists(rgbImageFileName.c_str(), true)) { this->m_ToFImageGrabber->SetStringProperty("RGBImageFileName", ""); } else { this->m_ToFImageGrabber->SetStringProperty("RGBImageFileName", rgbImageFileName.c_str()); } } catch (std::exception &e) { MITK_ERROR << e.what(); QMessageBox::critical( this, "Error", e.what() ); m_Controls->m_ConnectCameraButton->setChecked(false); m_Controls->m_ConnectCameraButton->setEnabled(true); m_Controls->m_DeviceList->setEnabled(true); this->OnSelectCamera(); return; } } } //End "PlayerMode" //Reset the ConnectCameraButton to disconnected m_Controls->m_ConnectCameraButton->setText("Disconnect"); //if a connection could be established try { if (this->m_ToFImageGrabber->ConnectCamera()) { this->m_Controls->m_PMDParameterWidget->SetToFImageGrabber(this->m_ToFImageGrabber); this->m_Controls->m_MESAParameterWidget->SetToFImageGrabber(this->m_ToFImageGrabber); this->m_Controls->m_KinectParameterWidget->SetToFImageGrabber(this->m_ToFImageGrabber); //Activating the respective widgets if (selectedCamera.contains("PMD")) { this->m_Controls->m_PMDParameterWidget->ActivateAllParameters(); } else if (selectedCamera.contains("MESA")) { this->m_Controls->m_MESAParameterWidget->ActivateAllParameters(); } else if (selectedCamera.contains("Kinect")) { this->m_Controls->m_KinectParameterWidget->ActivateAllParameters(); } else { this->HideAllParameterWidgets(); } // send connect signal to the caller functionality emit ToFCameraConnected(); } else //##### TODO: Remove this else part once all controllers are throwing exceptions //if they cannot to any device! { //Throw an error if the Connection failed and reset the Widgets <- better catch an exception! QMessageBox::critical( this, "Error", "Connection failed. Check if you have installed the latest driver for your system." ); m_Controls->m_ConnectCameraButton->setChecked(false); m_Controls->m_ConnectCameraButton->setEnabled(true); m_Controls->m_ConnectCameraButton->setText("Connect"); m_Controls->m_DeviceList->setEnabled(true); //Reactivating ServiceListWidget this->OnSelectCamera(); return; } }catch(std::exception &e) { //catch exceptions of camera which cannot connect give a better reason QMessageBox::critical( this, "Connection failed.", e.what() ); m_Controls->m_ConnectCameraButton->setChecked(false); m_Controls->m_ConnectCameraButton->setEnabled(true); m_Controls->m_ConnectCameraButton->setText("Connect"); m_Controls->m_DeviceList->setEnabled(true); //Reactivating ServiceListWidget this->OnSelectCamera(); return; } m_Controls->m_ConnectCameraButton->setEnabled(true); // ask wether camera parameters (intrinsics, ...) should be loaded if (QMessageBox::question(this,"Camera parameters","Do you want to specify your own camera intrinsics?",QMessageBox::Yes,QMessageBox::No)==QMessageBox::Yes) { QString fileName = QFileDialog::getOpenFileName(this,"Open camera intrinsics","/","*.xml"); mitk::CameraIntrinsics::Pointer cameraIntrinsics = mitk::CameraIntrinsics::New(); cameraIntrinsics->FromXMLFile(fileName.toStdString()); this->m_ToFImageGrabber->SetProperty("CameraIntrinsics",mitk::CameraIntrinsicsProperty::New(cameraIntrinsics)); } ////Reset the status of some GUI-Elements m_Controls->m_DeviceList->setEnabled(false); //Deactivating the Instance of QmitkServiceListWidget //repaint the widget this->repaint(); } else { QMessageBox::information(this,"Camera connection","No camera selected, please select a range camera"); m_Controls->m_ConnectCameraButton->setChecked(false); } } else if (m_Controls->m_ConnectCameraButton->text()=="Disconnect") { this->m_ToFImageGrabber->StopCamera(); this->m_ToFImageGrabber->DisconnectCamera(); m_Controls->m_ConnectCameraButton->setText("Connect"); m_Controls->m_DeviceList->setEnabled(true); //Reactivating ServiceListWidget this->OnSelectCamera(); // send disconnect signal to the caller functionality emit ToFCameraDisconnected(); } } void QmitkToFConnectionWidget::ConnectCamera() { this->m_Controls->m_ConnectCameraButton->animateClick(); } diff --git a/Plugins/org.mitk.gui.qt.tofutil/src/internal/QmitkToFUtilView.cpp b/Plugins/org.mitk.gui.qt.tofutil/src/internal/QmitkToFUtilView.cpp index cb6228f053..93a022b94d 100644 --- a/Plugins/org.mitk.gui.qt.tofutil/src/internal/QmitkToFUtilView.cpp +++ b/Plugins/org.mitk.gui.qt.tofutil/src/internal/QmitkToFUtilView.cpp @@ -1,681 +1,683 @@ /*=================================================================== The Medical Imaging Interaction Toolkit (MITK) Copyright (c) German Cancer Research Center, Division of Medical and Biological Informatics. All rights reserved. This software is distributed WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See LICENSE.txt or http://www.mitk.org for details. ===================================================================*/ // Blueberry #include #include #include // Qmitk #include "QmitkToFUtilView.h" #include #include // Qt #include #include //QT headers #include #include #include // MITK #include #include #include #include #include #include #include #include #include //itk headers #include // VTK #include // ITK #include #include const std::string QmitkToFUtilView::VIEW_ID = "org.mitk.views.tofutil"; //Constructor QmitkToFUtilView::QmitkToFUtilView() : QmitkAbstractView() , m_Controls(NULL), m_MultiWidget( NULL ) , m_MitkDistanceImage(NULL), m_MitkAmplitudeImage(NULL), m_MitkIntensityImage(NULL), m_Surface(NULL) , m_DistanceImageNode(NULL), m_AmplitudeImageNode(NULL), m_IntensityImageNode(NULL), m_RGBImageNode(NULL), m_SurfaceNode(NULL) , m_ToFImageRecorder(NULL), m_ToFImageGrabber(NULL), m_ToFDistanceImageToSurfaceFilter(NULL), m_ToFCompositeFilter(NULL) , m_2DDisplayCount(0) , m_RealTimeClock(NULL) , m_StepsForFramerate(100) , m_2DTimeBefore(0.0) , m_2DTimeAfter(0.0) , m_CameraIntrinsics(NULL) { this->m_Frametimer = new QTimer(this); this->m_ToFDistanceImageToSurfaceFilter = mitk::ToFDistanceImageToSurfaceFilter::New(); this->m_ToFCompositeFilter = mitk::ToFCompositeFilter::New(); this->m_ToFImageRecorder = mitk::ToFImageRecorder::New(); this->m_ToFSurfaceVtkMapper3D = mitk::ToFSurfaceVtkMapper3D::New(); } //Destructor, specifically calling OnToFCameraStopped() and OnToFCammeraDiconnected() QmitkToFUtilView::~QmitkToFUtilView() { OnToFCameraStopped(); OnToFCameraDisconnected(); } //Createing the PartControl Signal-Slot principal void QmitkToFUtilView::CreateQtPartControl( QWidget *parent ) { // build up qt view, unless already done if ( !m_Controls ) { // create GUI widgets from the Qt Designer's .ui file m_Controls = new Ui::QmitkToFUtilViewControls; m_Controls->setupUi( parent ); //Looking for Input and Defining reaction connect(m_Frametimer, SIGNAL(timeout()), this, SLOT(OnUpdateCamera())); connect( (QObject*)(m_Controls->m_ToFConnectionWidget), SIGNAL(KinectAcquisitionModeChanged()), this, SLOT(OnKinectAcquisitionModeChanged()) ); // Todo in Widget2 connect( (QObject*)(m_Controls->m_ToFConnectionWidget), SIGNAL(ToFCameraConnected()), this, SLOT(OnToFCameraConnected()) ); connect( (QObject*)(m_Controls->m_ToFConnectionWidget), SIGNAL(ToFCameraDisconnected()), this, SLOT(OnToFCameraDisconnected()) ); connect( (QObject*)(m_Controls->m_ToFConnectionWidget), SIGNAL(ToFCameraSelected(const QString)), this, SLOT(OnToFCameraSelected(const QString)) ); connect( (QObject*)(m_Controls->m_ToFRecorderWidget), SIGNAL(ToFCameraStarted()), this, SLOT(OnToFCameraStarted()) ); connect( (QObject*)(m_Controls->m_ToFRecorderWidget), SIGNAL(ToFCameraStopped()), this, SLOT(OnToFCameraStopped()) ); connect( (QObject*)(m_Controls->m_ToFRecorderWidget), SIGNAL(RecordingStarted()), this, SLOT(OnToFCameraStopped()) ); connect( (QObject*)(m_Controls->m_ToFRecorderWidget), SIGNAL(RecordingStopped()), this, SLOT(OnToFCameraStarted()) ); connect( (QObject*)(m_Controls->m_SurfaceCheckBox), SIGNAL(toggled(bool)), this, SLOT(OnSurfaceCheckboxChecked(bool)) ); connect( (QObject*)(m_Controls->m_TextureCheckBox), SIGNAL(toggled(bool)), this, SLOT(OnTextureCheckBoxChecked(bool)) ); connect( (QObject*)(m_Controls->m_KinectTextureCheckBox), SIGNAL(toggled(bool)), this, SLOT(OnKinectRGBTextureCheckBoxChecked(bool)) ); } } //SetFocus-Method -> actually seting Focus to the Recorder void QmitkToFUtilView::SetFocus() { m_Controls->m_ToFRecorderWidget->setFocus(); } //Activated-Method->Generating RenderWindow void QmitkToFUtilView::Activated() { //get the current RenderWindowPart or open a new one if there is none if(this->GetRenderWindowPart(OPEN)) { mitk::ILinkedRenderWindowPart* linkedRenderWindowPart = dynamic_cast(this->GetRenderWindowPart()); if(linkedRenderWindowPart == 0) { MITK_ERROR << "No linked StdMultiWidget avaiable!!!"; } else { linkedRenderWindowPart->EnableSlicingPlanes(false); } GetRenderWindowPart()->GetQmitkRenderWindow("axial")->GetSliceNavigationController()->SetDefaultViewDirection(mitk::SliceNavigationController::Axial); GetRenderWindowPart()->GetQmitkRenderWindow("axial")->GetSliceNavigationController()->SliceLockedOn(); GetRenderWindowPart()->GetQmitkRenderWindow("sagittal")->GetSliceNavigationController()->SetDefaultViewDirection(mitk::SliceNavigationController::Axial); GetRenderWindowPart()->GetQmitkRenderWindow("sagittal")->GetSliceNavigationController()->SliceLockedOn(); GetRenderWindowPart()->GetQmitkRenderWindow("coronal")->GetSliceNavigationController()->SetDefaultViewDirection(mitk::SliceNavigationController::Axial); GetRenderWindowPart()->GetQmitkRenderWindow("coronal")->GetSliceNavigationController()->SliceLockedOn(); this->GetRenderWindowPart()->GetRenderingManager()->InitializeViews(); this->UseToFVisibilitySettings(true); if (this->m_ToFCompositeFilter) { m_Controls->m_ToFCompositeFilterWidget->SetToFCompositeFilter(this->m_ToFCompositeFilter); } if (this->GetDataStorage()) { m_Controls->m_ToFCompositeFilterWidget->SetDataStorage(this->GetDataStorage()); } if (this->m_ToFImageGrabber.IsNull()) { m_Controls->m_ToFRecorderWidget->setEnabled(false); m_Controls->m_ToFVisualisationSettingsWidget->setEnabled(false); m_Controls->m_ToFCompositeFilterWidget->setEnabled(false); m_Controls->tofMeasurementWidget->setEnabled(false); m_Controls->SurfacePropertiesBox->setEnabled(false); } } } //ZomnnieView-Method -> Resetting GUI to default. Why not just QmitkToFUtilView()?! void QmitkToFUtilView::ActivatedZombieView(berry::IWorkbenchPartReference::Pointer /*zombieView*/) { ResetGUIToDefault(); } void QmitkToFUtilView::Deactivated() { } void QmitkToFUtilView::Visible() { } //Reset of the ToFUtilView void QmitkToFUtilView::Hidden() { ResetGUIToDefault(); } void QmitkToFUtilView::OnToFCameraConnected() { MITK_DEBUG <<"OnToFCameraConnected"; this->m_2DDisplayCount = 0; this->m_ToFImageGrabber = m_Controls->m_ToFConnectionWidget->GetToFImageGrabber(); // initialize surface generation this->m_ToFDistanceImageToSurfaceFilter = mitk::ToFDistanceImageToSurfaceFilter::New(); this->m_ToFSurfaceVtkMapper3D = mitk::ToFSurfaceVtkMapper3D::New(); // initialize ToFImageRecorder and ToFRecorderWidget this->m_ToFImageRecorder = mitk::ToFImageRecorder::New(); this->m_ToFImageRecorder->SetCameraDevice(this->m_ToFImageGrabber->GetCameraDevice()); m_Controls->m_ToFRecorderWidget->SetParameter(this->m_ToFImageGrabber, this->m_ToFImageRecorder); m_Controls->m_ToFRecorderWidget->setEnabled(true); m_Controls->m_ToFRecorderWidget->ResetGUIToInitial(); m_Controls->m_ToFVisualisationSettingsWidget->setEnabled(false); // initialize ToFCompositeFilterWidget this->m_ToFCompositeFilter = mitk::ToFCompositeFilter::New(); if (this->m_ToFCompositeFilter) { m_Controls->m_ToFCompositeFilterWidget->SetToFCompositeFilter(this->m_ToFCompositeFilter); } if (this->GetDataStorage()) { m_Controls->m_ToFCompositeFilterWidget->SetDataStorage(this->GetDataStorage()); } // initialize measurement widget m_Controls->tofMeasurementWidget->InitializeWidget(this->GetRenderWindowPart()->GetQmitkRenderWindows(),this->GetDataStorage(), this->m_ToFDistanceImageToSurfaceFilter->GetCameraIntrinsics()); this->m_RealTimeClock = mitk::RealTimeClock::New(); this->m_2DTimeBefore = this->m_RealTimeClock->GetCurrentStamp(); this->RequestRenderWindowUpdate(); } void QmitkToFUtilView::ResetGUIToDefault() { if(this->GetRenderWindowPart()) { mitk::ILinkedRenderWindowPart* linkedRenderWindowPart = dynamic_cast(this->GetRenderWindowPart()); if(linkedRenderWindowPart == 0) { MITK_ERROR << "No linked StdMultiWidget avaiable!!!"; } else { linkedRenderWindowPart->EnableSlicingPlanes(true); } GetRenderWindowPart()->GetQmitkRenderWindow("axial")->GetSliceNavigationController()->SetDefaultViewDirection(mitk::SliceNavigationController::Axial); GetRenderWindowPart()->GetQmitkRenderWindow("axial")->GetSliceNavigationController()->SliceLockedOff(); GetRenderWindowPart()->GetQmitkRenderWindow("sagittal")->GetSliceNavigationController()->SetDefaultViewDirection(mitk::SliceNavigationController::Sagittal); GetRenderWindowPart()->GetQmitkRenderWindow("sagittal")->GetSliceNavigationController()->SliceLockedOff(); GetRenderWindowPart()->GetQmitkRenderWindow("coronal")->GetSliceNavigationController()->SetDefaultViewDirection(mitk::SliceNavigationController::Frontal); GetRenderWindowPart()->GetQmitkRenderWindow("coronal")->GetSliceNavigationController()->SliceLockedOff(); this->UseToFVisibilitySettings(false); //global reinit this->GetRenderWindowPart()->GetRenderingManager()->InitializeViews(); this->RequestRenderWindowUpdate(); } } void QmitkToFUtilView::OnToFCameraDisconnected() { m_Controls->m_ToFRecorderWidget->OnStop(); m_Controls->m_ToFRecorderWidget->setEnabled(false); m_Controls->m_ToFVisualisationSettingsWidget->setEnabled(false); m_Controls->tofMeasurementWidget->setEnabled(false); m_Controls->SurfacePropertiesBox->setEnabled(false); //clean up measurement widget m_Controls->tofMeasurementWidget->CleanUpWidget(); } void QmitkToFUtilView::OnKinectAcquisitionModeChanged() { if (m_ToFCompositeFilter.IsNotNull()&&m_ToFImageGrabber.IsNotNull()) { if (m_SelectedCamera.contains("Kinect")) { if (m_ToFImageGrabber->GetBoolProperty("RGB")) { this->m_RGBImageNode = ReplaceNodeData("RGB image",this->m_ToFImageGrabber->GetOutput(3)); this->m_ToFDistanceImageToSurfaceFilter->SetInput(3,this->m_ToFImageGrabber->GetOutput(3)); } else if (m_ToFImageGrabber->GetBoolProperty("IR")) { this->m_MitkAmplitudeImage = m_ToFCompositeFilter->GetOutput(1); this->m_AmplitudeImageNode = ReplaceNodeData("Amplitude image",m_MitkAmplitudeImage); } } this->UseToFVisibilitySettings(true); } } void QmitkToFUtilView::OnToFCameraStarted() { if (m_ToFImageGrabber.IsNotNull()) { // initialize camera intrinsics if (this->m_ToFImageGrabber->GetProperty("CameraIntrinsics")) { m_CameraIntrinsics = dynamic_cast(this->m_ToFImageGrabber->GetProperty("CameraIntrinsics"))->GetValue(); MITK_INFO << m_CameraIntrinsics->ToString(); } else { m_CameraIntrinsics = NULL; MITK_ERROR << "No camera intrinsics were found!"; } // set camera intrinsics if ( m_CameraIntrinsics.IsNotNull() ) { this->m_ToFDistanceImageToSurfaceFilter->SetCameraIntrinsics(m_CameraIntrinsics); } // initial update of image grabber this->m_ToFImageGrabber->Update(); this->m_ToFCompositeFilter->SetInput(0,this->m_ToFImageGrabber->GetOutput(0)); this->m_ToFCompositeFilter->SetInput(1,this->m_ToFImageGrabber->GetOutput(1)); this->m_ToFCompositeFilter->SetInput(2,this->m_ToFImageGrabber->GetOutput(2)); // initial update of composite filter this->m_ToFCompositeFilter->Update(); this->m_MitkDistanceImage = m_ToFCompositeFilter->GetOutput(); this->m_DistanceImageNode = ReplaceNodeData("Distance image",m_MitkDistanceImage); std::string rgbFileName; m_ToFImageGrabber->GetCameraDevice()->GetStringProperty("RGBImageFileName",rgbFileName); bool hasRGBImage = false; m_ToFImageGrabber->GetCameraDevice()->GetBoolProperty("HasRGBImage",hasRGBImage); bool hasIntensityImage = false; m_ToFImageGrabber->GetCameraDevice()->GetBoolProperty("HasIntensityImage",hasIntensityImage); bool hasAmplitudeImage = false; m_ToFImageGrabber->GetCameraDevice()->GetBoolProperty("HasAmplitudeImage",hasAmplitudeImage); bool KinectReconstructionMode = false; m_ToFImageGrabber->GetCameraDevice()->GetBoolProperty("KinectReconstructionMode",KinectReconstructionMode); if(KinectReconstructionMode) { //set the reconstruction mode for kinect this->m_ToFDistanceImageToSurfaceFilter->SetReconstructionMode(mitk::ToFDistanceImageToSurfaceFilter::Kinect); } if (m_CameraIntrinsics.IsNotNull()) { m_ToFDistanceImageToSurfaceFilter->SetCameraIntrinsics(m_CameraIntrinsics); } if(hasRGBImage || (rgbFileName!="")) { if(m_ToFImageGrabber->GetBoolProperty("IR")) { this->m_MitkAmplitudeImage = m_ToFCompositeFilter->GetOutput(1); } else { this->m_RGBImageNode = ReplaceNodeData("RGB image",this->m_ToFImageGrabber->GetOutput(3)); } } else { this->m_RGBImageNode = NULL; } if(hasAmplitudeImage) { this->m_MitkAmplitudeImage = m_ToFCompositeFilter->GetOutput(1); this->m_AmplitudeImageNode = ReplaceNodeData("Amplitude image",m_MitkAmplitudeImage); } if(hasIntensityImage) { this->m_MitkIntensityImage = m_ToFCompositeFilter->GetOutput(2); this->m_IntensityImageNode = ReplaceNodeData("Intensity image",m_MitkIntensityImage); } // if ((rgbFileName!="") || hasRGBImage) // { // } // else // { // } // this->m_AmplitudeImageNode = ReplaceNodeData("Amplitude image",m_MitkAmplitudeImage); // this->m_IntensityImageNode = ReplaceNodeData("Intensity image",m_MitkIntensityImage); this->m_ToFDistanceImageToSurfaceFilter->SetInput(0,m_MitkDistanceImage); this->m_ToFDistanceImageToSurfaceFilter->SetInput(1,m_MitkAmplitudeImage); this->m_ToFDistanceImageToSurfaceFilter->SetInput(2,m_MitkIntensityImage); this->m_Surface = this->m_ToFDistanceImageToSurfaceFilter->GetOutput(0); this->m_SurfaceNode = ReplaceNodeData("Surface",m_Surface); this->UseToFVisibilitySettings(true); m_Controls->m_ToFCompositeFilterWidget->UpdateFilterParameter(); // initialize visualization widget m_Controls->m_ToFVisualisationSettingsWidget->Initialize(this->m_DistanceImageNode, this->m_AmplitudeImageNode, this->m_IntensityImageNode); // set distance image to measurement widget m_Controls->tofMeasurementWidget->SetDistanceImage(m_MitkDistanceImage); this->m_Frametimer->start(0); m_Controls->m_ToFVisualisationSettingsWidget->setEnabled(true); m_Controls->m_ToFCompositeFilterWidget->setEnabled(true); m_Controls->tofMeasurementWidget->setEnabled(true); m_Controls->SurfacePropertiesBox->setEnabled(true); if (m_Controls->m_TextureCheckBox->isChecked()) { OnTextureCheckBoxChecked(true); } if (m_Controls->m_KinectTextureCheckBox->isChecked()) { OnKinectRGBTextureCheckBoxChecked(true); } } m_Controls->m_TextureCheckBox->setEnabled(true); } void QmitkToFUtilView::OnToFCameraStopped() { m_Controls->m_ToFVisualisationSettingsWidget->setEnabled(false); m_Controls->m_ToFCompositeFilterWidget->setEnabled(false); m_Controls->SurfacePropertiesBox->setEnabled(false); this->m_Frametimer->stop(); } void QmitkToFUtilView::OnToFCameraSelected(const QString selected) { m_SelectedCamera = selected; if (selected.contains("O3D")) { MITK_INFO<<"Surface representation currently not available for CamBoard and O3. Intrinsic parameters missing."; this->m_Controls->m_SurfaceCheckBox->setEnabled(false); this->m_Controls->m_TextureCheckBox->setEnabled(false); this->m_Controls->m_KinectTextureCheckBox->setEnabled(false); this->m_Controls->m_SurfaceCheckBox->setChecked(false); this->m_Controls->m_TextureCheckBox->setChecked(false); this->m_Controls->m_KinectTextureCheckBox->setChecked(false); } else { this->m_Controls->m_SurfaceCheckBox->setEnabled(true); this->m_Controls->m_TextureCheckBox->setEnabled(true); this->m_Controls->m_KinectTextureCheckBox->setEnabled(true); } } void QmitkToFUtilView::OnSurfaceCheckboxChecked(bool checked) { if(checked) { //initialize the surface once MITK_DEBUG << "OnSurfaceCheckboxChecked true"; this->m_SurfaceNode->SetData(this->m_Surface); this->m_SurfaceNode->SetMapper(mitk::BaseRenderer::Standard3D, m_ToFSurfaceVtkMapper3D); + this->m_ToFDistanceImageToSurfaceFilter->SetTriangulationThreshold( this->m_Controls->m_TriangulationThreshold->value() ); + //we need to initialize (reinit) the surface, to make it fit into the renderwindow this->GetRenderWindowPart()->GetRenderingManager()->InitializeViews( this->m_Surface->GetTimeSlicedGeometry(), mitk::RenderingManager::REQUEST_UPDATE_3DWINDOWS, true); // correctly place the vtk camera for appropriate surface rendering vtkCamera* camera3d = GetRenderWindowPart()->GetQmitkRenderWindow("3d")->GetRenderer()->GetVtkRenderer()->GetActiveCamera(); //1m distance to camera should be a nice default value for most cameras camera3d->SetPosition(0,0,0); camera3d->SetViewUp(0,-1,0); camera3d->SetFocalPoint(0,0,1); if (this->m_CameraIntrinsics.IsNotNull()) { // compute view angle from camera intrinsics camera3d->SetViewAngle(mitk::ToFProcessingCommon::CalculateViewAngle(m_CameraIntrinsics,m_ToFImageGrabber->GetCaptureWidth())); } else { camera3d->SetViewAngle(45); } camera3d->SetClippingRange(1, 10000); } } void QmitkToFUtilView::OnUpdateCamera() { //##### Code for surface ##### if (m_Controls->m_SurfaceCheckBox->isChecked()) { // update surface m_ToFDistanceImageToSurfaceFilter->SetTextureIndex(m_Controls->m_ToFVisualisationSettingsWidget->GetSelectedImageIndex()); //if the user wants to see the texture, it has to be updated for every frame if(m_Controls->m_KinectTextureCheckBox->isChecked() && (m_SelectedCamera.contains("Kinect")) && (m_ToFImageGrabber->GetBoolProperty("RGB"))) { //remove the vtkScalarsToColors object, if there was one. this->m_ToFSurfaceVtkMapper3D->SetVtkScalarsToColors(NULL); //set RGB-iamge as texture this->m_ToFSurfaceVtkMapper3D->SetTexture((this->m_ToFImageGrabber->GetOutput(3)->GetVtkImageData())); } else { //we have to delete the texture, if there was one. this->m_ToFSurfaceVtkMapper3D->SetTexture(NULL); //get the colortransferfunction from the visualization widget this->m_ToFSurfaceVtkMapper3D->SetVtkScalarsToColors(m_Controls->m_ToFVisualisationSettingsWidget->GetSelectedColorTransferFunction()); } //update pipeline this->m_Surface->Update(); } //##### End code for surface ##### else { // update pipeline this->m_MitkDistanceImage->Update(); } this->RequestRenderWindowUpdate(); this->m_2DDisplayCount++; if ((this->m_2DDisplayCount % this->m_StepsForFramerate) == 0) { this->m_2DTimeAfter = this->m_RealTimeClock->GetCurrentStamp() - this->m_2DTimeBefore; MITK_INFO << " 2D-Display-framerate (fps): " << this->m_StepsForFramerate / (this->m_2DTimeAfter/1000); this->m_2DTimeBefore = this->m_RealTimeClock->GetCurrentStamp(); } } void QmitkToFUtilView::OnTextureCheckBoxChecked(bool checked) { if(m_SurfaceNode.IsNotNull()) { if (checked) { this->m_SurfaceNode->SetBoolProperty("scalar visibility", true); } else { this->m_SurfaceNode->SetBoolProperty("scalar visibility", false); } } } void QmitkToFUtilView::OnKinectRGBTextureCheckBoxChecked(bool checked) { if((m_SelectedCamera.contains("Kinect")) && (m_ToFImageGrabber->GetBoolProperty("RGB"))) { if (checked) { //define the dimensions of the texture this->m_ToFDistanceImageToSurfaceFilter->SetTextureImageWidth(this->m_ToFImageGrabber->GetOutput(3)->GetDimension(0)); this->m_ToFDistanceImageToSurfaceFilter->SetTextureImageHeight(this->m_ToFImageGrabber->GetOutput(3)->GetDimension(1)); } } } void QmitkToFUtilView::OnChangeCoronalWindowOutput(int index) { this->OnToFCameraStopped(); if(index == 0) { if(this->m_IntensityImageNode.IsNotNull()) this->m_IntensityImageNode->SetVisibility(false); if(this->m_RGBImageNode.IsNotNull()) this->m_RGBImageNode->SetVisibility(true); } else if(index == 1) { if(this->m_IntensityImageNode.IsNotNull()) this->m_IntensityImageNode->SetVisibility(true); if(this->m_RGBImageNode.IsNotNull()) this->m_RGBImageNode->SetVisibility(false); } this->RequestRenderWindowUpdate(); this->OnToFCameraStarted(); } mitk::DataNode::Pointer QmitkToFUtilView::ReplaceNodeData( std::string nodeName, mitk::BaseData* data ) { mitk::DataNode::Pointer node = this->GetDataStorage()->GetNamedNode(nodeName); if (node.IsNull()) { node = mitk::DataNode::New(); node->SetData(data); node->SetName(nodeName); node->SetBoolProperty("binary",false); this->GetDataStorage()->Add(node); } else { node->SetData(data); } return node; } void QmitkToFUtilView::UseToFVisibilitySettings(bool useToF) { //We need this property for every node. mitk::RenderingModeProperty::Pointer renderingModePropertyForTransferFunction = mitk::RenderingModeProperty::New(mitk::RenderingModeProperty::COLORTRANSFERFUNCTION_COLOR); // set node properties if (m_DistanceImageNode.IsNotNull()) { this->m_DistanceImageNode->SetProperty( "visible" , mitk::BoolProperty::New( true )); this->m_DistanceImageNode->SetVisibility( !useToF, mitk::BaseRenderer::GetInstance(GetRenderWindowPart()->GetQmitkRenderWindow("sagittal")->GetRenderWindow() ) ); this->m_DistanceImageNode->SetVisibility( !useToF, mitk::BaseRenderer::GetInstance(GetRenderWindowPart()->GetQmitkRenderWindow("coronal")->GetRenderWindow() ) ); this->m_DistanceImageNode->SetVisibility( !useToF, mitk::BaseRenderer::GetInstance(GetRenderWindowPart()->GetQmitkRenderWindow("3d")->GetRenderWindow() ) ); this->m_DistanceImageNode->SetProperty("Image Rendering.Mode", renderingModePropertyForTransferFunction); } if (m_AmplitudeImageNode.IsNotNull()) { if ((m_SelectedCamera.contains("Kinect"))&&(m_ToFImageGrabber->GetBoolProperty("RGB"))) { this->m_AmplitudeImageNode->SetProperty( "visible" , mitk::BoolProperty::New( false )); } else { this->m_AmplitudeImageNode->SetProperty( "visible" , mitk::BoolProperty::New( true )); } this->m_AmplitudeImageNode->SetVisibility( !useToF, mitk::BaseRenderer::GetInstance(GetRenderWindowPart()->GetQmitkRenderWindow("axial")->GetRenderWindow() ) ); this->m_AmplitudeImageNode->SetVisibility( !useToF, mitk::BaseRenderer::GetInstance(GetRenderWindowPart()->GetQmitkRenderWindow("coronal")->GetRenderWindow() ) ); this->m_AmplitudeImageNode->SetVisibility( !useToF, mitk::BaseRenderer::GetInstance(GetRenderWindowPart()->GetQmitkRenderWindow("3d")->GetRenderWindow() ) ); this->m_AmplitudeImageNode->SetProperty("Image Rendering.Mode", renderingModePropertyForTransferFunction); } if (m_IntensityImageNode.IsNotNull()) { if (m_SelectedCamera.contains("Kinect")) { this->m_IntensityImageNode->SetProperty( "visible" , mitk::BoolProperty::New( false )); } else { this->m_IntensityImageNode->SetProperty( "visible" , mitk::BoolProperty::New( true )); this->m_IntensityImageNode->SetVisibility( !useToF, mitk::BaseRenderer::GetInstance(GetRenderWindowPart()->GetQmitkRenderWindow("axial")->GetRenderWindow() ) ); this->m_IntensityImageNode->SetVisibility( !useToF, mitk::BaseRenderer::GetInstance(GetRenderWindowPart()->GetQmitkRenderWindow("sagittal")->GetRenderWindow() ) ); this->m_IntensityImageNode->SetVisibility( !useToF, mitk::BaseRenderer::GetInstance(GetRenderWindowPart()->GetQmitkRenderWindow("3d")->GetRenderWindow() ) ); this->m_IntensityImageNode->SetProperty("Image Rendering.Mode", renderingModePropertyForTransferFunction); } } if ((m_RGBImageNode.IsNotNull())) { if ((m_SelectedCamera.contains("Kinect"))&&(m_ToFImageGrabber->GetBoolProperty("IR"))) { this->m_RGBImageNode->SetProperty( "visible" , mitk::BoolProperty::New( false )); } else { this->m_RGBImageNode->SetProperty( "visible" , mitk::BoolProperty::New( true )); this->m_RGBImageNode->SetVisibility( !useToF, mitk::BaseRenderer::GetInstance(GetRenderWindowPart()->GetQmitkRenderWindow("axial")->GetRenderWindow() ) ); this->m_RGBImageNode->SetVisibility( !useToF, mitk::BaseRenderer::GetInstance(GetRenderWindowPart()->GetQmitkRenderWindow("sagittal")->GetRenderWindow() ) ); this->m_RGBImageNode->SetVisibility( !useToF, mitk::BaseRenderer::GetInstance(GetRenderWindowPart()->GetQmitkRenderWindow("3d")->GetRenderWindow() ) ); } } // initialize images if (m_MitkDistanceImage.IsNotNull()) { this->GetRenderWindowPart()->GetRenderingManager()->InitializeViews( this->m_MitkDistanceImage->GetTimeSlicedGeometry(), mitk::RenderingManager::REQUEST_UPDATE_2DWINDOWS, true); } if(this->m_SurfaceNode.IsNotNull()) { QHash renderWindowHashMap = this->GetRenderWindowPart()->GetQmitkRenderWindows(); QHashIterator i(renderWindowHashMap); while (i.hasNext()){ i.next(); this->m_SurfaceNode->SetVisibility( false, mitk::BaseRenderer::GetInstance(i.value()->GetRenderWindow()) ); } this->m_SurfaceNode->SetVisibility( true, mitk::BaseRenderer::GetInstance(GetRenderWindowPart()->GetQmitkRenderWindow("3d")->GetRenderWindow() ) ); } //disable/enable gradient background this->GetRenderWindowPart()->EnableDecorations(!useToF, QStringList(QString("background"))); if((this->m_RGBImageNode.IsNotNull())) { bool RGBImageHasDifferentResolution = false; m_ToFImageGrabber->GetCameraDevice()->GetBoolProperty("RGBImageHasDifferentResolution",RGBImageHasDifferentResolution); if(RGBImageHasDifferentResolution) { //update the display geometry by using the RBG image node. Only for renderwindow coronal mitk::RenderingManager::GetInstance()->InitializeView( GetRenderWindowPart()->GetQmitkRenderWindow("coronal")->GetRenderWindow(), this->m_RGBImageNode->GetData()->GetGeometry() ); } } } diff --git a/Plugins/org.mitk.gui.qt.tofutil/src/internal/QmitkToFUtilViewControls.ui b/Plugins/org.mitk.gui.qt.tofutil/src/internal/QmitkToFUtilViewControls.ui index fa7d74512a..0d4ba9e5c7 100644 --- a/Plugins/org.mitk.gui.qt.tofutil/src/internal/QmitkToFUtilViewControls.ui +++ b/Plugins/org.mitk.gui.qt.tofutil/src/internal/QmitkToFUtilViewControls.ui @@ -1,154 +1,171 @@ QmitkToFUtilViewControls 0 0 466 452 0 0 QmitkTemplate Qt::Vertical 20 311 true Surface false Surface true Kinect RGB Texture false Texture + + + + If this value is >0.0, a triangulation will only be applied for vertices within this threshold distance (in mm). + + + + + + + If this value is >0.0, a triangulation will only be applied for vertices within this threshold distance (in mm). + + + Triangulation Threshold + + + 0 0 0 0 true 0 0 QmitkToFRecorderWidget QWidget
QmitkToFRecorderWidget.h
1 QmitkToFVisualisationSettingsWidget QWidget
QmitkToFVisualisationSettingsWidget.h
1 QmitkToFCompositeFilterWidget QWidget
QmitkToFCompositeFilterWidget.h
1 QmitkToFPointSetWidget QWidget
QmitkToFPointSetWidget.h
1 QmitkToFConnectionWidget QWidget
QmitkToFConnectionWidget.h
1