tutorial-ultrasonix-qt-grabbing-RF-scan-conversion.cpp

 
#include <iostream>
#include <visp3/ustk_core/usConfig.h>
 
#if (defined(USTK_HAVE_QT5) || defined(USTK_HAVE_VTK_QT)) && (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI)) &&     \
    defined(USTK_HAVE_FFTW)
 
#include <QApplication>
#include <QStringList>
#include <QtCore/QThread>
 
#include <visp3/ustk_core/usPreScanToPostScan2DConverter.h>
#include <visp3/ustk_core/usRFToPreScan2DConverter.h>
#include <visp3/ustk_grabber/usNetworkGrabberRF2D.h>
 
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayX.h>
 
int main(int argc, char **argv)
{
  // QT application
  QApplication app(argc, argv);
 
  usNetworkGrabberRF2D *qtGrabber = new usNetworkGrabberRF2D();
  qtGrabber->connectToServer();
 
  // setting acquisition parameters
  usNetworkGrabber::usInitHeaderSent header;
  if (qApp->arguments().contains(QString("--probeID"))) {
    header.probeId = qApp->arguments().at(qApp->arguments().indexOf(QString("--probeID")) + 1).toInt();
  } else
    header.probeId = 15; // 4DC7 id = 15 by default
 
  if (qApp->arguments().contains(QString("--slotID"))) {
    header.slotId = qApp->arguments().at(qApp->arguments().indexOf(QString("--slotID")) + 1).toInt();
  } else
    header.slotId = 0; // top slot id = 0 by default
 
  if (qApp->arguments().contains(QString("--imagingMode"))) {
    header.imagingMode = qApp->arguments().at(qApp->arguments().indexOf(QString("--imagingMode")) + 1).toInt();
  } else
    header.imagingMode = 12; // RF = 12
 
  // prepare image;
  usFrameGrabbedInfo<usImageRF2D<short int> > *grabbedFrame;
 
  // prepare converters
  usImagePreScan2D<unsigned char> preScanImage;
  usImagePostScan2D<unsigned char> postscanImage;
  postscanImage.setHeightResolution(0.0005);
  postscanImage.setWidthResolution(0.0005);
 
  // ultrasonix 4DC7 probe settings
  postscanImage.setTransducerConvexity(true);
  postscanImage.setTransducerRadius(0.04);
  postscanImage.setScanLineNumber(128);
  postscanImage.setScanLinePitch(0.010625);
  postscanImage.setDepth(0.15);
  preScanImage.setTransducerSettings(postscanImage);
 
  usRFToPreScan2DConverter converterRF;
  usPreScanToPostScan2DConverter scanConverter;
 
// Prepare display
#if defined(VISP_HAVE_X11)
  vpDisplayX *display = NULL;
#elif defined(VISP_HAVE_GDI)
  vpDisplayGDI *display = NULL;
#endif
  bool displayInit = false;
 
  bool captureRunning = true;
 
  // sending acquisition parameters
  qtGrabber->initAcquisition(header);
 
  qtGrabber->runAcquisition();
 
  std::cout << "waiting ultrasound initialisation..." << std::endl;
 
  // our local grabbing loop
  do {
    grabbedFrame = qtGrabber->acquire();
 
    std::cout << "MAIN THREAD received frame No : " << grabbedFrame->getFrameCount() << std::endl;
 
    double startTime = vpTime::measureTimeMs();
    // convert RF to pre-scan to display something ...
    converterRF.convert(*grabbedFrame, preScanImage);
 
    double endRFConvertTime = vpTime::measureTimeMs();
    std::cout << "RF conversion time (sec) = " << (endRFConvertTime - startTime) / 1000.0 << std::endl;
 
    scanConverter.convert(preScanImage, postscanImage);
 
    double endScanConvertTime = vpTime::measureTimeMs();
    std::cout << "scan-conversion time (sec) = " << (endScanConvertTime - endRFConvertTime) / 1000.0 << std::endl;
 
    // init display
    if (!displayInit && postscanImage.getHeight() != 0 && postscanImage.getWidth() != 0) {
#if defined(VISP_HAVE_X11)
      display = new vpDisplayX(postscanImage);
#elif defined(VISP_HAVE_GDI)
      display = new vpDisplayGDI(postscanImage);
#endif
      displayInit = true;
    }
 
    // processing display
    if (displayInit) {
      if (vpDisplay::getClick(postscanImage, false))
        captureRunning = false;
      vpDisplay::display(postscanImage);
      vpDisplay::displayText(postscanImage, 20, 20, std::string("Click to exit..."), vpColor::red);
      vpDisplay::flush(postscanImage);
    }
  } while (captureRunning);
 
  qtGrabber->stopAcquisition();
 
  if (displayInit) {
    delete display;
  }
 
  return 0;
}
 
#else
int main()
{
  std::cout << "You should intall Qt5 (with wigdets and network modules) to run this tutorial" << std::endl;
  return 0;
}
 
#endif