//Createing the PartControl Signal-Slot principal
void QmitkToFUtilView::CreateQtPartControl( QWidget *parent )
{
// build up qt view, unless already done
if ( !m_Controls )
{
// create GUI widgets from the Qt Designer's .ui file
m_Controls = new Ui::QmitkToFUtilViewControls;
m_Controls->setupUi( parent );
//Looking for Input and Defining reaction
connect(m_Frametimer, SIGNAL(timeout()), this, SLOT(OnUpdateCamera()));
connect( (QObject*)(m_Controls->m_ToFConnectionWidget), SIGNAL(KinectAcquisitionModeChanged()), this, SLOT(OnKinectAcquisitionModeChanged()) ); // Todo in Widget2
connect( (QObject*)(m_Controls->m_ToFConnectionWidget), SIGNAL(ToFCameraConnected()), this, SLOT(OnToFCameraConnected()) );
connect( (QObject*)(m_Controls->m_ToFConnectionWidget), SIGNAL(ToFCameraDisconnected()), this, SLOT(OnToFCameraDisconnected()) );
connect( (QObject*)(m_Controls->m_ToFConnectionWidget), SIGNAL(ToFCameraSelected(const QString)), this, SLOT(OnToFCameraSelected(const QString)) );
connect( (QObject*)(m_Controls->m_ToFRecorderWidget), SIGNAL(ToFCameraStarted()), this, SLOT(OnToFCameraStarted()) );
connect( (QObject*)(m_Controls->m_ToFRecorderWidget), SIGNAL(ToFCameraStopped()), this, SLOT(OnToFCameraStopped()) );
connect( (QObject*)(m_Controls->m_ToFRecorderWidget), SIGNAL(RecordingStarted()), this, SLOT(OnToFCameraStopped()) );
connect( (QObject*)(m_Controls->m_ToFRecorderWidget), SIGNAL(RecordingStopped()), this, SLOT(OnToFCameraStarted()) );
connect( (QObject*)(m_Controls->m_SurfaceCheckBox), SIGNAL(toggled(bool)), this, SLOT(OnSurfaceCheckboxChecked(bool)) );
connect( (QObject*)(m_Controls->m_TextureCheckBox), SIGNAL(toggled(bool)), this, SLOT(OnTextureCheckBoxChecked(bool)) );
connect( (QObject*)(m_Controls->m_KinectTextureCheckBox), SIGNAL(toggled(bool)), this, SLOT(OnKinectRGBTextureCheckBoxChecked(bool)) );
}
void QmitkToFUtilView::CreateQtPartControl( QWidget *parent )
{
// build up qt view, unless already done
if ( !m_Controls )
{
// create GUI widgets from the Qt Designer's .ui file
m_Controls = new Ui::QmitkToFUtilViewControls;
m_Controls->setupUi( parent );
connect(m_Frametimer, SIGNAL(timeout()), this, SLOT(OnUpdateCamera()));
connect( (QObject*)(m_Controls->m_ToFConnectionWidget), SIGNAL(ToFCameraConnected()), this, SLOT(OnToFCameraConnected()) );
connect( (QObject*)(m_Controls->m_ToFConnectionWidget), SIGNAL(ToFCameraDisconnected()), this, SLOT(OnToFCameraDisconnected()) );
connect( (QObject*)(m_Controls->m_ToFConnectionWidget), SIGNAL(ToFCameraStop()), this, SLOT(OnToFCameraStop()) );
connect( (QObject*)(m_Controls->m_ToFConnectionWidget), SIGNAL(ToFCameraSelected(int)), this, SLOT(OnToFCameraSelected(int)) );
connect( (QObject*)(m_Controls->m_ToFRecorderWidget), SIGNAL(ToFCameraStarted()), this, SLOT(OnToFCameraStarted()) );
connect( (QObject*)(m_Controls->m_ToFRecorderWidget), SIGNAL(ToFCameraStopped()), this, SLOT(OnToFCameraStopped()) );
connect( (QObject*)(m_Controls->m_SurfaceCheckBox), SIGNAL(toggled(bool)), this, SLOT(OnSurfaceCheckBoxChecked(bool)) );
connect( (QObject*)(m_Controls->m_TextureCheckBox), SIGNAL(toggled(bool)), this, SLOT(OnTextureCheckBoxChecked(bool)) );
connect( (QObject*)(m_Controls->m_VideoTextureCheckBox), SIGNAL(toggled(bool)), this, SLOT(OnVideoTextureCheckBoxChecked(bool)) );
}
//OnConnectCamera-Method; represents one of the main parts of ToFConnectionWidget2.
void QmitkToFConnectionWidget::OnConnectCamera()
{
//After connecting a device
if (m_Controls->m_ConnectCameraButton->text()=="Connect")
{
//Getting the device- and the slectedCamera-variables using the ServiceListWidget as we did it in the CameraSelect-Method
mitk::ToFCameraDevice* device = m_Controls->m_DeviceList->GetSelectedService<mitk::ToFCameraDevice>();
if (device)
{
QString tmpFileName("");
QString fileFilter("");
QString selectedCamera = QString::fromStdString(device->GetNameOfClass());
emit ToFCameraSelected(selectedCamera);
//Feeding it with the Info from ServiceListWidget
this->m_ToFImageGrabber->SetCameraDevice(device);
// Calling Alex FixForKinect, if the Kinect is selected
if (selectedCamera.contains("Kinect") )
{
MITK_INFO<< "Kinect is connected here";
//If the particular property is selected, the suitable data-node will be generated
this->m_ToFImageGrabber->SetBoolProperty("RGB", m_Controls->m_KinectParameterWidget->IsAcquisitionModeRGB());//--------------------------------------------------------
this->m_ToFImageGrabber->SetBoolProperty("IR", m_Controls->m_KinectParameterWidget->IsAcquisitionModeIR());
}
//Activation of "PlayerMode". If the selectedCamera String contains "Player", we start the Player Mode
if (selectedCamera.contains("Player"))
{
//IF PMD-Player selected
if (selectedCamera.contains("PMD"))
{
fileFilter.append("PMD Files (*.pmd)"); //And seting the corresponding fileFilter
}
else
{
fileFilter.append("NRRD Images (*.nrrd);;PIC Images - deprecated (*.pic)");
}
//open a QFileDialog to chose the corresponding file from the disc
tmpFileName = QFileDialog::getOpenFileName(NULL, "Play Image From...", "", fileFilter);
//If no fileName is returned by the Dialog,Button and Widget have to return to default(disconnected) + Opening a MessageBox
if (tmpFileName.isEmpty())
{
m_Controls->m_ConnectCameraButton->setChecked(false);
m_Controls->m_ConnectCameraButton->setEnabled(true); //re-enabling the ConnectCameraButton
m_Controls->m_DeviceList->setEnabled(true); //Reactivating ServiceListWidget
this->OnSelectCamera(); //Calling the OnSelctCamera-Method -> Hides all Widget and just activates the needed ones
QMessageBox::information( this, "Template functionality", "Please select a valid image before starting some action.");
return;
}
if(selectedCamera.contains("PMDPlayer")) //If PMD-Player is selected, set ToFImageGrabberProperty correspondingly
{
this->m_ToFImageGrabber->SetStringProperty("PMDFileName", tmpFileName.toStdString().c_str() );
}
else //Default action
{
std::string msg = "";
try
{
//get 3 corresponding file names
std::string dir = itksys::SystemTools::GetFilenamePath( tmpFileName.toStdString() );
std::string baseFilename = itksys::SystemTools::GetFilenameWithoutLastExtension( tmpFileName.toStdString() );
std::string extension = itksys::SystemTools::GetFilenameLastExtension( tmpFileName.toStdString() );
//"Incorrect format"-warning while using .nrrd or .pic files
if (extension != ".pic" && extension != ".nrrd")
{
msg = msg + "Invalid file format, please select a \".nrrd\"-file";
throw std::logic_error(msg.c_str());
}
//Checking for npos. If available, check for the Amplitude-, Intensity- and RGBImage
int found = baseFilename.rfind("_DistanceImage"); //Defining "found" variable+checking if baseFilname contains "_DistanceImage". If not, found == npos(0)
if (found == std::string::npos) //If found =0
{
found = baseFilename.rfind("_AmplitudeImage"); //If "_AmplitudeImage" is found, the found variable is 1-> the next if statment is false
}
if (found == std::string::npos)
{
found = baseFilename.rfind("_IntensityImage"); //found = true if baseFilename cotains "_IntesityImage"
}
if (found == std::string::npos)
{
found = baseFilename.rfind("_RGBImage");
}
if (found == std::string::npos) //If none of the Nodes is found, display an error
{
msg = msg + "Input file name must end with \"_DistanceImage\", \"_AmplitudeImage\", \"_IntensityImage\" or \"_RGBImage\"!";
throw std::logic_error(msg.c_str());
}
std::string baseFilenamePrefix = baseFilename.substr(0,found);//Set the baseFilenamePrefix as a substring from baseFilname
//Set corresponding FileNames
std::string distanceImageFileName = dir + "/" + baseFilenamePrefix + "_DistanceImage" + extension; //Set the name as: directory+FilenamePrefix+""+extension
std::string amplitudeImageFileName = dir + "/" + baseFilenamePrefix + "_AmplitudeImage" + extension;
std::string intensityImageFileName = dir + "/" + baseFilenamePrefix + "_IntensityImage" + extension;
std::string rgbImageFileName = dir + "/" + baseFilenamePrefix + "_RGBImage" + extension;
if (!itksys::SystemTools::FileExists(distanceImageFileName.c_str(), true))
{
this->m_ToFImageGrabber->SetStringProperty("DistanceImageFileName", "");
}
else
{
this->m_ToFImageGrabber->SetStringProperty("DistanceImageFileName", distanceImageFileName.c_str());
}
if (!itksys::SystemTools::FileExists(amplitudeImageFileName.c_str(), true))
{
}
else
{
this->m_ToFImageGrabber->SetStringProperty("AmplitudeImageFileName", amplitudeImageFileName.c_str());
}
if (!itksys::SystemTools::FileExists(intensityImageFileName.c_str(), true))
{
this->m_ToFImageGrabber->SetStringProperty("IntensityImageFileName", "");
}
else
{
this->m_ToFImageGrabber->SetStringProperty("IntensityImageFileName", intensityImageFileName.c_str());
}
if (!itksys::SystemTools::FileExists(rgbImageFileName.c_str(), true))
{
this->m_ToFImageGrabber->SetStringProperty("RGBImageFileName", "");
}
else
{
this->m_ToFImageGrabber->SetStringProperty("RGBImageFileName", rgbImageFileName.c_str());
}
}
catch (std::exception &e)
{
MITK_ERROR << e.what();
QMessageBox::critical( this, "Error", e.what() );
m_Controls->m_ConnectCameraButton->setChecked(false);
m_Controls->m_ConnectCameraButton->setEnabled(true);
m_Controls->m_DeviceList->setEnabled(true);
this->OnSelectCamera();
return;
}
}
}
//End "PlayerMode"
//Reset the ConnectCameraButton to disconnected
m_Controls->m_ConnectCameraButton->setText("Disconnect");
//if a connection could be established
try
{
if (this->m_ToFImageGrabber->ConnectCamera())
{
this->m_Controls->m_PMDParameterWidget->SetToFImageGrabber(this->m_ToFImageGrabber);
this->m_Controls->m_MESAParameterWidget->SetToFImageGrabber(this->m_ToFImageGrabber);
this->m_Controls->m_KinectParameterWidget->SetToFImageGrabber(this->m_ToFImageGrabber);
//Activating the respective widgets
if (selectedCamera.contains("PMD"))
{
this->m_Controls->m_PMDParameterWidget->ActivateAllParameters();
}
else if (selectedCamera.contains("MESA"))
{
this->m_Controls->m_MESAParameterWidget->ActivateAllParameters();
}
else if (selectedCamera.contains("Kinect"))
{
this->m_Controls->m_KinectParameterWidget->ActivateAllParameters();
}
else
{
this->HideAllParameterWidgets();
}
// send connect signal to the caller functionality
emit ToFCameraConnected();
}
else
//##### TODO: Remove this else part once all controllers are throwing exceptions
//if they cannot to any device!
{
//Throw an error if the Connection failed and reset the Widgets <- better catch an exception!
QMessageBox::critical( this, "Error", "Connection failed. Check if you have installed the latest driver for your system." );
m_Controls->m_ConnectCameraButton->setChecked(false);
m_Controls->m_ConnectCameraButton->setEnabled(true);
m_Controls->m_ConnectCameraButton->setText("Connect");
m_Controls->m_DeviceList->setEnabled(true); //Reactivating ServiceListWidget
this->OnSelectCamera();
return;
}
}catch(std::exception &e)
{
//catch exceptions of camera which cannot connect give a better reason
QMessageBox::critical( this, "Connection failed.", e.what() );
m_Controls->m_ConnectCameraButton->setChecked(false);
m_Controls->m_ConnectCameraButton->setEnabled(true);
m_Controls->m_ConnectCameraButton->setText("Connect");
m_Controls->m_DeviceList->setEnabled(true); //Reactivating ServiceListWidget
this->OnSelectCamera();
return;
}
m_Controls->m_ConnectCameraButton->setEnabled(true);
// ask wether camera parameters (intrinsics, ...) should be loaded
if (QMessageBox::question(this,"Camera parameters","Do you want to specify your own camera intrinsics?",QMessageBox::Yes,QMessageBox::No)==QMessageBox::Yes)
{
QString fileName = QFileDialog::getOpenFileName(this,"Open camera intrinsics","/","*.xml");
mitk::CameraIntrinsics::Pointer cameraIntrinsics = mitk::CameraIntrinsics::New();
cameraIntrinsics->FromXMLFile(fileName.toStdString());
this->m_ToFImageGrabber->SetProperty("CameraIntrinsics",mitk::CameraIntrinsicsProperty::New(cameraIntrinsics));
}
////Reset the status of some GUI-Elements
m_Controls->m_DeviceList->setEnabled(false); //Deactivating the Instance of QmitkServiceListWidget
//repaint the widget
this->repaint();
}
else
{
QMessageBox::information(this,"Camera connection","No camera selected, please select a range camera");
m_Controls->m_ConnectCameraButton->setChecked(false);
}
}
else if (m_Controls->m_ConnectCameraButton->text()=="Disconnect")
{
this->m_ToFImageGrabber->StopCamera();
this->m_ToFImageGrabber->DisconnectCamera();
m_Controls->m_ConnectCameraButton->setText("Connect");
m_Controls->m_DeviceList->setEnabled(true); //Reactivating ServiceListWidget
this->OnSelectCamera();
// send disconnect signal to the caller functionality
emit ToFCameraDisconnected();
}
}
void QmitkToFConnectionWidget::OnConnectCamera()
{
bool playerMode = false;
if (m_Controls->m_ConnectCameraButton->text()=="Connect")
{
//reset the status of the GUI buttons
m_Controls->m_ConnectCameraButton->setEnabled(false);
m_Controls->m_SelectCameraCombobox->setEnabled(false);
//repaint the widget
this->repaint();
QString tmpFileName("");
QString fileFilter("");
//select the camera to connect with
QString selectedCamera = m_Controls->m_SelectCameraCombobox->currentText();
if (selectedCamera == "PMD CamCube 2.0/3.0")
{ //PMD CamCube
this->m_ToFImageGrabber = mitk::ToFImageGrabberCreator::GetInstance()->GetPMDCamCubeImageGrabber();
}
else if (selectedCamera == "PMD CamCubeRaw 2.0/3.0")
{ //PMD CamCube
this->m_ToFImageGrabber = mitk::ToFImageGrabberCreator::GetInstance()->GetPMDRawDataCamCubeImageGrabber();
}
else if (selectedCamera == "PMD CamBoard")
{ //PMD CamBoard
this->m_ToFImageGrabber = mitk::ToFImageGrabberCreator::GetInstance()->GetPMDCamBoardImageGrabber();
}
else if (selectedCamera == "PMD CamBoardRaw")
{ //PMD CamBoard
this->m_ToFImageGrabber = mitk::ToFImageGrabberCreator::GetInstance()->GetPMDRawDataCamBoardImageGrabber();
}
else if (selectedCamera == "PMD O3D")
{//PMD O3
this->m_ToFImageGrabber = mitk::ToFImageGrabberCreator::GetInstance()->GetPMDO3ImageGrabber();
}
else if (selectedCamera == "MESA Swissranger 4000")
{//MESA SR4000
this->m_ToFImageGrabber = mitk::ToFImageGrabberCreator::GetInstance()->GetMESASR4000ImageGrabber();
}
else if (selectedCamera == "PMD Player")
{//PMD player
playerMode = true;
fileFilter.append("PMD Files (*.pmd)");
this->m_ToFImageGrabber = mitk::ToFImageGrabberCreator::GetInstance()->GetPMDPlayerImageGrabber();
}
else if (selectedCamera == "PMD Raw Data Player")
{//PMD MITK player
playerMode = true;
fileFilter.append("NRRD Images (*.nrrd);;PIC Images - deprecated (*.pic)");
this->m_ToFImageGrabber = mitk::ToFImageGrabberCreator::GetInstance()->GetPMDMITKPlayerImageGrabber();
}
else if (selectedCamera == "MITK Player")
{//MITK player
playerMode = true;
fileFilter.append("NRRD Images (*.nrrd);;PIC Images - deprecated (*.pic)");
this->m_ToFImageGrabber = mitk::ToFImageGrabberCreator::GetInstance()->GetMITKPlayerImageGrabber();
}
// if a player was selected ...
if (playerMode)
{ //... open a QFileDialog to chose the corresponding file from the disc
tmpFileName = QFileDialog::getOpenFileName(NULL, "Play Image From...", "", fileFilter);
if (tmpFileName.isEmpty())
{
m_Controls->m_ConnectCameraButton->setChecked(false);
m_Controls->m_ConnectCameraButton->setEnabled(true);
m_Controls->m_SelectCameraCombobox->setEnabled(true);
this->OnSelectCamera(m_Controls->m_SelectCameraCombobox->currentText());
QMessageBox::information( this, "Template functionality", "Please select a valid image before starting some action.");
return;
}
if(selectedCamera == "PMD Player")
{ //set the PMD file name
this->m_ToFImageGrabber->SetStringProperty("PMDFileName", tmpFileName.toStdString().c_str() );
}
if (selectedCamera == "PMD Raw Data Player" || selectedCamera == "MITK Player")
{
std::string msg = "";
try
{
//get 3 corresponding file names
std::string dir = itksys::SystemTools::GetFilenamePath( tmpFileName.toStdString() );
std::string baseFilename = itksys::SystemTools::GetFilenameWithoutLastExtension( tmpFileName.toStdString() );
std::string extension = itksys::SystemTools::GetFilenameLastExtension( tmpFileName.toStdString() );
if (extension != ".pic" && extension != ".nrrd")
{
msg = msg + "Invalid file format, please select a \".nrrd\"-file";
throw std::logic_error(msg.c_str());
}
int found = baseFilename.rfind("_DistanceImage");
if (found == std::string::npos)
{
found = baseFilename.rfind("_AmplitudeImage");
}
if (found == std::string::npos)
{
found = baseFilename.rfind("_IntensityImage");
}
if (found == std::string::npos)
{
msg = msg + "Input file name must end with \"_DistanceImage.pic\", \"_AmplitudeImage.pic\" or \"_IntensityImage.pic\"!";
throw std::logic_error(msg.c_str());
}
std::string baseFilenamePrefix = baseFilename.substr(0,found);
std::string distanceImageFileName = dir + "/" + baseFilenamePrefix + "_DistanceImage" + extension;
std::string amplitudeImageFileName = dir + "/" + baseFilenamePrefix + "_AmplitudeImage" + extension;
std::string intensityImageFileName = dir + "/" + baseFilenamePrefix + "_IntensityImage" + extension;
if (!itksys::SystemTools::FileExists(distanceImageFileName.c_str(), true))
{
msg = msg + "Inputfile not exist! " + distanceImageFileName;
throw std::logic_error(msg.c_str());
}
if (!itksys::SystemTools::FileExists(amplitudeImageFileName.c_str(), true))
{
msg = msg + "Inputfile not exist! " + amplitudeImageFileName;
throw std::logic_error(msg.c_str());
}
if (!itksys::SystemTools::FileExists(intensityImageFileName.c_str(), true))
{
msg = msg + "Inputfile not exist! " + intensityImageFileName;
throw std::logic_error(msg.c_str());
}
//set the file names
this->m_ToFImageGrabber->SetStringProperty("DistanceImageFileName", distanceImageFileName.c_str());
this->m_ToFImageGrabber->SetStringProperty("AmplitudeImageFileName", amplitudeImageFileName.c_str());
this->m_ToFImageGrabber->SetStringProperty("IntensityImageFileName", intensityImageFileName.c_str());
}
catch (std::exception &e)
{
MITK_ERROR << e.what();
QMessageBox::critical( this, "Error", e.what() );
m_Controls->m_ConnectCameraButton->setChecked(false);
m_Controls->m_ConnectCameraButton->setEnabled(true);
m_Controls->m_SelectCameraCombobox->setEnabled(true);
this->OnSelectCamera(m_Controls->m_SelectCameraCombobox->currentText());
return;
}
}
}
//if a connection could be established
if (this->m_ToFImageGrabber->ConnectCamera())
{
this->m_Controls->m_PMDParameterWidget->SetToFImageGrabber(this->m_ToFImageGrabber);
this->m_Controls->m_MESAParameterWidget->SetToFImageGrabber(this->m_ToFImageGrabber);
if ((selectedCamera == "PMD CamCube 2.0/3.0")||(selectedCamera == "PMD CamBoard")||(selectedCamera=="PMD O3D")||
(selectedCamera=="PMD CamBoardRaw")||(selectedCamera=="PMD CamCubeRaw 2.0/3.0"))
{
this->m_Controls->m_PMDParameterWidget->ActivateAllParameters();
}
else if (selectedCamera=="MESA Swissranger 4000")
{
this->m_Controls->m_MESAParameterWidget->ActivateAllParameters();
}
m_Controls->m_ConnectCameraButton->setText("Disconnect");
// send connect signal to the caller functionality
emit ToFCameraConnected();
}
else
{
QMessageBox::critical( this, "Error", "Connection failed. Check if you have installed the latest driver for your system." );
m_Controls->m_ConnectCameraButton->setChecked(false);
m_Controls->m_ConnectCameraButton->setEnabled(true);
m_Controls->m_SelectCameraCombobox->setEnabled(true);
this->OnSelectCamera(m_Controls->m_SelectCameraCombobox->currentText());
return;
}
m_Controls->m_ConnectCameraButton->setEnabled(true);
}
else if (m_Controls->m_ConnectCameraButton->text()=="Disconnect")
{
this->m_ToFImageGrabber->StopCamera();
this->m_ToFImageGrabber->DisconnectCamera();
m_Controls->m_ConnectCameraButton->setText("Connect");
m_Controls->m_SelectCameraCombobox->setEnabled(true);
this->OnSelectCamera(m_Controls->m_SelectCameraCombobox->currentText());
this->m_ToFImageGrabber = NULL;
// send disconnect signal to the caller functionality
emit ToFCameraDisconnected();
}
}
