tutorial-ultrasonix-qt-grabbing-pre-scan3D-display.cpp

 
#include <iostream>
#include <visp3/ustk_core/usConfig.h>
 
#if defined(VISP_HAVE_MODULE_USTK_GUI) && defined(VISP_HAVE_MODULE_USTK_GRABBER)
 
#include <QApplication>
#include <QtCore/QThread>
 
#include <visp3/ustk_grabber/usNetworkGrabberPreScan3D.h>
 
#include <visp3/ustk_core/usImageIo.h>
 
#include <visp3/ustk_gui/us3DSceneWidget.h>
#include <visp3/ustk_gui/usVTKConverter.h>
 
int main(int argc, char **argv)
{
  // QT application
  QApplication app(argc, argv);
 
  QThread *grabbingThread = new QThread();
 
  usNetworkGrabberPreScan3D *qtGrabber = new usNetworkGrabberPreScan3D();
  qtGrabber->connectToServer();
 
  // setting acquisition parameters
  usNetworkGrabber::usInitHeaderSent header;
  header.probeId = 15;    // 4DC7 id = 15
  header.slotId = 0;      // top slot id = 0
  header.imagingMode = 0; // B-mode = 0
 
  // prepare image;
  usVolumeGrabbedInfo<usImagePreScan3D<unsigned char> > *grabbedFrame;
 
  bool captureRunning = true;
 
  // sending acquisition parameters
  qtGrabber->initAcquisition(header);
 
  qtGrabber->setStepsPerFrame(usAcquisitionParameters::US_ANGLE_PITCH_3);
  qtGrabber->setFramesPerVolume(25);
  qtGrabber->setMotorActivation(true);
  qtGrabber->sendAcquisitionParameters();
 
  // pre-compute the importer to save time during the data import in vtk
  // this importer will switch between the 2 previsous usImages at each iteration
  vtkSmartPointer<vtkImageData> vtkImage = vtkSmartPointer<vtkImageData>::New();
 
  // setup view widget
  us3DSceneWidget scene;
 
  // Send the command to run the acquisition
  qtGrabber->runAcquisition();
 
  // Move the grabber object to another thread, and run it
  qtGrabber->moveToThread(grabbingThread);
  grabbingThread->start();
 
  bool init = false;
 
  // our grabbing loop
  do {
    if (qtGrabber->isFirstFrameAvailable()) {
      grabbedFrame = qtGrabber->acquire();
 
      std::cout << "MAIN THREAD received volume No : " << grabbedFrame->getVolumeCount() << std::endl;
 
      if (!init) {
 
        usVTKConverter::convert(*grabbedFrame, vtkImage);
 
        scene.setImageData(vtkImage);
 
        double spacing[3];
        vtkImage->GetSpacing(spacing);
 
        vtkSmartPointer<vtkPlane> planeX = vtkSmartPointer<vtkPlane>::New();
        planeX->SetNormal(1, 0, 0);
        planeX->SetOrigin(grabbedFrame->getWidth() * spacing[0] / 2.0, 0, 0);
        vtkSmartPointer<vtkPlane> planeY = vtkSmartPointer<vtkPlane>::New();
        planeY->SetNormal(0, 1, 0);
        planeY->SetOrigin(0, grabbedFrame->getHeight() * spacing[1] / 2.0, 0);
        vtkSmartPointer<vtkPlane> planeZ = vtkSmartPointer<vtkPlane>::New();
        planeZ->SetNormal(0, 0, 1);
        planeZ->SetOrigin(0, 0, grabbedFrame->getNumberOfFrames() * spacing[2] / 2.0);
        scene.setPlanes(planeX, planeY, planeZ);
 
        scene.init();
        scene.show();
 
        init = true;
      } else {
 
        usVTKConverter::convert(*grabbedFrame, vtkImage);
 
        scene.setImageData(vtkImage);
      }
    } else {
      vpTime::wait(10);
    }
  } while (captureRunning);
 
  return app.exec();
}
 
#else
int main()
{
  std::cout << "You should build ustk_gui and ustk_grabber to run this tutorial" << std::endl;
  return 0;
}
 
#endif