UsTK : Ultrasound ToolKit  version 2.0.1 under development (2023-12-07)
tutorial-sonosite-grabber.cpp

[capture-multi-threaded declaration]

#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_core/usImagePostScan2D.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(48, 90), vpImagePoint(416, 550)); // 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_;
t_CaptureState capture_state_;
bool display_initialized_ = false;
#if defined(VISP_HAVE_X11)
vpDisplayX *d_ = NULL;
#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_.setScanLinePitch(vpMath::rad(57 / 127)); // field of view is 57 deg
// Check if we need to initialize the display with the first frame
if (!display_initialized_) {
// Initialize the display
#if defined(VISP_HAVE_X11)
d_ = new vpDisplayX(postScan_);
display_initialized_ = true;
#endif
}
// Display the image
vpDisplay::display(postScan_);
// 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;
}
// Update the display
vpDisplay::flush(postScan_);
} else {
vpTime::wait(2); // Sleep 2ms
}
} while (capture_state_ != capture_stopped);
#if defined(VISP_HAVE_X11)
delete d_;
#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
void setData(const vpImage< Type > &image)
void setTransducerConvexity(const bool isTransducerConvex)
void setScanLinePitch(const double scanLinePitch)
void setProbeName(std::string probeName)
void setTransducerRadius(const double transducerRadius)
void setScanLineNumber(unsigned int scanLineNumber)