Tutorial: UsTK grabber tutorial for ultrasonix station with computation of confidence map of the image

Table of Contents

• Introduction
• Apply the confidence map on pre-scan images
• Next tutorial

Introduction

This tutorial expains how to apply a confidence map algorithm in real-time on frames grabbed from ultrasonix station.

Note that the source code used in this tutorial can be downloaded using the following command :

$ svn export https://github.com/lagadic/ustk.git/trunk/tutorial/ustk/ultrasonix

Apply the confidence map on pre-scan images

The following code shows how to apply a confidence map algorithm on a pre-scan image grabbed in real-time, and display the result.

The confidence map is produced using usScanlineConfidence2D class.

Note that the code runs in 2 separate threads :

• The grabbing thread wich reads frames arriving on the network
• The main thread wich computes the confidence map algorithm on each new frame, and displays the result.

You will need Qt and X11 to run the following code.

 
#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))
 
#include <QApplication>
#include <QStringList>
#include <QtCore/QThread>
 
#include <visp3/ustk_grabber/usNetworkGrabberPreScan2D.h>
 
#include <visp3/ustk_confidence_map/usScanlineConfidence2D.h>
 
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayX.h>
 
int main(int argc, char **argv)
{
  // QT application
  QApplication app(argc, argv);
 
  usNetworkGrabberPreScan2D *qtGrabber = new usNetworkGrabberPreScan2D();
  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 = 0; // B-mode = 0 by default
 
  // prepare image;
  usFrameGrabbedInfo<usImagePreScan2D<unsigned char> > *grabbedFrame;
  usImagePreScan2D<unsigned char> confidence;
 
// Prepare display
#if defined(VISP_HAVE_X11)
  vpDisplayX *display = NULL;
  vpDisplayX *displayConf = NULL;
#elif defined(VISP_HAVE_GDI)
  vpDisplayGDI *display = NULL;
  vpDisplayGDI *displayConf = NULL;
#endif
 
  bool displayInit = false;
 
  // prepare confidence
  usScanlineConfidence2D confidenceProcessor;
 
  bool captureRunning = true;
 
  // sending acquisition parameters
  qtGrabber->initAcquisition(header);
 
  qtGrabber->runAcquisition();
 
  // our local grabbing loop
  do {
    grabbedFrame = qtGrabber->acquire();
    confidenceProcessor.run(confidence, *grabbedFrame);
    // local copy for vpDisplay
    // localFrame = *grabbedFrame;
 
    std::cout << "MAIN THREAD received frame No : " << grabbedFrame->getFrameCount() << std::endl;
 
    std::cout << *grabbedFrame << std::endl;
 
    // init display
    if (!displayInit && grabbedFrame->getHeight() != 0 && grabbedFrame->getWidth() != 0) {
#if defined(VISP_HAVE_X11)
      display = new vpDisplayX(*grabbedFrame);
      displayConf = new vpDisplayX(confidence);
#elif defined(VISP_HAVE_GDI)
      display = new vpDisplayGDI(*grabbedFrame);
      displayConf = new vpDisplayGDI(confidence);
#endif
      qtGrabber->useVpDisplay(display);
      displayInit = true;
    }
 
    // processing display
    if (displayInit) {
      if (vpDisplay::getClick(*grabbedFrame, false))
        captureRunning = false;
      vpDisplay::display(*grabbedFrame);
      vpDisplay::displayText(*grabbedFrame, 20, 20, std::string("Click to exit..."), vpColor::red);
      vpDisplay::flush(*grabbedFrame);
      vpDisplay::display(confidence);
      vpDisplay::displayText(confidence, 20, 20, std::string("Click to exit..."), vpColor::red);
      vpDisplay::flush(confidence);
      // vpTime::wait(10); // wait to simulate a local process running on last frame frabbed
    }
  } while (captureRunning);
 
  qtGrabber->stopAcquisition();
 
  if (displayInit) {
    delete display;
    delete displayConf;
  }
 
  return 0;
}
 
#else
int main()
{
  std::cout << "You should intall Qt5 (with wigdets and network modules), and display X to run this tutorial"
            << std::endl;
  return 0;
}
 
#endif

Next tutorial

You are now ready to see the next Tutorial: UsTK grabber tutorial to perform visual servoing on a 2D confidence map..