testUsNeedleInsertionModelRayleighRitzSpline.cpp

USTK usNeedleInsertionModelRayleighRitzSpline test

This example tests the model of the insertion of a needle via the class usNeedleInsertionModelRayleighRitzSpline.

/****************************************************************************
 *
 * This file is part of the ustk software.
 * Copyright (C) 2016 - 2017 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * ("GPL") version 2 as published by the Free Software Foundation.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ustk with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at ustk@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Author:
 * Jason Chevrie
 *
 *****************************************************************************/
 
#include <visp3/core/vpConfig.h>
 
#include <iostream>
#include <stdlib.h>
#include <string>
 
#include <visp3/gui/vpDisplayD3D.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayGTK.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
 
#include <visp3/io/vpParseArgv.h>
 
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpImage.h>
#include <visp3/core/vpPoseVector.h>
 
#include <visp3/ustk_needle_modeling/usNeedleInsertionModelRayleighRitzSpline.h>
#include <visp3/ustk_needle_modeling/usNeedleModelingDisplayTools.h>
 
// List of allowed command line options
#define GETOPTARGS "hlt:cd"
 
typedef enum { vpX11, vpGTK, vpGDI, vpD3D, vpCV } vpDisplayType;
 
void usage(const char *name, const char *badparam, vpDisplayType &dtype);
bool getOptions(int argc, const char **argv, vpDisplayType &dtype, bool &list, bool &display);
 
void usage(const char *name, const char *badparam, vpDisplayType &dtype)
{
  fprintf(stdout, "\n\
Test the class usNeedleInsertionModelRayleighRitzSpline.\n\
\n\
SYNOPSIS\n\
  %s [-t <type of video device>] [-l] [-d] [-h]\n\
", name);
 
  std::string display;
  switch (dtype) {
  case vpX11:
    display = "X11";
    break;
  case vpGTK:
    display = "GTK";
    break;
  case vpGDI:
    display = "GDI";
    break;
  case vpD3D:
    display = "D3D";
    break;
  case vpCV:
    display = "CV";
    break;
  }
 
  fprintf(stdout, "\n\
OPTIONS:                                               Default\n\
\n\
  -t <type of video device>                            \"%s\"\n\
     String specifying the video device to use.\n\
     Possible values:\n\
       \"X11\": only on UNIX platforms,\n\
       \"GTK\": on all plaforms,\n\
       \"GDI\": only on Windows platform (Graphics Device Interface),\n\
       \"D3D\": only on Windows platform (Direct3D).\n\
       \"CV\" : (OpenCV).\n\
\n\
  -l\n\
     Print the list of video-devices available and exit.\n\
\n\
  -d \n\
     Turn off the display.\n\
\n\
  -h\n\
     Print the help.\n\n", display.c_str());
 
  if (badparam)
    fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
}
 
bool getOptions(int argc, const char **argv, vpDisplayType &dtype, bool &list, bool &display)
{
    const char *optarg_;
    int c;
    std::string sDisplayType;
    while((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1)
    {
 
        switch (c)
        {
            case 'l':
                list = true;
                break;
                
            case 't':
                sDisplayType = optarg_;
                // Parse the display type option
                if(sDisplayType.compare("X11") == 0) dtype = vpX11;
                else if (sDisplayType.compare("GTK") == 0) dtype = vpGTK;
                else if (sDisplayType.compare("GDI") == 0) dtype = vpGDI;
                else if (sDisplayType.compare("D3D") == 0) dtype = vpD3D;
                else if (sDisplayType.compare("CV") == 0) dtype = vpCV;
                break;
                
            case 'h':
                usage(argv[0], NULL, dtype);
                return false;
                break;
 
            case 'c':
                break;
 
            case 'd':
                display = false;
                break;
 
            default:
                usage(argv[0], optarg_, dtype);
                return false;
                break;
        }
    }
 
    if((c == 1) || (c == -1))
    {
        // standalone param or error
        usage(argv[0], NULL, dtype);
        std::cerr << "ERROR: " << std::endl;
        std::cerr << "  Bad argument " << optarg_ << std::endl << std::endl;
        return false;
    }
 
    return true;
}
 
 
 
int main(int argc, const char **argv)
{
    bool opt_list = false;   // To print the list of video devices
    vpDisplayType opt_dtype; // Type of display to use
    bool opt_display = true;
 
// Default display is one available
#if defined VISP_HAVE_GTK
    opt_dtype = vpGTK;
#elif defined VISP_HAVE_X11
    opt_dtype = vpX11;
#elif defined VISP_HAVE_GDI
    opt_dtype = vpGDI;
#elif defined VISP_HAVE_D3D9
    opt_dtype = vpD3D;
#elif defined VISP_HAVE_OPENCV
    opt_dtype = vpCV;
#endif
 
    // Read the command line options
    if(!getOptions(argc, argv, opt_dtype, opt_list, opt_display)) exit(-1);
 
    // Print the list of video-devices available
    if (opt_list) {
      unsigned nbDevices = 0;
      std::cout << "List of video-devices available: \n";
#if defined VISP_HAVE_GTK
      std::cout << "  GTK (use \"-t GTK\" option to use it)\n";
      nbDevices++;
#endif
#if defined VISP_HAVE_X11
      std::cout << "  X11 (use \"-t X11\" option to use it)\n";
      nbDevices++;
#endif
#if defined VISP_HAVE_GDI
      std::cout << "  GDI (use \"-t GDI\" option to use it)\n";
      nbDevices++;
#endif
#if defined VISP_HAVE_D3D9
      std::cout << "  D3D (use \"-t D3D\" option to use it)\n";
      nbDevices++;
#endif
#if defined VISP_HAVE_OPENCV
      std::cout << "  CV (use \"-t CV\" option to use it)\n";
      nbDevices++;
#endif
      if (!nbDevices) {
        std::cout << "  No display is available\n";
      }
      return (0);
    }
        
    vpImage<unsigned char> I(700, 500, 255);
    
    vpDisplay *display = nullptr;
 
    if(opt_display)
    {
      switch (opt_dtype)
      {
        case vpX11:
            std::cout << "Requested X11 display functionnalities..." << std::endl;
#if defined VISP_HAVE_X11
            display = new vpDisplayX;
#else
            std::cout << "  Sorry, X11 video device is not available.\n";
            std::cout << "Use \"" << argv[0] << " -l\" to print the list of available devices.\n";
            return 0;
#endif
            break;
        case vpGTK:
            std::cout << "Requested GTK display functionnalities..." << std::endl;
#if defined VISP_HAVE_GTK
            display = new vpDisplayGTK;
#else
            std::cout << "  Sorry, GTK video device is not available.\n";
            std::cout << "Use \"" << argv[0] << " -l\" to print the list of available devices.\n";
            return 0;
#endif
            break;
        case vpGDI:
            std::cout << "Requested GDI display functionnalities..." << std::endl;
#if defined VISP_HAVE_GDI
            display = new vpDisplayGDI;
#else
            std::cout << "  Sorry, GDI video device is not available.\n";
            std::cout << "Use \"" << argv[0] << " -l\" to print the list of available devices.\n";
            return 0;
#endif
            break;
        case vpD3D:
            std::cout << "Requested D3D display functionnalities..." << std::endl;
#if defined VISP_HAVE_D3D9
            display = new vpDisplayD3D;
#else
            std::cout << "  Sorry, D3D video device is not available.\n";
            std::cout << "Use \"" << argv[0] << " -l\" to print the list of available devices.\n";
            return 0;
#endif
            break;
        case vpCV:
            std::cout << "Requested OpenCV display functionnalities..." << std::endl;
#if defined(VISP_HAVE_OPENCV)
            display = new vpDisplayOpenCV;
#else
            std::cout << "  Sorry, OpenCV video device is not available.\n";
            std::cout << "Use \"" << argv[0] << " -l\" to print the list of available devices.\n";
            return 0;
#endif
            break;
      }
    }
 
    if(opt_display) display->init(I);
    
    usNeedleInsertionModelRayleighRitzSpline n;
 
    n.loadPreset(usNeedleInsertionModelRayleighRitzSpline::ModelPreset::BiopsyNeedle);
    n.accessNeedle().setOuterDiameter(0.001);
    n.accessNeedle().setInsideDiameter(0.0007);
    n.accessNeedle().setNeedleYoungModulus(75e9);
    n.accessNeedle().setFullLength(0.1);
    
    n.accessNeedle().accessSegment(0).setOrder(3);
    n.setStiffnessPerUnitLength(0, 10000);
    
    n.setPathUpdateType(usNeedleInsertionModelRayleighRitzSpline::PathUpdateType::WithTipPosition);
    n.setPathUpdateLengthThreshold(0.001);
        
    n.setBasePose(vpPoseVector(0,0,0.1, M_PI,0,0));
 
    n.accessTissue().accessSurface().setPosition(n.accessNeedle().getTipPosition()+0.01*n.accessNeedle().getTipDirection());
    n.accessTissue().accessSurface().setDirection(n.accessNeedle().getTipDirection());
 
    n.setNeedleTipType(usNeedleInsertionModelRayleighRitzSpline::NeedleTipType::ActuatedTip);
    dynamic_cast<usNeedleTipActuated&>(n.accessNeedleTip()).setDiameter(2*n.accessNeedle().getOuterDiameter());
    dynamic_cast<usNeedleTipActuated&>(n.accessNeedleTip()).setLength(0.005);
    dynamic_cast<usNeedleTipActuated&>(n.accessNeedleTip()).setTipAngleDeg(5);
    dynamic_cast<usNeedleTipActuated&>(n.accessNeedleTip()).setSteeringAngleDeg(90);
    
    n.setSolvingMethod(usNeedleInsertionModelRayleighRitzSpline::SolvingMethod::FixedBeamLength);
    
    n.updateState();
 
    usNeedleInsertionModelRayleighRitzSpline n1(n);
    n1.moveBaseWorldFrame(0.01,0,0,0,0,0);
    
    for(int i=0 ; i<300 ; i++)
    {        
        if(i > 50 && i < 100)
        {
            n1.accessNeedle().setFullLength(n1.accessNeedle().getFullLength()+0.0002);
            n1.updateState();
        }
        
        if(i > 50)
        {
            dynamic_cast<usNeedleTipActuated&>(n.accessNeedleTip()).setTipAngleDeg(0.1*(i%40));            
            dynamic_cast<usNeedleTipActuated&>(n.accessNeedleTip()).setSteeringAngleDeg(i%36);
            n.updateState();
        }
 
        n.moveBase(0,0,0.001,0,0,0.1);
        n1.moveBase(0,0,0.001,0,0,0.1);
        
        if(opt_display)
        {
            vpDisplay::display(I);
        
            usNeedleModelingDisplayTools::display(n, I, vpHomogeneousMatrix(0.08 ,0.1, 0.2, M_PI/2,0,0), 3000,3000);
            usNeedleModelingDisplayTools::display(n1, I, vpHomogeneousMatrix(0.08 ,0.1, 0.2, M_PI/2,0,0), 3000,3000);
        
            vpDisplay::flush(I);
        }
    }
 
    if(display) delete display;
 
    return 0;
}