tutorial-sonosite-confidence-map.cpp

#include <iostream>
 
#include <visp3/core/vpImageConvert.h>
#include <visp3/core/vpMutex.h>
#include <visp3/core/vpThread.h>
#include <visp3/core/vpTime.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/sensor/vpV4l2Grabber.h>
 
#include <visp3/ustk_confidence_map/usScanlineConfidence2D.h>
#include <visp3/ustk_core/usImagePostScan2D.h>
#include <visp3/ustk_core/usImagePreScan2D.h>
#include <visp3/ustk_core/usPostScanToPreScan2DConverter.h>
#include <visp3/ustk_core/usPreScanToPostScan2DConverter.h>
 
#if defined(VISP_HAVE_V4L2) && defined(VISP_HAVE_PTHREAD)
 
// Shared vars
typedef enum { capture_waiting, capture_started, capture_stopped } t_CaptureState;
t_CaptureState s_capture_state = capture_waiting;
vpImage<unsigned char> s_frame;
vpMutex s_mutex_capture;
 
vpThread::Return captureFunction(vpThread::Args args)
{
  vpV4l2Grabber cap = *((vpV4l2Grabber *)args);
  vpImage<unsigned char> frame_;
  bool stop_capture_ = false;
 
  cap.open(frame_);
 
  vpRect roi(vpImagePoint(55, 70), vpImagePoint(410, 555)); // roi to remove sonosite banners
 
  while (!stop_capture_) {
    // Capture in progress
    cap.acquire(frame_, roi); // get a new frame from camera
 
    // Update shared data
    {
      vpMutex::vpScopedLock lock(s_mutex_capture);
      if (s_capture_state == capture_stopped)
        stop_capture_ = true;
      else
        s_capture_state = capture_started;
      s_frame = frame_;
    }
  }
 
  {
    vpMutex::vpScopedLock lock(s_mutex_capture);
    s_capture_state = capture_stopped;
  }
  std::cout << "End of capture thread" << std::endl;
  return 0;
}
 
vpThread::Return displayFunction(vpThread::Args args)
{
  (void)args; // Avoid warning: unused parameter args
  vpImage<unsigned char> I_;
  usImagePostScan2D<unsigned char> postScan_;
  usImagePreScan2D<unsigned char> preScan_;
  usImagePostScan2D<unsigned char> confidencePostScan_;
  usImagePreScan2D<unsigned char> confidencePreScan_;
  usScanlineConfidence2D confidenceMapProcessor_;
 
  t_CaptureState capture_state_;
  bool display_initialized_ = false;
#if defined(VISP_HAVE_X11)
  vpDisplayX *dpost_scan_ = NULL;            // display post-scan image
  vpDisplayX *dpre_scan_ = NULL;             // display pre-scan image
  vpDisplayX *dpost_scan_confidence_ = NULL; // display post-scan image
  vpDisplayX *dpre_scan_confidence_ = NULL;  // display pre-scan image
 
#endif
 
  do {
    s_mutex_capture.lock();
    capture_state_ = s_capture_state;
    s_mutex_capture.unlock();
 
    // Check if a frame is available
    if (capture_state_ == capture_started) {
      // Create a copy of the captured frame
      {
        vpMutex::vpScopedLock lock(s_mutex_capture);
        I_ = s_frame;
      }
 
      // Convert image into post-scan image
      postScan_.setData(I_);
      postScan_.setProbeName("Sonosite C60");
      postScan_.setTransducerRadius(0.060);
      postScan_.setTransducerConvexity(true);
      postScan_.setScanLineNumber(128);
      postScan_.setDepth(0.12);
      postScan_.setFieldOfView(vpMath::rad(57.0)); // field of view of C60 is 57 deg
      postScan_.setHeightResolution((postScan_.getTransducerRadius() + postScan_.getDepth() -
                                     (postScan_.getTransducerRadius() * cos(postScan_.getFieldOfView() / 2.0))) /
                                    postScan_.getHeight());
 
      postScan_.setWidthResolution(
          (2.0 * (postScan_.getTransducerRadius() + postScan_.getDepth()) * sin(postScan_.getFieldOfView() / 2.0)) /
          postScan_.getWidth());
 
      // Convert post-scan to pre-scan image
      usPostScanToPreScan2DConverter backConverter_;
      backConverter_.convert(postScan_, preScan_, 480);
 
      // Compute confidence map on pre-scan image
      // initialisations
      // settings for sonosite probe
      usPreScanToPostScan2DConverter converter_;
 
      // computing pre-scan confidence map
      confidencePreScan_.setImagePreScanSettings(preScan_);
      confidenceMapProcessor_.run(confidencePreScan_, preScan_);
 
      // converting computed confidence map in post-scan
      converter_.convert(confidencePreScan_, confidencePostScan_);
 
      // Check if we need to initialize the display with the first frame
      if (!display_initialized_) {
// Initialize the display
#if defined(VISP_HAVE_X11)
        unsigned int xpos = 10;
        dpost_scan_ = new vpDisplayX(postScan_, xpos, 10, "post-scan");
        xpos += 80 + postScan_.getWidth();
        dpre_scan_ = new vpDisplayX(preScan_, xpos, 10, "pre-scan");
        xpos += 40 + preScan_.getWidth();
        dpre_scan_confidence_ = new vpDisplayX(confidencePreScan_, xpos, 10, "pre-scan confidence");
        xpos += 40 + confidencePreScan_.getWidth();
        dpost_scan_confidence_ = new vpDisplayX(confidencePostScan_, xpos, 10, "post-scan confidence");
        display_initialized_ = true;
#endif
      }
 
      // Display the image
      vpDisplay::display(postScan_);
      vpDisplay::display(preScan_);
      vpDisplay::display(confidencePreScan_);
      vpDisplay::display(confidencePostScan_);
 
      // Trigger end of acquisition with a mouse click
      vpDisplay::displayText(postScan_, 10, 10, "Click to exit...", vpColor::red);
      if (vpDisplay::getClick(postScan_, false)) {
        vpMutex::vpScopedLock lock(s_mutex_capture);
        s_capture_state = capture_stopped;
      }
      vpDisplay::displayText(preScan_, 10, 10, "Click to exit...", vpColor::red);
      if (vpDisplay::getClick(preScan_, false)) {
        vpMutex::vpScopedLock lock(s_mutex_capture);
        s_capture_state = capture_stopped;
      }
      vpDisplay::displayText(confidencePreScan_, 10, 10, "Click to exit...", vpColor::red);
      if (vpDisplay::getClick(confidencePreScan_, false)) {
        vpMutex::vpScopedLock lock(s_mutex_capture);
        s_capture_state = capture_stopped;
      }
      vpDisplay::displayText(confidencePostScan_, 10, 10, "Click to exit...", vpColor::red);
      if (vpDisplay::getClick(confidencePostScan_, false)) {
        vpMutex::vpScopedLock lock(s_mutex_capture);
        s_capture_state = capture_stopped;
      }
 
      // Update the display
      vpDisplay::flush(postScan_);
      vpDisplay::flush(preScan_);
      vpDisplay::flush(confidencePostScan_);
      vpDisplay::flush(confidencePreScan_);
    } else {
      vpTime::wait(2); // Sleep 2ms
    }
  } while (capture_state_ != capture_stopped);
 
#if defined(VISP_HAVE_X11)
  delete dpost_scan_;
  delete dpre_scan_;
  delete dpost_scan_confidence_;
  delete dpre_scan_confidence_;
#endif
 
  std::cout << "End of display thread" << std::endl;
  return 0;
}
 
int main(int argc, const char *argv[])
{
  unsigned int opt_input = 1; // Default value is 1 to mach the material in the lab
 
  // Command line options
  for (int i = 0; i < argc; i++) {
    if (std::string(argv[i]) == "--input")
      opt_input = (unsigned int)atoi(argv[i + 1]);
    else if (std::string(argv[i]) == "--help") {
      std::cout << "Usage: " << argv[0] << " [--input <number>] [--help]" << std::endl;
      return 0;
    }
  }
 
  // Instantiate the grabber
  vpV4l2Grabber g;
 
  g.setInput(opt_input);
  g.setScale(1);
 
  // Start the threads
  vpThread thread_capture((vpThread::Fn)captureFunction, (vpThread::Args)&g);
  vpThread thread_display((vpThread::Fn)displayFunction);
 
  // Wait until thread ends up
  thread_capture.join();
  thread_display.join();
 
  return 0;
}
 
#else
int main()
{
#ifndef VISP_HAVE_V4L2
  std::cout << "You should enable V4L2 to make this example working..." << std::endl;
#elif !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__))) // UNIX
  std::cout << "You should enable pthread usage and rebuild ViSP..." << std::endl;
#else
  std::cout << "Multi-threading seems not supported on this platform" << std::endl;
#endif
}
 
#endif