diff --git a/Modules/Bundles/org.mitk.gui.qt.tofutil/src/internal/QmitkToFUtilView.cpp b/Modules/Bundles/org.mitk.gui.qt.tofutil/src/internal/QmitkToFUtilView.cpp index 323d6d904a..7ccc461a39 100644 --- a/Modules/Bundles/org.mitk.gui.qt.tofutil/src/internal/QmitkToFUtilView.cpp +++ b/Modules/Bundles/org.mitk.gui.qt.tofutil/src/internal/QmitkToFUtilView.cpp @@ -1,536 +1,546 @@ /*========================================================================= Program: Medical Imaging & Interaction Toolkit Language: C++ Date: $Date: 2010-03-31 16:40:27 +0200 (Mi, 31 Mrz 2010) $ Version: $Revision: 21975 $ 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. =========================================================================*/ // Qmitk #include "QmitkToFUtilView.h" #include #include // Qt #include #include // MITK #include #include #include #include #include #include // VTK #include // ITK #include const std::string QmitkToFUtilView::VIEW_ID = "org.mitk.views.tofutil"; QmitkToFUtilView::QmitkToFUtilView() : QmitkFunctionality() -, m_Controls(NULL), m_MultiWidget( NULL ) +, m_Controls(NULL), m_MultiWidget( NULL ), m_SelectedCamera("") , 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_SurfaceDisplayCount(0), m_2DDisplayCount(0) , m_RealTimeClock(NULL) , m_StepsForFramerate(100) , m_2DTimeBefore(0.0) , m_2DTimeAfter(0.0) , m_VideoEnabled(false) { 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(); } QmitkToFUtilView::~QmitkToFUtilView() { OnToFCameraStopped(); OnToFCameraDisconnected(); } 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 ); connect(m_Frametimer, SIGNAL(timeout()), this, SLOT(OnUpdateCamera())); 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_TextureCheckBox), SIGNAL(toggled(bool)), this, SLOT(OnTextureCheckBoxChecked(bool)) ); connect( (QObject*)(m_Controls->m_VideoTextureCheckBox), SIGNAL(toggled(bool)), this, SLOT(OnVideoTextureCheckBoxChecked(bool)) ); } } void QmitkToFUtilView::StdMultiWidgetAvailable (QmitkStdMultiWidget &stdMultiWidget) { m_MultiWidget = &stdMultiWidget; } void QmitkToFUtilView::StdMultiWidgetNotAvailable() { m_MultiWidget = NULL; } void QmitkToFUtilView::Activated() { QmitkFunctionality::Activated(); // configure views m_MultiWidget->SetWidgetPlanesVisibility(false); m_MultiWidget->mitkWidget1->GetSliceNavigationController()->SetDefaultViewDirection(mitk::SliceNavigationController::Transversal); m_MultiWidget->mitkWidget1->GetSliceNavigationController()->SliceLockedOn(); m_MultiWidget->mitkWidget2->GetSliceNavigationController()->SetDefaultViewDirection(mitk::SliceNavigationController::Transversal); m_MultiWidget->mitkWidget2->GetSliceNavigationController()->SliceLockedOn(); m_MultiWidget->mitkWidget3->GetSliceNavigationController()->SetDefaultViewDirection(mitk::SliceNavigationController::Transversal); m_MultiWidget->mitkWidget3->GetSliceNavigationController()->SliceLockedOn(); m_MultiWidget->ResetCrosshair(); mitk::RenderingManager::GetInstance()->InitializeViews(); this->UseToFVisibilitySettings(true); m_Controls->m_ToFCompositeFilterWidget->SetToFCompositeFilter(this->m_ToFCompositeFilter); m_Controls->m_ToFCompositeFilterWidget->SetDataStorage(this->GetDefaultDataStorage()); if (this->m_ToFImageGrabber.IsNull()) { m_Controls->m_ToFRecorderWidget->setEnabled(false); m_Controls->m_ToFVisualisationSettingsWidget->setEnabled(false); } } void QmitkToFUtilView::Deactivated() { m_MultiWidget->SetWidgetPlanesVisibility(true); m_MultiWidget->mitkWidget1->GetSliceNavigationController()->SetDefaultViewDirection(mitk::SliceNavigationController::Transversal); m_MultiWidget->mitkWidget1->GetSliceNavigationController()->SliceLockedOff(); m_MultiWidget->mitkWidget2->GetSliceNavigationController()->SetDefaultViewDirection(mitk::SliceNavigationController::Sagittal); m_MultiWidget->mitkWidget2->GetSliceNavigationController()->SliceLockedOff(); m_MultiWidget->mitkWidget3->GetSliceNavigationController()->SetDefaultViewDirection(mitk::SliceNavigationController::Frontal); m_MultiWidget->mitkWidget3->GetSliceNavigationController()->SliceLockedOff(); m_MultiWidget->ResetCrosshair(); this->UseToFVisibilitySettings(false); mitk::RenderingManager::GetInstance()->InitializeViews(); QmitkFunctionality::Deactivated(); } void QmitkToFUtilView::OnToFCameraConnected() { this->m_SurfaceDisplayCount = 0; this->m_2DDisplayCount = 0; this->m_ToFImageGrabber = m_Controls->m_ToFConnectionWidget->GetToFImageGrabber(); 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(true); //TODO this->m_RealTimeClock = mitk::RealTimeClock::New(); this->m_2DTimeBefore = this->m_RealTimeClock->GetCurrentStamp(); try { this->m_VideoSource = mitk::OpenCVVideoSource::New(); this->m_VideoSource->SetVideoCameraInput(0, false); this->m_VideoSource->StartCapturing(); if(!this->m_VideoSource->IsCapturingEnabled()) { MITK_INFO << "unable to initialize video grabbing/playback"; this->m_VideoEnabled = false; m_Controls->m_VideoTextureCheckBox->setEnabled(false); } else { this->m_VideoEnabled = true; m_Controls->m_VideoTextureCheckBox->setEnabled(true); } if (this->m_VideoEnabled) { this->m_VideoSource->FetchFrame(); this->m_VideoCaptureHeight = this->m_VideoSource->GetImageHeight(); this->m_VideoCaptureWidth = this->m_VideoSource->GetImageWidth(); int videoTexSize = this->m_VideoCaptureWidth * this->m_VideoCaptureHeight * 3; // for each pixel three values for rgb are needed!! this->m_VideoTexture = this->m_VideoSource->GetVideoTexture(); unsigned int dimensions[2]; dimensions[0] = this->m_VideoCaptureWidth; dimensions[1] = this->m_VideoCaptureHeight; this->m_ToFDistanceImageToSurfaceFilter->SetTextureImageWidth(this->m_VideoCaptureWidth); this->m_ToFDistanceImageToSurfaceFilter->SetTextureImageHeight(this->m_VideoCaptureHeight); this->m_ToFSurfaceVtkMapper3D->SetTextureWidth(this->m_VideoCaptureWidth); this->m_ToFSurfaceVtkMapper3D->SetTextureHeight(this->m_VideoCaptureHeight); } m_MultiWidget->DisableGradientBackground(); } catch (std::logic_error& e) { QMessageBox::warning(NULL, "Warning", QString(e.what())); MITK_ERROR << e.what(); return; } mitk::RenderingManager::GetInstance()->ForceImmediateUpdateAll(); } void QmitkToFUtilView::OnToFCameraDisconnected() { m_Controls->m_ToFRecorderWidget->OnStop(); m_Controls->m_ToFRecorderWidget->setEnabled(false); m_Controls->m_ToFVisualisationSettingsWidget->setEnabled(false); if(this->m_VideoSource) { this->m_VideoSource->StopCapturing(); this->m_VideoSource = NULL; } mitk::RenderingManager::GetInstance()->ForceImmediateUpdateAll(); } void QmitkToFUtilView::OnToFCameraStarted() { if (m_ToFImageGrabber.IsNotNull()) { // 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(0); this->m_DistanceImageNode = ReplaceNodeData("Distance image",m_MitkDistanceImage); this->m_MitkAmplitudeImage = m_ToFCompositeFilter->GetOutput(1); this->m_AmplitudeImageNode = ReplaceNodeData("Amplitude image",m_MitkAmplitudeImage); this->m_MitkIntensityImage = m_ToFCompositeFilter->GetOutput(2); this->m_IntensityImageNode = ReplaceNodeData("Intensity image",m_MitkIntensityImage); - this->m_RGBImageNode = ReplaceNodeData("RGB image",this->m_ToFImageGrabber->GetOutput(3)); + std::string rgbFileName; + m_ToFImageGrabber->GetCameraDevice()->GetStringProperty("RGBImageFileName",rgbFileName); + if ((m_SelectedCamera=="Microsoft Kinect")||(rgbFileName!="")) + { + this->m_RGBImageNode = ReplaceNodeData("RGB image",this->m_ToFImageGrabber->GetOutput(3)); + } + else + { + this->m_RGBImageNode = NULL; + } 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); this->m_Frametimer->start(0); m_Controls->m_ToFCompositeFilterWidget->UpdateFilterParameter(); // initialize visualization widget m_Controls->m_ToFVisualisationSettingsWidget->Initialize(this->m_MitkDistanceImage, this->m_MitkAmplitudeImage, this->m_MitkIntensityImage); if (m_Controls->m_TextureCheckBox->isChecked()) { OnTextureCheckBoxChecked(true); } if (m_Controls->m_VideoTextureCheckBox->isChecked()) { OnVideoTextureCheckBoxChecked(true); } } m_Controls->m_TextureCheckBox->setEnabled(true); // initialize point set measurement m_Controls->tofMeasurementWidget->InitializeWidget(m_MultiWidget,this->GetDefaultDataStorage(),m_MitkDistanceImage); } void QmitkToFUtilView::OnToFCameraStopped() { this->m_Frametimer->stop(); } void QmitkToFUtilView::OnToFCameraSelected(const QString selected) { + m_SelectedCamera = selected; if ((selected=="PMD CamBoard")||(selected=="PMD 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_VideoTextureCheckBox->setEnabled(false); this->m_Controls->m_SurfaceCheckBox->setChecked(false); this->m_Controls->m_TextureCheckBox->setChecked(false); this->m_Controls->m_VideoTextureCheckBox->setChecked(false); } else { this->m_Controls->m_SurfaceCheckBox->setEnabled(true); this->m_Controls->m_TextureCheckBox->setEnabled(true); // TODO enable when bug 8106 is solved this->m_Controls->m_VideoTextureCheckBox->setEnabled(true); } } void QmitkToFUtilView::OnUpdateCamera() { int currentImageSequence = 0; if (m_Controls->m_VideoTextureCheckBox->isChecked() && this->m_VideoEnabled && this->m_VideoSource) { this->m_VideoTexture = this->m_VideoSource->GetVideoTexture(); ProcessVideoTransform(); } vtkColorTransferFunction* colorTransferFunction1; colorTransferFunction1 = m_Controls->m_ToFVisualisationSettingsWidget->GetWidget1ColorTransferFunction(); mitk::TransferFunction::Pointer tf1 = mitk::TransferFunction::New(); tf1->SetColorTransferFunction( colorTransferFunction1 ); m_DistanceImageNode->SetProperty("Image Rendering.Transfer Function",mitk::TransferFunctionProperty::New(tf1)); vtkColorTransferFunction* colorTransferFunction2; colorTransferFunction2 = m_Controls->m_ToFVisualisationSettingsWidget->GetWidget2ColorTransferFunction(); mitk::TransferFunction::Pointer tf2 = mitk::TransferFunction::New(); tf2->SetColorTransferFunction( colorTransferFunction2 ); m_AmplitudeImageNode->SetProperty("Image Rendering.Transfer Function",mitk::TransferFunctionProperty::New(tf2)); vtkColorTransferFunction* colorTransferFunction3; colorTransferFunction3 = m_Controls->m_ToFVisualisationSettingsWidget->GetWidget3ColorTransferFunction(); mitk::TransferFunction::Pointer tf3 = mitk::TransferFunction::New(); tf3->SetColorTransferFunction( colorTransferFunction3 ); m_IntensityImageNode->SetProperty("Image Rendering.Transfer Function",mitk::TransferFunctionProperty::New(tf3)); if (m_Controls->m_SurfaceCheckBox->isChecked()) { // update surface m_ToFDistanceImageToSurfaceFilter->SetTextureIndex(m_Controls->m_ToFVisualisationSettingsWidget->GetSelectedImageIndex()); this->m_Surface->Update(); vtkColorTransferFunction* colorTransferFunction = m_Controls->m_ToFVisualisationSettingsWidget->GetSelectedColorTransferFunction(); this->m_ToFSurfaceVtkMapper3D->SetVtkScalarsToColors(colorTransferFunction); if (this->m_SurfaceDisplayCount<2) { this->m_SurfaceNode->SetData(this->m_Surface); this->m_SurfaceNode->SetMapper(mitk::BaseRenderer::Standard3D, m_ToFSurfaceVtkMapper3D); mitk::RenderingManager::GetInstance()->InitializeViews( this->m_Surface->GetTimeSlicedGeometry(), mitk::RenderingManager::REQUEST_UPDATE_3DWINDOWS, true); mitk::Point3D surfaceCenter= this->m_Surface->GetGeometry()->GetCenter(); m_MultiWidget->mitkWidget4->GetRenderer()->GetVtkRenderer()->GetActiveCamera()->SetPosition(0,0,-50); m_MultiWidget->mitkWidget4->GetRenderer()->GetVtkRenderer()->GetActiveCamera()->SetViewUp(0,-1,0); m_MultiWidget->mitkWidget4->GetRenderer()->GetVtkRenderer()->GetActiveCamera()->SetFocalPoint(0,0,surfaceCenter[2]); m_MultiWidget->mitkWidget4->GetRenderer()->GetVtkRenderer()->GetActiveCamera()->SetViewAngle(40); m_MultiWidget->mitkWidget4->GetRenderer()->GetVtkRenderer()->GetActiveCamera()->SetClippingRange(1, 10000); } this->m_SurfaceDisplayCount++; } else { // update pipeline this->m_MitkDistanceImage->Update(); } mitk::RenderingManager::GetInstance()->RequestUpdateAll(); 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::ProcessVideoTransform() { IplImage *src, *dst; src = cvCreateImageHeader(cvSize(this->m_VideoCaptureWidth, this->m_VideoCaptureHeight), IPL_DEPTH_8U, 3); src->imageData = (char*)this->m_VideoTexture; CvPoint2D32f srcTri[3], dstTri[3]; CvMat* rot_mat = cvCreateMat(2,3,CV_32FC1); CvMat* warp_mat = cvCreateMat(2,3,CV_32FC1); dst = cvCloneImage(src); dst->origin = src->origin; cvZero( dst ); // Create angle and scale double angle = 0.0; double scale = 1.0; int xOffset = 0;//m_Controls->m_XOffsetSpinBox->value(); int yOffset = 0;//m_Controls->m_YOffsetSpinBox->value(); int zoom = 0;//m_Controls->m_ZoomSpinBox->value(); // Compute warp matrix srcTri[0].x = 0 + zoom; srcTri[0].y = 0 + zoom; srcTri[1].x = src->width - 1 - zoom; srcTri[1].y = 0 + zoom; srcTri[2].x = 0 + zoom; srcTri[2].y = src->height - 1 - zoom; dstTri[0].x = 0; dstTri[0].y = 0; dstTri[1].x = src->width - 1; dstTri[1].y = 0; dstTri[2].x = 0; dstTri[2].y = src->height - 1; cvGetAffineTransform( srcTri, dstTri, warp_mat ); cvWarpAffine( src, dst, warp_mat ); cvCopy ( dst, src ); // Compute warp matrix srcTri[0].x = 0; srcTri[0].y = 0; srcTri[1].x = src->width - 1; srcTri[1].y = 0; srcTri[2].x = 0; srcTri[2].y = src->height - 1; dstTri[0].x = srcTri[0].x + xOffset; dstTri[0].y = srcTri[0].y + yOffset; dstTri[1].x = srcTri[1].x + xOffset; dstTri[1].y = srcTri[1].y + yOffset; dstTri[2].x = srcTri[2].x + xOffset; dstTri[2].y = srcTri[2].y + yOffset; cvGetAffineTransform( srcTri, dstTri, warp_mat ); cvWarpAffine( src, dst, warp_mat ); cvCopy ( dst, src ); src->imageData = NULL; cvReleaseImage( &src ); cvReleaseImage( &dst ); cvReleaseMat( &rot_mat ); cvReleaseMat( &warp_mat ); } 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::OnVideoTextureCheckBoxChecked(bool checked) { if (checked) { if (this->m_VideoEnabled) { this->m_ToFSurfaceVtkMapper3D->SetTexture(this->m_VideoTexture); } else { this->m_ToFSurfaceVtkMapper3D->SetTexture(NULL); } } else { this->m_ToFSurfaceVtkMapper3D->SetTexture(NULL); } } mitk::DataNode::Pointer QmitkToFUtilView::ReplaceNodeData( std::string nodeName, mitk::BaseData* data ) { mitk::DataNode::Pointer node = this->GetDefaultDataStorage()->GetNamedNode(nodeName); if (node.IsNull()) { node = mitk::DataNode::New(); node->SetData(data); node->SetName(nodeName); this->GetDefaultDataStorage()->Add(node); } else { node->SetData(data); } return node; } void QmitkToFUtilView::UseToFVisibilitySettings(bool useToF) { // set node properties if (m_DistanceImageNode.IsNotNull()) { this->m_DistanceImageNode->SetProperty( "visible" , mitk::BoolProperty::New( true )); this->m_DistanceImageNode->SetVisibility( !useToF, mitk::BaseRenderer::GetInstance(GetActiveStdMultiWidget()->mitkWidget2->GetRenderWindow() ) ); this->m_DistanceImageNode->SetVisibility( !useToF, mitk::BaseRenderer::GetInstance(GetActiveStdMultiWidget()->mitkWidget3->GetRenderWindow() ) ); this->m_DistanceImageNode->SetVisibility( !useToF, mitk::BaseRenderer::GetInstance(GetActiveStdMultiWidget()->mitkWidget4->GetRenderWindow() ) ); this->m_DistanceImageNode->SetBoolProperty("use color",!useToF); this->m_DistanceImageNode->GetPropertyList()->DeleteProperty("LookupTable"); } if (m_AmplitudeImageNode.IsNotNull()) { this->m_AmplitudeImageNode->SetProperty( "visible" , mitk::BoolProperty::New( true )); this->m_AmplitudeImageNode->SetVisibility( !useToF, mitk::BaseRenderer::GetInstance(GetActiveStdMultiWidget()->mitkWidget1->GetRenderWindow() ) ); this->m_AmplitudeImageNode->SetVisibility( !useToF, mitk::BaseRenderer::GetInstance(GetActiveStdMultiWidget()->mitkWidget3->GetRenderWindow() ) ); this->m_AmplitudeImageNode->SetVisibility( !useToF, mitk::BaseRenderer::GetInstance(GetActiveStdMultiWidget()->mitkWidget4->GetRenderWindow() ) ); this->m_AmplitudeImageNode->SetBoolProperty("use color",!useToF); this->m_AmplitudeImageNode->GetPropertyList()->DeleteProperty("LookupTable"); } - if (m_RGBImageNode.IsNotNull()) - { - this->m_RGBImageNode->SetProperty( "visible" , mitk::BoolProperty::New( true )); - this->m_RGBImageNode->SetVisibility( !useToF, mitk::BaseRenderer::GetInstance(GetActiveStdMultiWidget()->mitkWidget1->GetRenderWindow() ) ); - this->m_RGBImageNode->SetVisibility( !useToF, mitk::BaseRenderer::GetInstance(GetActiveStdMultiWidget()->mitkWidget2->GetRenderWindow() ) ); - this->m_RGBImageNode->SetVisibility( !useToF, mitk::BaseRenderer::GetInstance(GetActiveStdMultiWidget()->mitkWidget4->GetRenderWindow() ) ); - } - else if (m_IntensityImageNode.IsNotNull()) + if (m_IntensityImageNode.IsNotNull()) { this->m_IntensityImageNode->SetProperty( "visible" , mitk::BoolProperty::New( true )); this->m_IntensityImageNode->SetVisibility( !useToF, mitk::BaseRenderer::GetInstance(GetActiveStdMultiWidget()->mitkWidget1->GetRenderWindow() ) ); this->m_IntensityImageNode->SetVisibility( !useToF, mitk::BaseRenderer::GetInstance(GetActiveStdMultiWidget()->mitkWidget2->GetRenderWindow() ) ); this->m_IntensityImageNode->SetVisibility( !useToF, mitk::BaseRenderer::GetInstance(GetActiveStdMultiWidget()->mitkWidget4->GetRenderWindow() ) ); this->m_IntensityImageNode->SetBoolProperty("use color",!useToF); this->m_IntensityImageNode->GetPropertyList()->DeleteProperty("LookupTable"); } + if ((m_RGBImageNode.IsNotNull())) + { + this->m_RGBImageNode->SetProperty( "visible" , mitk::BoolProperty::New( true )); + this->m_RGBImageNode->SetVisibility( !useToF, mitk::BaseRenderer::GetInstance(GetActiveStdMultiWidget()->mitkWidget1->GetRenderWindow() ) ); + this->m_RGBImageNode->SetVisibility( !useToF, mitk::BaseRenderer::GetInstance(GetActiveStdMultiWidget()->mitkWidget2->GetRenderWindow() ) ); + this->m_RGBImageNode->SetVisibility( !useToF, mitk::BaseRenderer::GetInstance(GetActiveStdMultiWidget()->mitkWidget4->GetRenderWindow() ) ); + } // initialize images if (m_MitkDistanceImage.IsNotNull()) { mitk::RenderingManager::GetInstance()->InitializeViews( this->m_MitkDistanceImage->GetTimeSlicedGeometry(), mitk::RenderingManager::REQUEST_UPDATE_2DWINDOWS, true); } } diff --git a/Modules/Bundles/org.mitk.gui.qt.tofutil/src/internal/QmitkToFUtilView.h b/Modules/Bundles/org.mitk.gui.qt.tofutil/src/internal/QmitkToFUtilView.h index 8764f941c2..5028f8e589 100644 --- a/Modules/Bundles/org.mitk.gui.qt.tofutil/src/internal/QmitkToFUtilView.h +++ b/Modules/Bundles/org.mitk.gui.qt.tofutil/src/internal/QmitkToFUtilView.h @@ -1,171 +1,173 @@ /*========================================================================= Program: Medical Imaging & Interaction Toolkit Language: C++ Date: $Date: 2010-03-31 16:40:27 +0200 (Mi, 31 Mrz 2010) $ Version: $Revision: 21975 $ 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. =========================================================================*/ #ifndef QmitkToFUtilView_h #define QmitkToFUtilView_h #include #include #include #include #include #include #include #include #include #include #include #include /*! \brief QmitkToFUtilView Application that allows simple playing, recording, visualization, processing and measurement of Time-of-Flight (ToF) data. Currently the following features are implemented:
  • Connecting and showing ToF data from various cameras (PMD CamCube 2/3, PMD CamBoard, PMD O3, MESA SwissRanger)
  • Recording and playing of ToF data
  • Color coded visualization of ToF images
  • Preprocessing of the distance data: Threshold, median, average and bilateral filtering; surface generation
  • Simple measurement and PointSet definition
\sa QmitkFunctionality \ingroup Functionalities */ class QmitkToFUtilView : public QmitkFunctionality { // this is needed for all Qt objects that should have a Qt meta-object // (everything that derives from QObject and wants to have signal/slots) Q_OBJECT public: static const std::string VIEW_ID; QmitkToFUtilView(); ~QmitkToFUtilView(); virtual void CreateQtPartControl(QWidget *parent); /// \brief Called when the functionality is activated virtual void Activated(); /// \brief Called when the functionality is deactivated virtual void Deactivated(); virtual void StdMultiWidgetAvailable (QmitkStdMultiWidget &stdMultiWidget); virtual void StdMultiWidgetNotAvailable(); protected slots: /*! \brief Slot triggered from the timer to update the images and visualization */ void OnUpdateCamera(); /*! \brief Slot called when the "Connect" button of the ConnectionWidget is pressed */ void OnToFCameraConnected(); /*! \brief Slot called when the "Disconnect" button of the ConnectionWidget is pressed */ void OnToFCameraDisconnected(); /*! \brief Slot called when the camera selection in the ConnectionWidget has changed */ void OnToFCameraSelected(const QString selected); /*! \brief Slot called when the "Start" button of the RecorderWidget is pressed */ void OnToFCameraStarted(); /*! \brief Slot called when the "Stop" button of the RecorderWidget is pressed */ void OnToFCameraStopped(); /*! \brief Slot invoked when the texture checkbox is checked. Enables the scalar visibility of the surface */ void OnTextureCheckBoxChecked(bool checked); /*! \brief Slot invoked when the video texture checkbox is checked. Enables the texture of the surface */ void OnVideoTextureCheckBoxChecked(bool checked); protected: /*! \brief initialize the visibility settings of ToF data (images + surface) \param useToF true: distance image: widget1, amplitude image: widget 2, intensity image: widget 3; false: standard */ void UseToFVisibilitySettings(bool useToF); Ui::QmitkToFUtilViewControls* m_Controls; QmitkStdMultiWidget* m_MultiWidget; QTimer* m_Frametimer; ///< Timer used to continuously update the images + QString m_SelectedCamera; ///< String holding the selected camera + mitk::Image::Pointer m_MitkDistanceImage; ///< member holding a pointer to the distance image of the selected camera mitk::Image::Pointer m_MitkAmplitudeImage; ///< member holding a pointer to the amplitude image of the selected camera mitk::Image::Pointer m_MitkIntensityImage; ///< member holding a pointer to the intensity image of the selected camera mitk::Surface::Pointer m_Surface; ///< member holding a pointer to the surface generated from the distance image of the selected camera mitk::DataNode::Pointer m_DistanceImageNode; ///< DataNode holding the distance image of the selected camera mitk::DataNode::Pointer m_AmplitudeImageNode; ///< DataNode holding the amplitude image of the selected camera mitk::DataNode::Pointer m_IntensityImageNode; ///< DataNode holding the intensity image of the selected camera mitk::DataNode::Pointer m_RGBImageNode; ///< DataNode holding the rgb image of the selected camera mitk::DataNode::Pointer m_SurfaceNode; ///< DataNode holding the surface generated from the distanc image of the selected camera // ToF processing and recording filter mitk::ToFImageRecorder::Pointer m_ToFImageRecorder; ///< ToF image recorder used for lossless recording of ToF image data mitk::ToFImageGrabber::Pointer m_ToFImageGrabber; ///< Source of a ToF image processing pipeline. Provides pointers to distance, amplitude and intensity image mitk::ToFDistanceImageToSurfaceFilter::Pointer m_ToFDistanceImageToSurfaceFilter; ///< Filter for calculating a surface representation from a given distance image mitk::ToFCompositeFilter::Pointer m_ToFCompositeFilter; ///< Filter combining several processing steps (thresholding, Median filtering, Bilateral filtering) int m_SurfaceDisplayCount; ///< member used to determine whether surface is initialized or not int m_2DDisplayCount; ///< member used to determine whether frame rate output should be shown // members for calculating the frame rate mitk::RealTimeClock::Pointer m_RealTimeClock; ///< real time clock used to calculate the display framerate int m_StepsForFramerate; ///< number of steps used for calculating the display framerate double m_2DTimeBefore; ///< holds the time stamp at the beginning of the display framerate measurement double m_2DTimeAfter; ///< holds the time stamp at the end of the display framerate measurement // members used for displaying an external video source mitk::OpenCVVideoSource::Pointer m_VideoSource; ///< OpenCV video source to connect a video device unsigned char* m_VideoTexture; ///< texture used to show video image int m_VideoCaptureWidth; ///< width of the video image int m_VideoCaptureHeight; ///< height of the video image bool m_VideoEnabled; ///< flag indicating whether video grabbing is enabled. Set via the RGB texture checkbox private: /*! \brief helper method to replace data of the specified node. If node does not exist it will be created \param nodeName Name of the node \param data Data object to be replaced \return returns the node */ mitk::DataNode::Pointer ReplaceNodeData(std::string nodeName, mitk::BaseData* data); void ProcessVideoTransform(); mitk::ToFSurfaceVtkMapper3D::Pointer m_ToFSurfaceVtkMapper3D; }; #endif // _QMITKTOFUTILVIEW_H_INCLUDED diff --git a/Modules/ToFHardware/mitkToFImageGrabber.cpp b/Modules/ToFHardware/mitkToFImageGrabber.cpp index a924681e33..b56c5c67a8 100644 --- a/Modules/ToFHardware/mitkToFImageGrabber.cpp +++ b/Modules/ToFHardware/mitkToFImageGrabber.cpp @@ -1,283 +1,281 @@ /*========================================================================= Program: Medical Imaging & Interaction Toolkit Module: $RCSfile$ Language: C++ Date: $Date: 2010-05-27 16:06:53 +0200 (Do, 27 Mai 2010) $ 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. =========================================================================*/ #include "mitkToFImageGrabber.h" #include "mitkToFCameraPMDCamCubeDevice.h" #include "itkCommand.h" namespace mitk { ToFImageGrabber::ToFImageGrabber():m_CaptureWidth(204),m_CaptureHeight(204),m_PixelNumber(41616),m_ImageSequence(0), m_IntensityArray(NULL), m_DistanceArray(NULL), m_AmplitudeArray(NULL), m_SourceDataArray(NULL), m_RgbDataArray(NULL) { // Create the output. We use static_cast<> here because we know the default // output must be of type TOutputImage OutputImageType::Pointer output0 = static_cast(this->MakeOutput(0).GetPointer()); OutputImageType::Pointer output1 = static_cast(this->MakeOutput(1).GetPointer()); OutputImageType::Pointer output2 = static_cast(this->MakeOutput(2).GetPointer()); OutputImageType::Pointer output3 = static_cast(this->MakeOutput(3).GetPointer()); mitk::ImageSource::SetNumberOfRequiredOutputs(3); mitk::ImageSource::SetNthOutput(0, output0.GetPointer()); mitk::ImageSource::SetNthOutput(1, output1.GetPointer()); mitk::ImageSource::SetNthOutput(2, output2.GetPointer()); mitk::ImageSource::SetNthOutput(3, output3.GetPointer()); } ToFImageGrabber::~ToFImageGrabber() { if (m_IntensityArray||m_AmplitudeArray||m_DistanceArray||m_RgbDataArray) { if (m_ToFCameraDevice) { m_ToFCameraDevice->RemoveObserver(m_DeviceObserverTag); } this->DisconnectCamera(); this->CleanUpImageArrays(); } } mitk::ImageSource::DataObjectPointer mitk::ImageSource::MakeOutput(unsigned int) { return static_cast(OutputImageType::New().GetPointer()); } void ToFImageGrabber::GenerateData() { int requiredImageSequence = 0; int capturedImageSequence = 0; unsigned int dimensions[3]; dimensions[0] = this->m_ToFCameraDevice->GetCaptureWidth(); dimensions[1] = this->m_ToFCameraDevice->GetCaptureHeight(); dimensions[2] = 1; mitk::PixelType FloatType = MakeScalarPixelType(); // acquire new image data this->m_ToFCameraDevice->GetAllImages(this->m_DistanceArray, this->m_AmplitudeArray, this->m_IntensityArray, this->m_SourceDataArray, requiredImageSequence, this->m_ImageSequence, this->m_RgbDataArray ); mitk::Image::Pointer distanceImage = this->GetOutput(0); if (!distanceImage->IsInitialized()) { distanceImage->ReleaseData(); distanceImage->Initialize(FloatType, 3, dimensions, 1); } mitk::Image::Pointer amplitudeImage = this->GetOutput(1); if (!amplitudeImage->IsInitialized()) { amplitudeImage->ReleaseData(); amplitudeImage->Initialize(FloatType, 3, dimensions, 1); } mitk::Image::Pointer intensityImage = this->GetOutput(2); if (!intensityImage->IsInitialized()) { intensityImage->ReleaseData(); intensityImage->Initialize(FloatType, 3, dimensions, 1); } mitk::Image::Pointer rgbImage = this->GetOutput(3); if (!rgbImage->IsInitialized()) { rgbImage->ReleaseData(); rgbImage->Initialize(mitk::PixelType(MakePixelType, 3>()),3,dimensions,1); } capturedImageSequence = this->m_ImageSequence; if (m_DistanceArray) { distanceImage->SetSlice(this->m_DistanceArray, 0, 0, 0); } if (m_AmplitudeArray) { amplitudeImage->SetSlice(this->m_AmplitudeArray, 0, 0, 0); } if (m_IntensityArray) { intensityImage->SetSlice(this->m_IntensityArray, 0, 0, 0); } if (m_RgbDataArray) { rgbImage->SetSlice(this->m_RgbDataArray, 0, 0, 0); } } bool ToFImageGrabber::ConnectCamera() { bool ok = m_ToFCameraDevice->ConnectCamera(); if (ok) { m_CaptureWidth = m_ToFCameraDevice->GetCaptureWidth(); m_CaptureHeight = m_ToFCameraDevice->GetCaptureHeight(); m_PixelNumber = m_CaptureWidth * m_CaptureHeight; m_SourceDataSize = m_ToFCameraDevice->GetSourceDataSize(); AllocateImageArrays(); } return ok; } bool ToFImageGrabber::DisconnectCamera() { bool success = m_ToFCameraDevice->DisconnectCamera(); return success; } void ToFImageGrabber::StartCamera() { m_ToFCameraDevice->StartCamera(); } void ToFImageGrabber::StopCamera() { m_ToFCameraDevice->StopCamera(); } bool ToFImageGrabber::IsCameraActive() { return m_ToFCameraDevice->IsCameraActive(); } void ToFImageGrabber::SetCameraDevice(ToFCameraDevice* aToFCameraDevice) { m_ToFCameraDevice = aToFCameraDevice; itk::SimpleMemberCommand::Pointer modifiedCommand = itk::SimpleMemberCommand::New(); modifiedCommand->SetCallbackFunction(this, &ToFImageGrabber::OnToFCameraDeviceModified); m_DeviceObserverTag = m_ToFCameraDevice->AddObserver(itk::ModifiedEvent(), modifiedCommand); this->Modified(); } ToFCameraDevice* ToFImageGrabber::GetCameraDevice() { return m_ToFCameraDevice; } int ToFImageGrabber::GetCaptureWidth() { return m_CaptureWidth; } int ToFImageGrabber::GetCaptureHeight() { return m_CaptureHeight; } int ToFImageGrabber::GetPixelNumber() { return m_PixelNumber; } int ToFImageGrabber::SetModulationFrequency(int modulationFrequency) { this->m_ToFCameraDevice->SetProperty("ModulationFrequency",mitk::IntProperty::New(modulationFrequency)); this->Modified(); return modulationFrequency; } int ToFImageGrabber::SetIntegrationTime(int integrationTime) { this->m_ToFCameraDevice->SetProperty("IntegrationTime",mitk::IntProperty::New(integrationTime)); this->Modified(); return integrationTime; } int ToFImageGrabber::GetIntegrationTime() { int integrationTime = 0; - BaseProperty* property = this->m_ToFCameraDevice->GetProperty("IntegrationTime"); - this->m_ToFCameraDevice->GetIntProperty(property,integrationTime); + this->m_ToFCameraDevice->GetIntProperty("IntegrationTime",integrationTime); return integrationTime; } int ToFImageGrabber::GetModulationFrequency() { int modulationFrequency = 0; - BaseProperty* property = this->m_ToFCameraDevice->GetProperty("ModulationFrequency"); - this->m_ToFCameraDevice->GetIntProperty(property,modulationFrequency); + this->m_ToFCameraDevice->GetIntProperty("ModulationFrequency",modulationFrequency); return modulationFrequency; } void ToFImageGrabber::SetBoolProperty( const char* propertyKey, bool boolValue ) { SetProperty(propertyKey, mitk::BoolProperty::New(boolValue)); } void ToFImageGrabber::SetIntProperty( const char* propertyKey, int intValue ) { SetProperty(propertyKey, mitk::IntProperty::New(intValue)); } void ToFImageGrabber::SetFloatProperty( const char* propertyKey, float floatValue ) { SetProperty(propertyKey, mitk::FloatProperty::New(floatValue)); } void ToFImageGrabber::SetStringProperty( const char* propertyKey, const char* stringValue ) { SetProperty(propertyKey, mitk::StringProperty::New(stringValue)); } void ToFImageGrabber::SetProperty( const char *propertyKey, BaseProperty* propertyValue ) { this->m_ToFCameraDevice->SetProperty(propertyKey, propertyValue); } void ToFImageGrabber::OnToFCameraDeviceModified() { this->Modified(); } void ToFImageGrabber::CleanUpImageArrays() { // free buffer if (m_IntensityArray) { delete [] m_IntensityArray; m_IntensityArray = NULL; } if (m_DistanceArray) { delete [] m_DistanceArray; m_DistanceArray = NULL; } if (m_AmplitudeArray) { delete [] m_AmplitudeArray; m_AmplitudeArray = NULL; } if (m_SourceDataArray) { delete [] m_SourceDataArray; m_SourceDataArray = NULL; } if (m_RgbDataArray) { delete [] m_RgbDataArray; m_RgbDataArray = NULL; } } void ToFImageGrabber::AllocateImageArrays() { // cleanup memory if necessary this->CleanUpImageArrays(); // allocate buffer m_IntensityArray = new float[m_PixelNumber]; m_DistanceArray = new float[m_PixelNumber]; m_AmplitudeArray = new float[m_PixelNumber]; m_SourceDataArray = new char[m_SourceDataSize]; m_RgbDataArray = new unsigned char[m_PixelNumber*3]; } } diff --git a/Modules/ToFUI/Qmitk/QmitkToFConnectionWidget.cpp b/Modules/ToFUI/Qmitk/QmitkToFConnectionWidget.cpp index 360374f8e5..6fa13bbc74 100644 --- a/Modules/ToFUI/Qmitk/QmitkToFConnectionWidget.cpp +++ b/Modules/ToFUI/Qmitk/QmitkToFConnectionWidget.cpp @@ -1,361 +1,367 @@ /*========================================================================= Program: Medical Imaging & Interaction Toolkit Module: $RCSfile$ Language: C++ Date: $Date: 2009-05-20 13:35:09 +0200 (Mi, 20 Mai 2009) $ Version: $Revision: 17332 $ 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. =========================================================================*/ //#define _USE_MATH_DEFINES #include //QT headers #include #include #include //mitk headers #include "mitkToFConfig.h" #include //itk headers #include const std::string QmitkToFConnectionWidget::VIEW_ID = "org.mitk.views.qmitktofconnectionwidget"; QmitkToFConnectionWidget::QmitkToFConnectionWidget(QWidget* parent, Qt::WindowFlags f): QWidget(parent, f) { this->m_IntegrationTime = 0; this->m_ModulationFrequency = 0; this->m_ToFImageGrabber = NULL; m_Controls = NULL; CreateQtPartControl(this); } QmitkToFConnectionWidget::~QmitkToFConnectionWidget() { } void QmitkToFConnectionWidget::CreateQtPartControl(QWidget *parent) { if (!m_Controls) { // create GUI widgets m_Controls = new Ui::QmitkToFConnectionWidgetControls; m_Controls->setupUi(parent); this->CreateConnections(); // set available cameras to combo box QString string(MITK_TOF_CAMERAS); string.replace(";"," "); QStringList list = string.split(","); m_Controls->m_SelectCameraCombobox->addItems(list); ShowParameterWidget(); } } void QmitkToFConnectionWidget::CreateConnections() { if ( m_Controls ) { connect( (QObject*)(m_Controls->m_ConnectCameraButton), SIGNAL(clicked()),(QObject*) this, SLOT(OnConnectCamera()) ); connect( m_Controls->m_SelectCameraCombobox, SIGNAL(currentIndexChanged(const QString)), this, SLOT(OnSelectCamera(const QString)) ); connect( m_Controls->m_SelectCameraCombobox, SIGNAL(activated(const QString)), this, SLOT(OnSelectCamera(const QString)) ); connect( m_Controls->m_SelectCameraCombobox, SIGNAL(activated(const QString)), this, SIGNAL(ToFCameraSelected(const QString)) ); } } void QmitkToFConnectionWidget::ShowParameterWidget() { QString selectedCamera = m_Controls->m_SelectCameraCombobox->currentText(); if ((selectedCamera == "PMD CamCube 2.0/3.0")||(selectedCamera == "PMD CamBoard")||(selectedCamera=="PMD O3D")|| (selectedCamera=="PMD CamBoardRaw")||(selectedCamera=="PMD CamCubeRaw") ) { ShowPMDParameterWidget(); } else if (selectedCamera=="MESA Swissranger 4000") { ShowMESAParameterWidget(); } else { this->m_Controls->m_PMDParameterWidget->hide(); this->m_Controls->m_MESAParameterWidget->hide(); } } void QmitkToFConnectionWidget::ShowPMDParameterWidget() { this->m_Controls->m_PMDParameterWidget->show(); this->m_Controls->m_MESAParameterWidget->hide(); } void QmitkToFConnectionWidget::ShowMESAParameterWidget() { this->m_Controls->m_PMDParameterWidget->hide(); this->m_Controls->m_MESAParameterWidget->show(); } void QmitkToFConnectionWidget::ShowPlayerParameterWidget() { this->m_Controls->m_PMDParameterWidget->hide(); this->m_Controls->m_MESAParameterWidget->hide(); } mitk::ToFImageGrabber* QmitkToFConnectionWidget::GetToFImageGrabber() { return m_ToFImageGrabber; } void QmitkToFConnectionWidget::OnSelectCamera(const QString selectedText) { if (selectedText == "PMD CamCube 2.0/3.0" || selectedText == "PMD CamCubeRaw 2.0/3.0" ) // PMD camcube 2 { ShowPMDParameterWidget(); } else if (selectedText == "PMD CamBoard" || selectedText == "PMD CamBoardRaw" ) // pmd camboard { ShowPMDParameterWidget(); } else if (selectedText == "PMD O3D") // pmd O3d { ShowPMDParameterWidget(); } else if (selectedText == "MESA Swissranger 4000") // MESA 4000 { ShowMESAParameterWidget(); } else if (selectedText == "PMD Player") // pmd file player { ShowPlayerParameterWidget(); } else if (selectedText == "PMD Raw Data Player") // pmd raw data player { ShowPlayerParameterWidget(); } else if (selectedText == "MITK Player") // mitk player { ShowPlayerParameterWidget(); } } void QmitkToFConnectionWidget::OnConnectCamera() { bool playerMode = false; if (m_Controls->m_ConnectCameraButton->text()=="Connect") { //reset the status of the GUI buttons m_Controls->m_ConnectCameraButton->setEnabled(false); m_Controls->m_SelectCameraCombobox->setEnabled(false); //repaint the widget this->repaint(); QString tmpFileName(""); QString fileFilter(""); //select the camera to connect with QString selectedCamera = m_Controls->m_SelectCameraCombobox->currentText(); if (selectedCamera == "PMD CamCube 2.0/3.0") { //PMD CamCube this->m_ToFImageGrabber = mitk::ToFImageGrabberCreator::GetInstance()->GetPMDCamCubeImageGrabber(); } else if (selectedCamera == "PMD CamCubeRaw 2.0/3.0") { //PMD CamCube this->m_ToFImageGrabber = mitk::ToFImageGrabberCreator::GetInstance()->GetPMDRawDataCamCubeImageGrabber(); } else if (selectedCamera == "PMD CamBoard") { //PMD CamBoard this->m_ToFImageGrabber = mitk::ToFImageGrabberCreator::GetInstance()->GetPMDCamBoardImageGrabber(); } else if (selectedCamera == "PMD CamBoardRaw") { //PMD CamBoard this->m_ToFImageGrabber = mitk::ToFImageGrabberCreator::GetInstance()->GetPMDRawDataCamBoardImageGrabber(); } else if (selectedCamera == "PMD O3D") {//PMD O3 this->m_ToFImageGrabber = mitk::ToFImageGrabberCreator::GetInstance()->GetPMDO3ImageGrabber(); } else if (selectedCamera == "MESA Swissranger 4000") {//MESA SR4000 this->m_ToFImageGrabber = mitk::ToFImageGrabberCreator::GetInstance()->GetMESASR4000ImageGrabber(); } else if (selectedCamera == "Microsoft Kinect") {//KINECT this->m_ToFImageGrabber = mitk::ToFImageGrabberCreator::GetInstance()->GetKinectImageGrabber(); } else if (selectedCamera == "PMD Player") {//PMD player playerMode = true; fileFilter.append("PMD Files (*.pmd)"); this->m_ToFImageGrabber = mitk::ToFImageGrabberCreator::GetInstance()->GetPMDPlayerImageGrabber(); } else if (selectedCamera == "PMD Raw Data Player") {//PMD MITK player playerMode = true; fileFilter.append("NRRD Images (*.nrrd);;PIC Images - deprecated (*.pic)"); this->m_ToFImageGrabber = mitk::ToFImageGrabberCreator::GetInstance()->GetPMDMITKPlayerImageGrabber(); } else if (selectedCamera == "MITK Player") {//MITK player playerMode = true; fileFilter.append("NRRD Images (*.nrrd);;PIC Images - deprecated (*.pic)"); this->m_ToFImageGrabber = mitk::ToFImageGrabberCreator::GetInstance()->GetMITKPlayerImageGrabber(); } // if a player was selected ... if (playerMode) { //... open a QFileDialog to chose the corresponding file from the disc tmpFileName = QFileDialog::getOpenFileName(NULL, "Play Image From...", "", fileFilter); if (tmpFileName.isEmpty()) { m_Controls->m_ConnectCameraButton->setChecked(false); m_Controls->m_ConnectCameraButton->setEnabled(true); m_Controls->m_SelectCameraCombobox->setEnabled(true); this->OnSelectCamera(m_Controls->m_SelectCameraCombobox->currentText()); QMessageBox::information( this, "Template functionality", "Please select a valid image before starting some action."); return; } if(selectedCamera == "PMD Player") { //set the PMD file name this->m_ToFImageGrabber->SetStringProperty("PMDFileName", tmpFileName.toStdString().c_str() ); } if (selectedCamera == "PMD Raw Data Player" || selectedCamera == "MITK Player") { 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() ); if (extension != ".pic" && extension != ".nrrd") { msg = msg + "Invalid file format, please select a \".nrrd\"-file"; throw std::logic_error(msg.c_str()); } int found = baseFilename.rfind("_DistanceImage"); if (found == std::string::npos) { found = baseFilename.rfind("_AmplitudeImage"); } if (found == std::string::npos) { found = baseFilename.rfind("_IntensityImage"); } if (found == std::string::npos) { found = baseFilename.rfind("_RGBImage"); } if (found == std::string::npos) { 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); std::string distanceImageFileName = dir + "/" + baseFilenamePrefix + "_DistanceImage" + 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)) { - msg = msg + "Inputfile not exist! " + distanceImageFileName; - throw std::logic_error(msg.c_str()); + this->m_ToFImageGrabber->SetStringProperty("DistanceImageFileName", ""); + } + else + { + this->m_ToFImageGrabber->SetStringProperty("DistanceImageFileName", distanceImageFileName.c_str()); } if (!itksys::SystemTools::FileExists(amplitudeImageFileName.c_str(), true)) { - msg = msg + "Inputfile not exist! " + amplitudeImageFileName; - throw std::logic_error(msg.c_str()); + this->m_ToFImageGrabber->SetStringProperty("AmplitudeImageFileName", ""); + } + else + { + this->m_ToFImageGrabber->SetStringProperty("AmplitudeImageFileName", amplitudeImageFileName.c_str()); } if (!itksys::SystemTools::FileExists(intensityImageFileName.c_str(), true)) { - msg = msg + "Inputfile not exist! " + intensityImageFileName; - throw std::logic_error(msg.c_str()); + this->m_ToFImageGrabber->SetStringProperty("IntensityImageFileName", ""); + } + else + { + this->m_ToFImageGrabber->SetStringProperty("IntensityImageFileName", intensityImageFileName.c_str()); } if (!itksys::SystemTools::FileExists(rgbImageFileName.c_str(), true)) { - msg = msg + "Inputfile not exist! " + rgbImageFileName; - throw std::logic_error(msg.c_str()); + this->m_ToFImageGrabber->SetStringProperty("RGBImageFileName", ""); + } + else + { + this->m_ToFImageGrabber->SetStringProperty("RGBImageFileName", rgbImageFileName.c_str()); } - //set the file names - this->m_ToFImageGrabber->SetStringProperty("DistanceImageFileName", distanceImageFileName.c_str()); - this->m_ToFImageGrabber->SetStringProperty("AmplitudeImageFileName", amplitudeImageFileName.c_str()); - this->m_ToFImageGrabber->SetStringProperty("IntensityImageFileName", intensityImageFileName.c_str()); - 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_SelectCameraCombobox->setEnabled(true); this->OnSelectCamera(m_Controls->m_SelectCameraCombobox->currentText()); return; } } } //if a connection could be established if (this->m_ToFImageGrabber->ConnectCamera()) { this->m_Controls->m_PMDParameterWidget->SetToFImageGrabber(this->m_ToFImageGrabber); this->m_Controls->m_MESAParameterWidget->SetToFImageGrabber(this->m_ToFImageGrabber); if ((selectedCamera == "PMD CamCube 2.0/3.0")||(selectedCamera == "PMD CamBoard")||(selectedCamera=="PMD O3D")|| (selectedCamera=="PMD CamBoardRaw")||(selectedCamera=="PMD CamCubeRaw 2.0/3.0")) { this->m_Controls->m_PMDParameterWidget->ActivateAllParameters(); } else if (selectedCamera=="MESA Swissranger 4000") { this->m_Controls->m_MESAParameterWidget->ActivateAllParameters(); } m_Controls->m_ConnectCameraButton->setText("Disconnect"); // send connect signal to the caller functionality emit ToFCameraConnected(); } else { 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_SelectCameraCombobox->setEnabled(true); this->OnSelectCamera(m_Controls->m_SelectCameraCombobox->currentText()); return; } m_Controls->m_ConnectCameraButton->setEnabled(true); } 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_SelectCameraCombobox->setEnabled(true); this->OnSelectCamera(m_Controls->m_SelectCameraCombobox->currentText()); this->m_ToFImageGrabber = NULL; // send disconnect signal to the caller functionality emit ToFCameraDisconnected(); } }