usGrabber3DViewer.cpp

#include <visp3/ustk_core/usConfig.h>
 
#ifdef USTK_HAVE_VTK_QT
 
#include <visp3/ustk_core/us.h>
#include <visp3/ustk_core/usImageIo.h>
#include <visp3/ustk_core/usImagePostScan3D.h>
#include <visp3/ustk_core/usPreScanToPostScan3DConverter.h>
#include <visp3/ustk_gui/us3DSceneWidget.h>
#include <visp3/ustk_gui/usVTKConverter.h>
 
int main(int argc, char **argv)
{
  std::string mhd_filename;
 
  for (int i = 0; i < argc; i++) {
    if (std::string(argv[i]) == "--input")
      mhd_filename = std::string(argv[i + 1]);
    else if (std::string(argv[i]) == "--help") {
      std::cout << "\nUsage: " << argv[0] << " [--input <preScan3D.xml>] [--help]\n" << std::endl;
      return 0;
    }
  }
 
  // Get the ustk-dataset package path or USTK_DATASET_PATH environment variable value
  if (mhd_filename.empty()) {
    std::string env_ipath = us::getDataSetPath();
    if (!env_ipath.empty())
      mhd_filename = env_ipath + "/pre-scan/3D_xml/sequencepreScan3D.xml";
    else {
      std::cout << "You should set USTK_DATASET_PATH environment var to access to ustk dataset" << std::endl;
      return 0;
    }
  }
 
  // QT application
  QApplication app(argc, argv);
 
  // read us image
  // read 2 us images to simulate double buffer system for real grabbing
 
  // 1st us image
  usImagePreScan3D<unsigned char> preScanImage;
  usImagePostScan3D<unsigned char> postScanImage;
  usImageIo::read(preScanImage, mhd_filename);
  // 2nd us image
  usImagePreScan3D<unsigned char> preScanImage2;
  usImagePostScan3D<unsigned char> postScanImage2;
  usImageIo::read(preScanImage2, mhd_filename);
 
  // scan-conversion
  usPreScanToPostScan3DConverter converter;
  double startTime = vpTime::measureTimeMs();
  std::cout << "init converter..." << std::endl;
  converter.init(preScanImage);
  double endInitTime = vpTime::measureTimeMs();
  std::cout << "init time (sec) = " << (endInitTime - startTime) / 1000.0 << std::endl;
 
  // scan-convert to init post-scan images (and not have a NULL pointer given to vtk importer)
  converter.convert(postScanImage, preScanImage);
  converter.convert(postScanImage2, preScanImage2);
 
  // check addresses of each image
  std::cout << "image 1 @ : " << (void *)postScanImage.getConstData() << std::endl;
  std::cout << "image 2 @ : " << (void *)postScanImage2.getConstData() << std::endl;
 
  // 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();
  vtkSmartPointer<vtkImageData> vtkImage2 = vtkSmartPointer<vtkImageData>::New();
 
  usVTKConverter::convert(postScanImage, vtkImage);
 
  // setup view widget
  us3DSceneWidget scene;
  scene.setImageData(vtkImage);
 
  double spacing[3];
  vtkImage->GetSpacing(spacing);
 
  vtkSmartPointer<vtkPlane> planeX = vtkSmartPointer<vtkPlane>::New();
  planeX->SetNormal(1, 0, 0);
  planeX->SetOrigin(postScanImage.getWidth() * spacing[0] / 2.0, 0, 0);
  vtkSmartPointer<vtkPlane> planeY = vtkSmartPointer<vtkPlane>::New();
  planeY->SetNormal(0, 1, 0);
  planeY->SetOrigin(0, postScanImage.getHeight() * spacing[1] / 2.0, 0);
  vtkSmartPointer<vtkPlane> planeZ = vtkSmartPointer<vtkPlane>::New();
  planeZ->SetNormal(0, 0, 1);
  planeZ->SetOrigin(0, 0, postScanImage.getNumberOfFrames() * spacing[2] / 2.0);
  scene.setPlanes(planeX, planeY, planeZ);
 
  scene.init();
  scene.show();
 
  /*
 
    //loop to simulate grabbing
    for(int i=0;i<20;i++) {
      double t1 = vpTime::measureTimeMs();
 
      //Scan-conversion
      if(i%2==0)
        converter.convert(postScanImage,preScanImage.getConstData());
      else
        converter.convert(postScanImage2,preScanImage2.getConstData());
 
      double endConvertTime = vpTime::measureTimeMs();
      std::cout << "scan convert time (ms) = " << (endConvertTime - t1) << std::endl;
 
      //vtk conversion
      if(i%2==0)
        usVTKConverter::convert(postScanImage,vtkImage,importer);
      else
        usVTKConverter::convert(postScanImage2,vtkImage2,importer);
 
      double t2 = vpTime::measureTimeMs();
 
      std::cout << "vtk convert time (ms) = " << t2-endConvertTime << std::endl;
      std::cout << "full convert time (ms) = " << t2-t1 << std::endl;
 
      //update the viewer
      scene.updateImageData(vtkImage);
 
      //wait 5s after t1
      vpTime::wait(t1,1000);
    }
  */
  return app.exec();
}
#else
#include <iostream>
 
int main() { std::cout << "Install vtk with qt4 or qt5 support to run this tutorial." << std::endl; }
 
#endif