diff --git a/Modules/ToFHardware/mitkToFCameraMITKPlayerController.cpp b/Modules/ToFHardware/mitkToFCameraMITKPlayerController.cpp index e3b07eca7b..09eb056459 100644 --- a/Modules/ToFHardware/mitkToFCameraMITKPlayerController.cpp +++ b/Modules/ToFHardware/mitkToFCameraMITKPlayerController.cpp @@ -1,331 +1,338 @@ /*=================================================================== 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 // mitk includes #include "mitkItkImageFileReader.h" #include "mitkIOUtil.h" #include #include "mitkImageReadAccessor.h" namespace mitk { ToFCameraMITKPlayerController::ToFCameraMITKPlayerController() : m_PixelNumber(0), m_RGBPixelNumber(0), m_NumberOfBytes(0), m_NumberOfRGBBytes(0), m_CaptureWidth(0), m_CaptureHeight(0), m_RGBCaptureWidth(0), m_RGBCaptureHeight(0), m_ConnectionCheck(false), m_InputFileName(""), m_ToFImageType(ToFImageType3D), m_DistanceImage(0), m_AmplitudeImage(0), m_IntensityImage(0), m_RGBImage(0), m_DistanceInfile(NULL), m_AmplitudeInfile(NULL), m_IntensityInfile(NULL), m_RGBInfile(NULL), m_IntensityArray(NULL), m_DistanceArray(NULL), m_AmplitudeArray(NULL), m_RGBArray(NULL), m_DistanceImageFileName(""), m_AmplitudeImageFileName(""), m_IntensityImageFileName(""), m_RGBImageFileName(""), m_PixelStartInFile(0), m_CurrentFrame(-1), m_NumOfFrames(0) { m_ImageStatus = std::vector(4,true); } ToFCameraMITKPlayerController::~ToFCameraMITKPlayerController() { this->CleanUp(); } void ToFCameraMITKPlayerController::CleanUp() { if(m_DistanceImage.IsNotNull()) { m_DistanceImage->ReleaseData(); m_DistanceImage = NULL; } if(m_AmplitudeImage.IsNotNull()) { m_AmplitudeImage->ReleaseData(); m_AmplitudeImage = NULL; } if(m_IntensityImage.IsNotNull()) { m_IntensityImage->ReleaseData(); m_IntensityImage = NULL; } if(m_RGBImage.IsNotNull()) { m_RGBImage->ReleaseData(); m_RGBImage = NULL; } delete[] this->m_DistanceArray; this->m_DistanceArray = NULL; delete[] this->m_AmplitudeArray; this->m_AmplitudeArray = NULL; delete[] this->m_IntensityArray; this->m_IntensityArray = NULL; delete[] this->m_RGBArray; this->m_RGBArray = NULL; + + this->m_DistanceImageFileName = ""; + this->m_AmplitudeImageFileName = ""; + this->m_IntensityImageFileName = ""; + this->m_RGBImageFileName = ""; } bool ToFCameraMITKPlayerController::OpenCameraConnection() { if(!this->m_ConnectionCheck) { + // reset the image status before connection + m_ImageStatus = std::vector(4,true); try { if (this->m_DistanceImageFileName.empty() && this->m_AmplitudeImageFileName.empty() && this->m_IntensityImageFileName.empty() && this->m_RGBImageFileName.empty()) { throw std::logic_error("No image data file names set"); } if (!this->m_DistanceImageFileName.empty()) { m_DistanceImage = mitk::IOUtil::LoadImage(this->m_DistanceImageFileName); } else { MITK_ERROR << "ToF distance image data file empty"; } if (!this->m_AmplitudeImageFileName.empty()) { m_AmplitudeImage = mitk::IOUtil::LoadImage(this->m_AmplitudeImageFileName); } else { MITK_WARN << "ToF amplitude image data file empty"; } if (!this->m_IntensityImageFileName.empty()) { m_IntensityImage = mitk::IOUtil::LoadImage(this->m_IntensityImageFileName); } else { MITK_WARN << "ToF intensity image data file empty"; } if (!this->m_RGBImageFileName.empty()) { m_RGBImage = mitk::IOUtil::LoadImage(this->m_RGBImageFileName); } else { MITK_WARN << "ToF RGB image data file empty"; } // check if the opened files contained data if(m_DistanceImage.IsNull()) { m_ImageStatus.at(0) = false; } if(m_AmplitudeImage.IsNull()) { m_ImageStatus.at(1) = false; } if(m_IntensityImage.IsNull()) { m_ImageStatus.at(2) = false; } if(m_RGBImage.IsNull()) { m_ImageStatus.at(3) = false; } // Check for dimension type mitk::Image::Pointer infoImage = NULL; if(m_ImageStatus.at(0)) { infoImage = m_DistanceImage; } else if (m_ImageStatus.at(1)) { infoImage = m_AmplitudeImage; } else if(m_ImageStatus.at(2)) { infoImage = m_IntensityImage; } else if(m_ImageStatus.at(3)) { infoImage = m_RGBImage; } if (infoImage->GetDimension() == 2) this->m_ToFImageType = ToFImageType2DPlusT; else if (infoImage->GetDimension() == 3) this->m_ToFImageType = ToFImageType3D; else if (infoImage->GetDimension() == 4) this->m_ToFImageType = ToFImageType2DPlusT; else throw std::logic_error("Error opening ToF data file: Invalid dimension."); this->m_CaptureWidth = infoImage->GetDimension(0); this->m_CaptureHeight = infoImage->GetDimension(1); this->m_PixelNumber = this->m_CaptureWidth*this->m_CaptureHeight; this->m_NumberOfBytes = this->m_PixelNumber * sizeof(float); if(m_RGBImage) { m_RGBCaptureWidth = m_RGBImage->GetDimension(0); m_RGBCaptureHeight = m_RGBImage->GetDimension(1); m_RGBPixelNumber = m_RGBCaptureWidth * m_RGBCaptureHeight; m_NumberOfRGBBytes = m_RGBPixelNumber * 3; } if (this->m_ToFImageType == ToFImageType2DPlusT) { this->m_NumOfFrames = infoImage->GetDimension(3); } else { this->m_NumOfFrames = infoImage->GetDimension(2); } // allocate buffer this->m_DistanceArray = new float[this->m_PixelNumber]; for(int i=0; im_PixelNumber; i++) {this->m_DistanceArray[i]=0.0;} this->m_AmplitudeArray = new float[this->m_PixelNumber]; for(int i=0; im_PixelNumber; i++) {this->m_AmplitudeArray[i]=0.0;} this->m_IntensityArray = new float[this->m_PixelNumber]; for(int i=0; im_PixelNumber; i++) {this->m_IntensityArray[i]=0.0;} this->m_RGBArray = new unsigned char[m_NumberOfRGBBytes]; for(int i=0; im_RGBArray[i]=0.0;} MITK_INFO << "NumOfFrames: " << this->m_NumOfFrames; this->m_ConnectionCheck = true; return this->m_ConnectionCheck; } catch(std::exception& e) { MITK_ERROR << "Error opening ToF data file " << this->m_InputFileName << " " << e.what(); throw std::logic_error("Error opening ToF data file"); return false; } } else return this->m_ConnectionCheck; } bool ToFCameraMITKPlayerController::CloseCameraConnection() { if (this->m_ConnectionCheck) { this->CleanUp(); this->m_ConnectionCheck = false; return true; } return false; } void ToFCameraMITKPlayerController::UpdateCamera() { this->m_CurrentFrame++; if(this->m_CurrentFrame >= this->m_NumOfFrames) { this->m_CurrentFrame = 0; } if(this->m_ImageStatus.at(0)) { this->AccessData(this->m_CurrentFrame, this->m_DistanceImage, this->m_DistanceArray); } if(this->m_ImageStatus.at(1)) { this->AccessData(this->m_CurrentFrame, this->m_AmplitudeImage, this->m_AmplitudeArray); } if(this->m_ImageStatus.at(2)) { this->AccessData(this->m_CurrentFrame, this->m_IntensityImage, this->m_IntensityArray); } if(this->m_ImageStatus.at(3)) { if(!this->m_ToFImageType) { ImageReadAccessor rgbAcc(m_RGBImage, m_RGBImage->GetSliceData(m_CurrentFrame)); memcpy(m_RGBArray, rgbAcc.GetData(), m_NumberOfRGBBytes ); } else if(this->m_ToFImageType) { ImageReadAccessor rgbAcc(m_RGBImage, m_RGBImage->GetVolumeData(m_CurrentFrame)); memcpy(m_RGBArray, rgbAcc.GetData(), m_NumberOfRGBBytes); } } itksys::SystemTools::Delay(50); } void ToFCameraMITKPlayerController::AccessData(int frame, Image::Pointer image, float* &data) { if(!this->m_ToFImageType) { ImageReadAccessor imgAcc(image, image->GetSliceData(frame)); memcpy(data, imgAcc.GetData(), this->m_NumberOfBytes ); } else if(this->m_ToFImageType) { ImageReadAccessor imgAcc(image, image->GetVolumeData(frame)); memcpy(data, imgAcc.GetData(), this->m_NumberOfBytes); } } void ToFCameraMITKPlayerController::GetAmplitudes(float* amplitudeArray) { memcpy(amplitudeArray, this->m_AmplitudeArray, this->m_NumberOfBytes); } void ToFCameraMITKPlayerController::GetIntensities(float* intensityArray) { memcpy(intensityArray, this->m_IntensityArray, this->m_NumberOfBytes); } void ToFCameraMITKPlayerController::GetDistances(float* distanceArray) { memcpy(distanceArray, this->m_DistanceArray, this->m_NumberOfBytes); } void ToFCameraMITKPlayerController::GetRgb(unsigned char* rgbArray) { memcpy(rgbArray, this->m_RGBArray, m_NumberOfRGBBytes); } void ToFCameraMITKPlayerController::SetInputFileName(std::string inputFileName) { this->m_InputFileName = inputFileName; } } diff --git a/Modules/ToFHardware/mitkToFCameraMITKPlayerDevice.cpp b/Modules/ToFHardware/mitkToFCameraMITKPlayerDevice.cpp index ac6431bbbd..bdd808012b 100644 --- a/Modules/ToFHardware/mitkToFCameraMITKPlayerDevice.cpp +++ b/Modules/ToFHardware/mitkToFCameraMITKPlayerDevice.cpp @@ -1,380 +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. ===================================================================*/ #include "mitkToFCameraMITKPlayerDevice.h" #include "mitkToFCameraMITKPlayerController.h" #include "mitkRealTimeClock.h" #include #include #include namespace mitk { ToFCameraMITKPlayerDevice::ToFCameraMITKPlayerDevice() : m_DistanceDataBuffer(NULL), m_AmplitudeDataBuffer(NULL), m_IntensityDataBuffer(NULL), m_RGBDataBuffer(NULL) { m_Controller = ToFCameraMITKPlayerController::New(); } ToFCameraMITKPlayerDevice::~ToFCameraMITKPlayerDevice() { DisconnectCamera(); CleanUpDataBuffers(); } bool ToFCameraMITKPlayerDevice::OnConnectCamera() { bool ok = m_Controller->OpenCameraConnection(); if (ok) { this->m_CaptureWidth = m_Controller->GetCaptureWidth(); this->m_CaptureHeight = m_Controller->GetCaptureHeight(); this->m_RGBImageWidth = m_Controller->GetRGBCaptureWidth(); this->m_RGBImageHeight = m_Controller->GetRGBCaptureHeight(); this->m_PixelNumber = m_Controller->GetPixelNumber(); this->m_RGBPixelNumber = m_Controller->GetRGBPixelNumber(); if(m_RGBPixelNumber != m_PixelNumber) this->SetBoolProperty("RGBImageHasDifferentResolution", true); AllocatePixelArrays(); AllocateDataBuffers(); m_CameraConnected = true; } return ok; } bool ToFCameraMITKPlayerDevice::DisconnectCamera() { bool ok = m_Controller->CloseCameraConnection(); if (ok) { m_CameraConnected = false; + m_PropertyList->Clear(); } return ok; } void ToFCameraMITKPlayerDevice::StartCamera() { if (m_CameraConnected) { // get the first image this->m_Controller->UpdateCamera(); this->m_ImageMutex->Lock(); this->m_Controller->GetDistances(this->m_DistanceDataBuffer[this->m_FreePos]); this->m_Controller->GetAmplitudes(this->m_AmplitudeDataBuffer[this->m_FreePos]); this->m_Controller->GetIntensities(this->m_IntensityDataBuffer[this->m_FreePos]); this->m_Controller->GetRgb(this->m_RGBDataBuffer[this->m_FreePos]); this->m_FreePos = (this->m_FreePos+1) % this->m_BufferSize; this->m_CurrentPos = (this->m_CurrentPos+1) % this->m_BufferSize; this->m_ImageSequence++; this->m_ImageMutex->Unlock(); this->m_CameraActiveMutex->Lock(); this->m_CameraActive = true; this->m_CameraActiveMutex->Unlock(); this->m_ThreadID = this->m_MultiThreader->SpawnThread(this->Acquire, this); // wait a little to make sure that the thread is started itksys::SystemTools::Delay(10); } else { MITK_INFO<<"Camera not connected"; } } void ToFCameraMITKPlayerDevice::UpdateCamera() { m_Controller->UpdateCamera(); } ITK_THREAD_RETURN_TYPE ToFCameraMITKPlayerDevice::Acquire(void* pInfoStruct) { /* extract this pointer from Thread Info structure */ struct itk::MultiThreader::ThreadInfoStruct * pInfo = (struct itk::MultiThreader::ThreadInfoStruct*)pInfoStruct; if (pInfo == NULL) { return ITK_THREAD_RETURN_VALUE; } if (pInfo->UserData == NULL) { return ITK_THREAD_RETURN_VALUE; } ToFCameraMITKPlayerDevice* toFCameraDevice = (ToFCameraMITKPlayerDevice*)pInfo->UserData; if (toFCameraDevice!=NULL) { mitk::RealTimeClock::Pointer realTimeClock; realTimeClock = mitk::RealTimeClock::New(); int n = 100; double t1, t2; t1 = realTimeClock->GetCurrentStamp(); bool overflow = false; bool printStatus = false; while (toFCameraDevice->IsCameraActive()) { // update the ToF camera toFCameraDevice->UpdateCamera(); // get image data from controller and write it to the according buffer toFCameraDevice->m_Controller->GetDistances(toFCameraDevice->m_DistanceDataBuffer[toFCameraDevice->m_FreePos]); toFCameraDevice->m_Controller->GetAmplitudes(toFCameraDevice->m_AmplitudeDataBuffer[toFCameraDevice->m_FreePos]); toFCameraDevice->m_Controller->GetIntensities(toFCameraDevice->m_IntensityDataBuffer[toFCameraDevice->m_FreePos]); toFCameraDevice->m_Controller->GetRgb(toFCameraDevice->m_RGBDataBuffer[toFCameraDevice->m_FreePos]); toFCameraDevice->Modified(); toFCameraDevice->m_ImageMutex->Lock(); toFCameraDevice->m_FreePos = (toFCameraDevice->m_FreePos+1) % toFCameraDevice->m_BufferSize; toFCameraDevice->m_CurrentPos = (toFCameraDevice->m_CurrentPos+1) % toFCameraDevice->m_BufferSize; toFCameraDevice->m_ImageSequence++; if (toFCameraDevice->m_FreePos == toFCameraDevice->m_CurrentPos) { overflow = true; } if (toFCameraDevice->m_ImageSequence % n == 0) { printStatus = true; } toFCameraDevice->m_ImageMutex->Unlock(); if (overflow) { overflow = false; } // print current framerate if (printStatus) { t2 = realTimeClock->GetCurrentStamp() - t1; MITK_INFO << " Framerate (fps): " << n / (t2/1000) << " Sequence: " << toFCameraDevice->m_ImageSequence; t1 = realTimeClock->GetCurrentStamp(); printStatus = false; } } // end of while loop } return ITK_THREAD_RETURN_VALUE; } void ToFCameraMITKPlayerDevice::GetAmplitudes(float* amplitudeArray, int& imageSequence) { m_ImageMutex->Lock(); // write amplitude image data to float array for (int i=0; im_PixelNumber; i++) { amplitudeArray[i] = this->m_AmplitudeDataBuffer[this->m_CurrentPos][i]; } imageSequence = this->m_ImageSequence; m_ImageMutex->Unlock(); } void ToFCameraMITKPlayerDevice::GetIntensities(float* intensityArray, int& imageSequence) { m_ImageMutex->Lock(); // write intensity image data to float array for (int i=0; im_PixelNumber; i++) { intensityArray[i] = this->m_IntensityDataBuffer[this->m_CurrentPos][i]; } imageSequence = this->m_ImageSequence; m_ImageMutex->Unlock(); } void ToFCameraMITKPlayerDevice::GetDistances(float* distanceArray, int& imageSequence) { m_ImageMutex->Lock(); // write distance image data to float array for (int i=0; im_PixelNumber; i++) { distanceArray[i] = this->m_DistanceDataBuffer[this->m_CurrentPos][i]; } imageSequence = this->m_ImageSequence; m_ImageMutex->Unlock(); } void ToFCameraMITKPlayerDevice::GetRgb(unsigned char* rgbArray, int& imageSequence) { m_ImageMutex->Lock(); // write intensity image data to unsigned char array for (int i=0; im_RGBPixelNumber*3; i++) { rgbArray[i] = this->m_RGBDataBuffer[this->m_CurrentPos][i]; } imageSequence = this->m_ImageSequence; m_ImageMutex->Unlock(); } void ToFCameraMITKPlayerDevice::GetAllImages(float* distanceArray, float* amplitudeArray, float* intensityArray, char* /*sourceDataArray*/, int requiredImageSequence, int& capturedImageSequence, unsigned char* rgbDataArray) { m_ImageMutex->Lock(); //check for empty buffer if (this->m_ImageSequence < 0) { // buffer empty MITK_INFO << "Buffer empty!! "; capturedImageSequence = this->m_ImageSequence; m_ImageMutex->Unlock(); return; } // determine position of image in buffer int pos = 0; if ((requiredImageSequence < 0) || (requiredImageSequence > this->m_ImageSequence)) { capturedImageSequence = this->m_ImageSequence; pos = this->m_CurrentPos; } else if (requiredImageSequence <= this->m_ImageSequence - this->m_BufferSize) { capturedImageSequence = (this->m_ImageSequence - this->m_BufferSize) + 1; pos = (this->m_CurrentPos + 1) % this->m_BufferSize; } else // (requiredImageSequence > this->m_ImageSequence - this->m_BufferSize) && (requiredImageSequence <= this->m_ImageSequence) { capturedImageSequence = requiredImageSequence; pos = (this->m_CurrentPos + (10-(this->m_ImageSequence - requiredImageSequence))) % this->m_BufferSize; } if(this->m_DistanceDataBuffer&&this->m_AmplitudeDataBuffer&&this->m_IntensityDataBuffer&&this->m_RGBDataBuffer) { // write image data to float arrays memcpy(distanceArray, this->m_DistanceDataBuffer[pos], this->m_PixelNumber * sizeof(float)); memcpy(amplitudeArray, this->m_AmplitudeDataBuffer[pos], this->m_PixelNumber * sizeof(float)); memcpy(intensityArray, this->m_IntensityDataBuffer[pos], this->m_PixelNumber * sizeof(float)); memcpy(rgbDataArray, this->m_RGBDataBuffer[pos], this->m_RGBPixelNumber * 3 * sizeof(unsigned char)); } m_ImageMutex->Unlock(); } void ToFCameraMITKPlayerDevice::SetInputFileName(std::string inputFileName) { this->m_InputFileName = inputFileName; this->m_Controller->SetInputFileName(inputFileName); } void ToFCameraMITKPlayerDevice::SetProperty( const char *propertyKey, BaseProperty* propertyValue ) { this->m_PropertyList->SetProperty(propertyKey, propertyValue); ToFCameraMITKPlayerController::Pointer myController = dynamic_cast(this->m_Controller.GetPointer()); std::string strValue; GetStringProperty(propertyKey, strValue); if (strcmp(propertyKey, "DistanceImageFileName") == 0) { myController->SetDistanceImageFileName(strValue); } else if (strcmp(propertyKey, "AmplitudeImageFileName") == 0) { std::ifstream amplitudeImage(strValue.c_str()); if(amplitudeImage) { this->m_PropertyList->SetBoolProperty("HasAmplitudeImage", true); myController->SetAmplitudeImageFileName(strValue); } else { MITK_WARN << "File " << strValue << " does not exist!"; } } else if (strcmp(propertyKey, "IntensityImageFileName") == 0) { std::ifstream intensityImage(strValue.c_str()); if(intensityImage) { this->m_PropertyList->SetBoolProperty("HasIntensityImage", true); myController->SetIntensityImageFileName(strValue); } else { MITK_WARN << "File " << strValue << " does not exist!"; } } else if (strcmp(propertyKey, "RGBImageFileName") == 0) { std::ifstream intensityImage(strValue.c_str()); if(intensityImage) { this->m_PropertyList->SetBoolProperty("HasRGBImage", true); myController->SetRGBImageFileName(strValue); } else { MITK_WARN << "File " << strValue << " does not exist!"; } } } void ToFCameraMITKPlayerDevice::CleanUpDataBuffers() { if (m_DistanceDataBuffer) { for(int i=0; im_MaxBufferSize; i++) { delete[] this->m_DistanceDataBuffer[i]; } delete[] this->m_DistanceDataBuffer; } if (m_AmplitudeDataBuffer) { for(int i=0; im_MaxBufferSize; i++) { delete[] this->m_AmplitudeDataBuffer[i]; } delete[] this->m_AmplitudeDataBuffer; } if (m_IntensityDataBuffer) { for(int i=0; im_MaxBufferSize; i++) { delete[] this->m_IntensityDataBuffer[i]; } delete[] this->m_IntensityDataBuffer; } if (m_RGBDataBuffer) { for(int i=0; im_MaxBufferSize; i++) { delete[] this->m_RGBDataBuffer[i]; } delete[] this->m_RGBDataBuffer; } } void ToFCameraMITKPlayerDevice::AllocateDataBuffers() { // free memory if it was already allocated this->CleanUpDataBuffers(); // allocate buffers this->m_DistanceDataBuffer = new float*[this->m_MaxBufferSize]; for(int i=0; im_MaxBufferSize; i++) { this->m_DistanceDataBuffer[i] = new float[this->m_PixelNumber]; } this->m_AmplitudeDataBuffer = new float*[this->m_MaxBufferSize]; for(int i=0; im_MaxBufferSize; i++) { this->m_AmplitudeDataBuffer[i] = new float[this->m_PixelNumber]; } this->m_IntensityDataBuffer = new float*[this->m_MaxBufferSize]; for(int i=0; im_MaxBufferSize; i++) { this->m_IntensityDataBuffer[i] = new float[this->m_PixelNumber]; } this->m_RGBDataBuffer = new unsigned char*[this->m_MaxBufferSize]; for(int i=0; im_MaxBufferSize; i++) { this->m_RGBDataBuffer[i] = new unsigned char[this->m_RGBPixelNumber*3]; } } } diff --git a/Modules/ToFHardware/mitkToFImageGrabber.cpp b/Modules/ToFHardware/mitkToFImageGrabber.cpp index 4c67acb766..6d06f0afa6 100644 --- a/Modules/ToFHardware/mitkToFImageGrabber.cpp +++ b/Modules/ToFHardware/mitkToFImageGrabber.cpp @@ -1,361 +1,367 @@ /*=================================================================== 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 "mitkToFImageGrabber.h" #include "itkCommand.h" namespace mitk { ToFImageGrabber::ToFImageGrabber(): m_ToFCameraDevice(NULL), - m_CaptureWidth(204), - m_CaptureHeight(204), - m_PixelNumber(41616), + m_CaptureWidth(-1), + m_CaptureHeight(-1), + m_PixelNumber(-1), m_RGBImageWidth(0), m_RGBImageHeight(0), m_RGBPixelNumber(0), m_ImageSequence(0), m_SourceDataSize(0), m_IntensityArray(NULL), m_DistanceArray(NULL), m_AmplitudeArray(NULL), m_SourceDataArray(NULL), m_RgbDataArray(NULL), - m_DeviceObserverTag(), - m_DistanceImageInitialized(false), - m_IntensityImageInitialized(false), - m_AmplitudeImageInitialized(false), - m_RGBImageInitialized(false) + m_DeviceObserverTag() { // 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(); } } void ToFImageGrabber::GenerateData() { int requiredImageSequence = 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(); - if (!m_DistanceImageInitialized) + mitk::Image::Pointer distanceImage = this->GetOutput(0); + if (m_DistanceArray) { - distanceImage->ReleaseData(); - distanceImage->Initialize(FloatType, 3, dimensions, 1); - m_DistanceImageInitialized = true; + distanceImage->SetSlice(this->m_DistanceArray, 0, 0, 0); } - mitk::Image::Pointer amplitudeImage = this->GetOutput(1); - if (!m_AmplitudeImageInitialized) + + bool hasAmplitudeImage = false; + m_ToFCameraDevice->GetBoolProperty("HasAmplitudeImage", hasAmplitudeImage); + if((hasAmplitudeImage) && (m_AmplitudeArray)) { - amplitudeImage->ReleaseData(); - amplitudeImage->Initialize(FloatType, 3, dimensions, 1); - m_AmplitudeImageInitialized = true; + mitk::Image::Pointer amplitudeImage = this->GetOutput(1); + amplitudeImage->SetSlice(this->m_AmplitudeArray, 0, 0, 0); } - mitk::Image::Pointer intensityImage = this->GetOutput(2); - if (!m_IntensityImageInitialized) + + bool hasIntensityImage = false; + m_ToFCameraDevice->GetBoolProperty("HasIntensityImage", hasIntensityImage); + if((hasIntensityImage) && (m_IntensityArray)) { - intensityImage->ReleaseData(); - intensityImage->Initialize(FloatType, 3, dimensions, 1); - m_IntensityImageInitialized = true; + mitk::Image::Pointer intensityImage = this->GetOutput(2); + intensityImage->SetSlice(this->m_IntensityArray, 0, 0, 0); } bool hasRGBImage = false; m_ToFCameraDevice->GetBoolProperty("HasRGBImage", hasRGBImage); if( hasRGBImage ) { - unsigned int rgbDimension[3]; - rgbDimension[0] = this->m_ToFCameraDevice->GetRGBCaptureWidth(); - rgbDimension[1] = this->m_ToFCameraDevice->GetRGBCaptureHeight(); - rgbDimension[2] = 1 ; mitk::Image::Pointer rgbImage = this->GetOutput(3); - if (!m_RGBImageInitialized) - { - rgbImage->ReleaseData(); - rgbImage->Initialize(mitk::PixelType(MakePixelType, 3>()), 3, rgbDimension,1); - m_RGBImageInitialized = true; - } if (m_RgbDataArray) { rgbImage->SetSlice(this->m_RgbDataArray, 0, 0, 0); } } - - 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); - } } bool ToFImageGrabber::ConnectCamera() { bool ok = m_ToFCameraDevice->ConnectCamera(); if (ok) { this->m_CaptureWidth = this->m_ToFCameraDevice->GetCaptureWidth(); this->m_CaptureHeight = this->m_ToFCameraDevice->GetCaptureHeight(); this->m_PixelNumber = this->m_CaptureWidth * this->m_CaptureHeight; this->m_RGBImageWidth = this->m_ToFCameraDevice->GetRGBCaptureWidth(); this->m_RGBImageHeight = this->m_ToFCameraDevice->GetRGBCaptureHeight(); this->m_RGBPixelNumber = this->m_RGBImageWidth * this->m_RGBImageHeight; this->m_SourceDataSize = m_ToFCameraDevice->GetSourceDataSize(); this->AllocateImageArrays(); + this->InitializeImages(); } return ok; } bool ToFImageGrabber::DisconnectCamera() { - bool success = m_ToFCameraDevice->DisconnectCamera(); - // reset initialized flag of outputs to allow reinitializing when using new device - m_DistanceImageInitialized = false; - m_IntensityImageInitialized = false; - m_AmplitudeImageInitialized = false; - m_RGBImageInitialized = false; - return success; + return m_ToFCameraDevice->DisconnectCamera(); } void ToFImageGrabber::StartCamera() { m_ToFCameraDevice->StartCamera(); } void ToFImageGrabber::StopCamera() { m_ToFCameraDevice->StopCamera(); } bool ToFImageGrabber::IsCameraActive() { return m_ToFCameraDevice->IsCameraActive(); } bool ToFImageGrabber::IsCameraConnected() { return m_ToFCameraDevice->IsCameraConnected(); } 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::GetRGBImageWidth() { return m_RGBImageWidth; } int ToFImageGrabber::GetRGBImageHeight() { return m_RGBImageHeight; } int ToFImageGrabber::GetRGBPixelNumber() { return m_RGBPixelNumber; } int ToFImageGrabber::SetModulationFrequency(int modulationFrequency) { this->m_ToFCameraDevice->SetProperty("ModulationFrequency",mitk::IntProperty::New(modulationFrequency)); this->Modified(); modulationFrequency = this->GetModulationFrequency(); // return the new valid modulation frequency from the camera return modulationFrequency; } int ToFImageGrabber::SetIntegrationTime(int integrationTime) { this->m_ToFCameraDevice->SetProperty("IntegrationTime",mitk::IntProperty::New(integrationTime)); this->Modified(); integrationTime = this->GetIntegrationTime(); // return the new valid integration time from the camera return integrationTime; } int ToFImageGrabber::GetIntegrationTime() { int integrationTime = 0; this->m_ToFCameraDevice->GetIntProperty("IntegrationTime",integrationTime); return integrationTime; } int ToFImageGrabber::GetModulationFrequency() { int modulationFrequency = 0; 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); } bool ToFImageGrabber::GetBoolProperty( const char* propertyKey) { mitk::BoolProperty::Pointer boolProp = dynamic_cast(GetProperty(propertyKey)); if(!boolProp) return false; return boolProp->GetValue(); } int ToFImageGrabber::GetIntProperty( const char* propertyKey) { mitk::IntProperty::Pointer intProp = dynamic_cast(GetProperty(propertyKey)); return intProp->GetValue(); } float ToFImageGrabber::GetFloatProperty( const char* propertyKey) { mitk::FloatProperty::Pointer floatProp = dynamic_cast(GetProperty(propertyKey)); return floatProp->GetValue(); } const char* ToFImageGrabber::GetStringProperty( const char* propertyKey) { mitk::StringProperty::Pointer stringProp = dynamic_cast(GetProperty(propertyKey)); return stringProp->GetValue(); } BaseProperty* ToFImageGrabber::GetProperty( const char *propertyKey) { return this->m_ToFCameraDevice->GetProperty(propertyKey); } 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_RGBPixelNumber*3]; } + +void ToFImageGrabber::InitializeImages() +{ + unsigned int dimensions[3]; + dimensions[0] = this->m_ToFCameraDevice->GetCaptureWidth(); + dimensions[1] = this->m_ToFCameraDevice->GetCaptureHeight(); + dimensions[2] = 1; + mitk::PixelType FloatType = MakeScalarPixelType(); + mitk::Image::Pointer distanceImage = this->GetOutput(); + distanceImage->ReleaseData(); + distanceImage->Initialize(FloatType, 3, dimensions, 1); + + bool hasAmplitudeImage = false; + m_ToFCameraDevice->GetBoolProperty("HasAmplitudeImage", hasAmplitudeImage); + if(hasAmplitudeImage) + { + mitk::Image::Pointer amplitudeImage = this->GetOutput(1); + amplitudeImage->ReleaseData(); + amplitudeImage->Initialize(FloatType, 3, dimensions, 1); + } + + bool hasIntensityImage = false; + m_ToFCameraDevice->GetBoolProperty("HasIntensityImage", hasIntensityImage); + if(hasIntensityImage) + { + mitk::Image::Pointer intensityImage = this->GetOutput(2); + intensityImage->ReleaseData(); + intensityImage->Initialize(FloatType, 3, dimensions, 1); + } + + bool hasRGBImage = false; + m_ToFCameraDevice->GetBoolProperty("HasRGBImage", hasRGBImage); + if(hasRGBImage) + { + unsigned int rgbDimension[3]; + rgbDimension[0] = this->m_ToFCameraDevice->GetRGBCaptureWidth(); + rgbDimension[1] = this->m_ToFCameraDevice->GetRGBCaptureHeight(); + rgbDimension[2] = 1 ; + mitk::Image::Pointer rgbImage = this->GetOutput(3); + rgbImage->ReleaseData(); + rgbImage->Initialize(mitk::PixelType(MakePixelType, 3>()), 3, rgbDimension,1); + } +} } diff --git a/Modules/ToFHardware/mitkToFImageGrabber.h b/Modules/ToFHardware/mitkToFImageGrabber.h index ea322014e2..8862703646 100644 --- a/Modules/ToFHardware/mitkToFImageGrabber.h +++ b/Modules/ToFHardware/mitkToFImageGrabber.h @@ -1,210 +1,211 @@ /*=================================================================== 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. ===================================================================*/ #ifndef __mitkToFImageGrabber_h #define __mitkToFImageGrabber_h #include #include "mitkCommon.h" #include "mitkImageSource.h" #include "mitkToFCameraDevice.h" #include "itkObject.h" #include "itkObjectFactory.h" namespace mitk { /**Documentation * \brief Image source providing ToF images. Interface for filters provided in ToFProcessing module * * This class internally holds a ToFCameraDevice to access the images acquired by a ToF camera. * * Provided images include: distance image (output 0), amplitude image (output 1), intensity image (output 2) * * \ingroup ToFHardware */ class MITK_TOFHARDWARE_EXPORT ToFImageGrabber : public mitk::ImageSource { public: mitkClassMacro( ToFImageGrabber , ImageSource ); itkFactorylessNewMacro(Self) itkCloneMacro(Self) void ShowDebugImage(float* distances); /*! \brief Establish a connection to the ToF camera */ virtual bool ConnectCamera(); /*! \brief Disconnects the ToF camera */ virtual bool DisconnectCamera(); /*! \brief Starts the continuous updating of the camera. A separate thread updates the source data, the main thread processes the source data and creates images and coordinates */ virtual void StartCamera(); /*! \brief Stops the continuous updating of the camera */ virtual void StopCamera(); /*! \brief Returns true if the camera is connected and started */ virtual bool IsCameraActive(); /*! \brief Returns true if the camera is connected */ virtual bool IsCameraConnected(); /*! \brief Sets the ToF device, the image grabber is grabbing the images from \param aToFCameraDevice device internally used for grabbing the images from the camera */ void SetCameraDevice(ToFCameraDevice* aToFCameraDevice); /*! \brief Get the currently set ToF camera device \return device currently used for grabbing images from the camera */ ToFCameraDevice* GetCameraDevice(); /*! \brief Set the modulation frequency used by the ToF camera. For default values see the corresponding device classes \param modulationFrequency modulation frequency in Hz */ int SetModulationFrequency(int modulationFrequency); /*! \brief Get the modulation frequency used by the ToF camera. \return modulation frequency in MHz */ int GetModulationFrequency(); /*! \brief Set the integration time used by the ToF camera. For default values see the corresponding device classes \param integrationTime integration time in ms */ int SetIntegrationTime(int integrationTime); /*! \brief Get the integration time in used by the ToF camera. \return integration time in ms */ int GetIntegrationTime(); /*! \brief Get the dimension in x direction of the ToF image \return width of the image */ int GetCaptureWidth(); /*! \brief Get the dimension in y direction of the ToF image \return height of the image */ int GetCaptureHeight(); /*! \brief Get the number of pixel in the ToF image \return number of pixel */ int GetPixelNumber(); /*! \brief Get the dimension in x direction of the ToF image \return width of the image */ int GetRGBImageWidth(); /*! \brief Get the dimension in y direction of the ToF image \return height of the image */ int GetRGBImageHeight(); /*! \brief Get the number of pixel in the ToF image \return number of pixel */ int GetRGBPixelNumber(); // properties void SetBoolProperty( const char* propertyKey, bool boolValue ); void SetIntProperty( const char* propertyKey, int intValue ); void SetFloatProperty( const char* propertyKey, float floatValue ); void SetStringProperty( const char* propertyKey, const char* stringValue ); void SetProperty( const char *propertyKey, BaseProperty* propertyValue ); bool GetBoolProperty( const char* propertyKey); int GetIntProperty( const char* propertyKey); float GetFloatProperty( const char* propertyKey); const char* GetStringProperty( const char* propertyKey); BaseProperty* GetProperty( const char *propertyKey); protected: /// /// called when the ToFCameraDevice was modified /// void OnToFCameraDeviceModified(); /*! \brief clean up memory allocated for the image arrays m_IntensityArray, m_DistanceArray, m_AmplitudeArray and m_SourceDataArray */ virtual void CleanUpImageArrays(); /*! \brief Allocate memory for the image arrays m_IntensityArray, m_DistanceArray, m_AmplitudeArray and m_SourceDataArray */ virtual void AllocateImageArrays(); + /** + * @brief InitializeImages Initialze the geometries of the images according to the device properties. + */ + void InitializeImages(); + ToFCameraDevice::Pointer m_ToFCameraDevice; ///< Device allowing access to ToF image data int m_CaptureWidth; ///< Width of the captured ToF image int m_CaptureHeight; ///< Height of the captured ToF image int m_PixelNumber; ///< Number of pixels in the image int m_RGBImageWidth; ///< Width of the captured RGB image int m_RGBImageHeight; ///< Height of the captured RGB image int m_RGBPixelNumber; ///< Number of pixels in the RGB image int m_ImageSequence; ///< counter for currently acquired images int m_SourceDataSize; ///< size of the source data in bytes float* m_IntensityArray; ///< member holding the current intensity array float* m_DistanceArray; ///< member holding the current distance array float* m_AmplitudeArray; ///< member holding the current amplitude array char* m_SourceDataArray;///< member holding the current source data array unsigned char* m_RgbDataArray; ///< member holding the current rgb data array unsigned long m_DeviceObserverTag; ///< tag of the observer for the ToFCameraDevice - bool m_DistanceImageInitialized; ///< flag indicating whether the distance image is initialized or not - bool m_IntensityImageInitialized; ///< flag indicating whether the intensity image is initialized or not - bool m_AmplitudeImageInitialized; ///< flag indicating whether the amplitude image is initialized or not - bool m_RGBImageInitialized; ///< flag indicating whether the RGB image is initialized or not ToFImageGrabber(); ~ToFImageGrabber(); /*! \brief Method generating the outputs of this filter. Called in the updated process of the pipeline. 0: distance image 1: amplitude image 2: intensity image 3: RGB image */ void GenerateData(); private: }; } //END mitk namespace #endif diff --git a/Modules/ToFUI/Qmitk/QmitkToFConnectionWidget.cpp b/Modules/ToFUI/Qmitk/QmitkToFConnectionWidget.cpp index 8942bd69a2..d382795302 100644 --- a/Modules/ToFUI/Qmitk/QmitkToFConnectionWidget.cpp +++ b/Modules/ToFUI/Qmitk/QmitkToFConnectionWidget.cpp @@ -1,385 +1,385 @@ /*=================================================================== 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(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("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 == 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 == static_cast(std::string::npos)) { found = baseFilename.rfind("_IntensityImage"); //found = true if baseFilename cotains "_IntesityImage" } if (found == static_cast(std::string::npos)) { found = baseFilename.rfind("_RGBImage"); } 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) { try { 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)); } catch ( std::exception &e ) { MITK_WARN << "Error loading camera intrinsics: " << e.what(); } } ////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 4387b83660..e9c3299dba 100644 --- a/Plugins/org.mitk.gui.qt.tofutil/src/internal/QmitkToFUtilView.cpp +++ b/Plugins/org.mitk.gui.qt.tofutil/src/internal/QmitkToFUtilView.cpp @@ -1,514 +1,528 @@ /*=================================================================== 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 #include #include #include // MITK #include #include #include #include #include #include #include #include #include #include #include // VTK #include #include #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(); } //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_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()) ); } } //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->m_ToFMeasurementWidget->setEnabled(false); m_Controls->m_ToFSurfaceGenerationWidget->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(); // 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->m_ToFMeasurementWidget->InitializeWidget(this->GetRenderWindowPart()->GetQmitkRenderWindows(),this->GetDataStorage(), this->m_ToFDistanceImageToSurfaceFilter->GetCameraIntrinsics()); + if ( this->GetRenderWindowPart() ) + // initialize measurement widget + m_Controls->m_ToFMeasurementWidget->InitializeWidget(this->GetRenderWindowPart()->GetQmitkRenderWindows(),this->GetDataStorage(), this->m_ToFDistanceImageToSurfaceFilter->GetCameraIntrinsics()); + else + MITK_WARN << "No StdMultiWidget available!!! MeasurementWidget will not work."; 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() { + this->GetDataStorage()->Remove(m_DistanceImageNode); + if(m_RGBImageNode) + this->GetDataStorage()->Remove(m_RGBImageNode); + if(m_AmplitudeImageNode) + this->GetDataStorage()->Remove(m_AmplitudeImageNode); + if(m_IntensityImageNode) + this->GetDataStorage()->Remove(m_IntensityImageNode); + if(m_SurfaceNode) + this->GetDataStorage()->Remove(m_SurfaceNode); + m_Controls->m_ToFRecorderWidget->OnStop(); m_Controls->m_ToFRecorderWidget->setEnabled(false); m_Controls->m_ToFVisualisationSettingsWidget->setEnabled(false); m_Controls->m_ToFMeasurementWidget->setEnabled(false); m_Controls->m_ToFSurfaceGenerationWidget->setEnabled(false); //clean up measurement widget m_Controls->m_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); + this->m_ToFCompositeFilter->SetInput(0,this->m_ToFImageGrabber->GetOutput(0)); + if(hasAmplitudeImage) + this->m_ToFCompositeFilter->SetInput(1,this->m_ToFImageGrabber->GetOutput(1)); + if(hasIntensityImage) + 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); 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); } this->m_ToFDistanceImageToSurfaceFilter->SetInput(0,m_MitkDistanceImage); this->m_ToFDistanceImageToSurfaceFilter->SetInput(1,m_MitkAmplitudeImage); this->m_ToFDistanceImageToSurfaceFilter->SetInput(2,m_MitkIntensityImage); this->UseToFVisibilitySettings(true); this->m_SurfaceNode = ReplaceNodeData("Surface", NULL); m_Controls->m_ToFCompositeFilterWidget->UpdateFilterParameter(); // initialize visualization widget m_Controls->m_ToFVisualisationSettingsWidget->Initialize(this->m_DistanceImageNode, this->m_AmplitudeImageNode, this->m_IntensityImageNode, this->m_SurfaceNode); m_Controls->m_ToFSurfaceGenerationWidget->Initialize(m_ToFDistanceImageToSurfaceFilter, m_ToFImageGrabber, m_CameraIntrinsics, m_SurfaceNode, GetRenderWindowPart()->GetQmitkRenderWindow("3d")->GetRenderer()->GetVtkRenderer()->GetActiveCamera()); // set distance image to measurement widget m_Controls->m_ToFMeasurementWidget->SetDistanceImage(m_MitkDistanceImage); this->m_Frametimer->start(0); m_Controls->m_ToFVisualisationSettingsWidget->setEnabled(true); m_Controls->m_ToFCompositeFilterWidget->setEnabled(true); m_Controls->m_ToFMeasurementWidget->setEnabled(true); m_Controls->m_ToFSurfaceGenerationWidget->setEnabled(true); } } void QmitkToFUtilView::OnToFCameraStopped() { m_Controls->m_ToFVisualisationSettingsWidget->setEnabled(false); m_Controls->m_ToFCompositeFilterWidget->setEnabled(false); this->m_Frametimer->stop(); } void QmitkToFUtilView::OnUpdateCamera() { if(!m_Controls->m_ToFSurfaceGenerationWidget->UpdateSurface()) { // 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::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()) { 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()) { 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())) { 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->GetTimeGeometry(), 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() ); } } }