diff --git a/Modules/Bundles/org.mitk.gui.qt.toftutorial/src/internal/QmitkToFTutorialView.cpp b/Modules/Bundles/org.mitk.gui.qt.toftutorial/src/internal/QmitkToFTutorialView.cpp index 56fd641fa0..53003d3d27 100644 --- a/Modules/Bundles/org.mitk.gui.qt.toftutorial/src/internal/QmitkToFTutorialView.cpp +++ b/Modules/Bundles/org.mitk.gui.qt.toftutorial/src/internal/QmitkToFTutorialView.cpp @@ -1,193 +1,200 @@ /*========================================================================= Program: Medical Imaging & Interaction Toolkit Language: C++ Date: $Date$ Version: $Revision$ Copyright (c) German Cancer Research Center, Division of Medical and Biological Informatics. All rights reserved. See MITKCopyright.txt or http://www.mitk.org/copyright.html for details. This software is distributed WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the above copyright notices for more information. =========================================================================*/ // Blueberry #include #include // Qmitk #include "QmitkToFTutorialView.h" #include "QmitkStdMultiWidget.h" // Qt #include // mitk includes #include // class holding the intrinsic parameters of the according camera #include // MITK-ToF related includes #include // configuration file holding e.g. plugin paths or path to test file directory #include // filter from module ToFProcessing that calculates a surface from the given range image #include // creator class that provides pre-configured ToFCameraDevices #include // allows access to images provided by the ToF camera const std::string QmitkToFTutorialView::VIEW_ID = "org.mitk.views.toftutorial"; QmitkToFTutorialView::QmitkToFTutorialView() : QmitkFunctionality() , m_Controls( 0 ) , m_MultiWidget( NULL ) { } QmitkToFTutorialView::~QmitkToFTutorialView() { } void QmitkToFTutorialView::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::QmitkToFTutorialViewControls; m_Controls->setupUi( parent ); connect( m_Controls->step1Button, SIGNAL(clicked()), this, SLOT(OnStep1()) ); connect( m_Controls->step2Button, SIGNAL(clicked()), this, SLOT(OnStep2()) ); } } void QmitkToFTutorialView::StdMultiWidgetAvailable (QmitkStdMultiWidget &stdMultiWidget) { m_MultiWidget = &stdMultiWidget; } void QmitkToFTutorialView::StdMultiWidgetNotAvailable() { m_MultiWidget = NULL; } void QmitkToFTutorialView::OnStep1() { // clean up data storage RemoveAllNodesFromDataStorage(); // use ToFImageGrabber to create instance of ToFImageGrabber that holds a ToFCameraMITKPlayerDevice for playing ToF data mitk::ToFImageGrabber::Pointer tofImageGrabber = mitk::ToFImageGrabberCreator::GetInstance()->GetMITKPlayerImageGrabber(); // set paths to test data std::string distanceFileName = MITK_TOF_DATA_DIR; distanceFileName.append("/PMDCamCube2_MF0_IT0_20Images_DistanceImage.pic"); std::string amplitudeFileName = MITK_TOF_DATA_DIR; amplitudeFileName.append("/PMDCamCube2_MF0_IT0_20Images_AmplitudeImage.pic"); std::string intensityFileName = MITK_TOF_DATA_DIR; intensityFileName.append("/PMDCamCube2_MF0_IT0_20Images_IntensityImage.pic"); // set file name property in image grabber. This will be propagated to the corresponding device and controller class tofImageGrabber->SetProperty("DistanceImageFileName",mitk::StringProperty::New(distanceFileName)); tofImageGrabber->SetProperty("AmplitudeImageFileName",mitk::StringProperty::New(amplitudeFileName)); tofImageGrabber->SetProperty("IntensityImageFileName",mitk::StringProperty::New(intensityFileName)); // connect to device if (tofImageGrabber->ConnectCamera()) { //// start camera (internally starts thread that continuously grabs images from the camera) tofImageGrabber->StartCamera(); // update image grabber which itself represents the source of a MITK filter pipeline tofImageGrabber->Update(); // grab distance image mitk::Image::Pointer distanceImage = tofImageGrabber->GetOutput(0); // grab amplitude image mitk::Image::Pointer amplitudeImage = tofImageGrabber->GetOutput(1); // grab intensity image mitk::Image::Pointer intensityImage = tofImageGrabber->GetOutput(2); //add distance image to data storage mitk::DataNode::Pointer distanceNode = mitk::DataNode::New(); distanceNode->SetName("Distance Image"); distanceNode->SetData(distanceImage); this->GetDefaultDataStorage()->Add(distanceNode); //add amplitude image to data storage mitk::DataNode::Pointer amplitudeNode = mitk::DataNode::New(); amplitudeNode->SetName("Amplitude Image"); amplitudeNode->SetData(amplitudeImage); this->GetDefaultDataStorage()->Add(amplitudeNode); //add intensity image to data storage mitk::DataNode::Pointer intensityNode = mitk::DataNode::New(); intensityNode->SetName("Intensity Image"); intensityNode->SetData(intensityImage); this->GetDefaultDataStorage()->Add(intensityNode); // stop camera (terminate internally used thread) tofImageGrabber->StopCamera(); //// disconnect from camera tofImageGrabber->DisconnectCamera(); // adjust views to new data in DataStorage mitk::RenderingManager::GetInstance()->InitializeViews(distanceImage->GetGeometry()); } else { MITK_ERROR<<"Connection to ToF camera could not be established"; } } void QmitkToFTutorialView::OnStep2() { // Check if distance image is available mitk::DataNode::Pointer distanceNode = this->GetDefaultDataStorage()->GetNamedNode("Distance Image"); if (distanceNode.IsNotNull()) { // get distance image from node and check if node contains image mitk::Image::Pointer distanceImage = dynamic_cast(distanceNode->GetData()); if (distanceImage.IsNotNull()) { // create object of CameraIntrinsics that holds intrinsic parameters of the ToF camera mitk::CameraIntrinsics::Pointer cameraIntrinsics = mitk::CameraIntrinsics::New(); - // change focal length and use defaults for other parameters such as inter pixel distance or principal point - cameraIntrinsics->SetFocalLength(13.3,13.3); + // set focal length in pixel + cameraIntrinsics->SetFocalLength(295.8,296.1); + // set principal point in pixel + cameraIntrinsics->SetPrincipalPoint(113.2,97.1); // set up filter for surface calculation mitk::ToFDistanceImageToSurfaceFilter::Pointer surfaceFilter = mitk::ToFDistanceImageToSurfaceFilter::New(); // apply intrinsic parameters to filter surfaceFilter->SetCameraIntrinsics(cameraIntrinsics); + // set distance between pixels on chip in mm (in this example squared pixel) + mitk::ToFProcessingCommon::ToFPoint2D interPixelDistance; + interPixelDistance[0] = 0.045; + interPixelDistance[1] = 0.045; + surfaceFilter->SetInterPixelDistance(interPixelDistance); // set distance image as input surfaceFilter->SetInput(distanceImage); // update the filter surfaceFilter->Update(); // get surface from filter mitk::Surface::Pointer surface = surfaceFilter->GetOutput(); // add surface to data storage mitk::DataNode::Pointer surfaceNode = mitk::DataNode::New(); surfaceNode->SetName("ToF surface"); surfaceNode->SetData(surface); this->GetDefaultDataStorage()->Add(surfaceNode); // adjust views to new data in DataStorage mitk::RenderingManager::GetInstance()->InitializeViews(surface->GetGeometry()); mitk::RenderingManager::GetInstance()->InitializeViews(surface->GetGeometry()); } else { QMessageBox::warning(NULL,"ToF Tutorial","Node 'Distance Image' contains no image"); } } else { QMessageBox::warning(NULL,"ToF Tutorial","Perform Step 1 first to acquire a distance image"); } } void QmitkToFTutorialView::RemoveAllNodesFromDataStorage() { mitk::DataStorage::SetOfObjects::ConstPointer allNodes = this->GetDefaultDataStorage()->GetAll(); this->GetDefaultDataStorage()->Remove(allNodes); }