mitkSpectroCamController.cpp

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/*===================================================================

The Medical Imaging Interaction Toolkit (MITK)

Copyright (c) German Cancer Research Center,
Division of Medical and Biological Informatics.
All rights reserved.

This software is distributed WITHOUT ANY WARRANTY; without
even the implied warranty of MERCHANTABILITY or FITNESS FOR
A PARTICULAR PURPOSE.

See LICENSE.txt or http://www.mitk.org for details.

===================================================================*/
#include "mitkSpectroCamController.h"
#include "mitkLogMacros.h"
#include <mitkOpenCVToMitkImageFilter.h>
#include <mitkImageCast.h>


#include <fstream>
#include <string>
#include <iostream>
#include <functional>

//OpenCv includes
#include <opencv\cv.h>
#include <opencv\cxcore.h>
#include <opencv\highgui.h>
#include <opencv2/contrib/contrib.hpp>

// itk includes
#include <itkImage.h>
#include <itkComposeImageFilter.h>

//Spectrocam includes
#include <ISpectroCam.h>
#include <Jai_Factory.h>



using namespace std;
using namespace cv;


namespace mitk {


  typedef itk::VectorImage<unsigned short, 2> CompositeCameraImageType;

  class SpectroCamController_pimpl
  {
  public:
    SpectroCamController_pimpl();
    ~SpectroCamController_pimpl();

    bool Ini();
    int OpenCameraConnection();
    int CloseCameraConnection();
    bool isCameraRunning();


    void SetCurrentImageAsWhiteBalance();

    mitk::Image::Pointer GetCurrentImage();

    CompositeCameraImageType::Pointer m_CompositeItkImage_1;
    CompositeCameraImageType::Pointer m_CompositeItkImage_2;
    mitk::Image::Pointer m_CompositeMitkImage;

    cv::Mat m_CurrentStackSmall;
    cv::Mat m_CurrentTransformedStack;
    cv::Mat m_FlatfieldSmall;
    cv::Mat m_LLSQSolutionSmall;

    const int m_FullWidth;
    const int m_FullHeight;

    const int m_SmallWidth;
    const int m_SmallHeight;

    bool m_ShowOxygenation;

    // for image double buffer swap
    bool m_Image1Selected;

    std::string mode;
    std::string model;

  private:

    void InitializeItkImage(mitk::CompositeCameraImageType::Pointer& compositeImage);

    bool m_IsCameraRunning;

    unsigned m_NumRecordedImages;

    ISpectroCam*  spectroCam;                        //SpectroCam var

    STREAM_HANDLE   m_hDS;                            // Handle to the data stream

    uint32_t        m_iValidBuffers;                // Number of buffers allocated to image acquisition
    BUF_HANDLE      m_pAquBufferID;                  // Handles for all the image buffers
    HANDLE          m_hEventKill;                    // Event used for speeding up the termination of image capture


    //Vars for Ini from file
    FastModeSettings fastSettings;
    SequenceModeSettings seqSettings;
    IndexModeSettings indexSettings;

    void SaveCameraStreamToDisk();
  };

}


// Implementation

static mitk::SpectroCamController_pimpl* my_SpectroCamController;

mitk::Image::Pointer mitk::SpectroCamController_pimpl::GetCurrentImage()
{
  mitk::CompositeCameraImageType::Pointer selectedImage;

  // TODO SW: semaphore here so it cannot interfere with callback readout of m_Image1Selected
  if (this->m_Image1Selected)
  {
    this->m_Image1Selected = !this->m_Image1Selected;
    selectedImage = this->m_CompositeItkImage_1;
  }
  else
  {
    this->m_Image1Selected = !this->m_Image1Selected;
    selectedImage = this->m_CompositeItkImage_2;
  }

  this->m_CompositeMitkImage = mitk::Image::New();
  MITK_INFO << "Image created";
  this->m_CompositeMitkImage->InitializeByItk<mitk::CompositeCameraImageType>(selectedImage);
  MITK_INFO << "Initialized image by ITK";
  this->m_CompositeMitkImage->SetVolume(selectedImage->GetBufferPointer());
  MITK_INFO << "Copied data";


  return m_CompositeMitkImage;
}

static cv::Mat createLLSQSolutionFromHMatrix()
{
  //Create the H-Matrix
  //            Ox            DOx                  //Lookup values at http://omlc.org/spectra/hemoglobin/summary.html
  float H[8][4]= {{50104    ,   37020.   ,    405,  1.}, //Filter0 = 580nm  +- 10
  {33209.2  ,   16156.4 ,    785., 1.}, //Filter1 = 470nm  +- 10
  {319.6    ,   3226.56 ,    280.,  1.}, //Filter2 = 660nm  +- 10
  {32613.2  ,   53788   ,    495.,  1.}, //Filter3 = 560nm  +- 10
  {26629.2  ,   14550   ,    760.,  1.}, //Filter4 = 480nm +- 12,5
  {20035.2  ,   25773.6 ,    665.,  1.}, //Filter5 = 511nm +- 10         ->took 510nm
  {3200     ,   14677.2 ,    380.,  1.}, //Filter6 = 600nm  +- 10
  {290      ,   1794.28 ,    220.,  1.}}; //Filter7 = 700nm

  //Create the hMatrix
  cv::Mat hMatrix = cv::Mat(8, 4, CV_32F, &H ); //cv::Mat(rows, cols, type, fill with)

  cv::Mat transH;
  transpose(hMatrix,transH);
  cv::Mat mulImage = transH * hMatrix;
  cv::Mat invImage = mulImage.inv();
  cv::Mat HCompononentsForLLSQ =  invImage  * transH;

  return HCompononentsForLLSQ;
}

mitk::SpectroCamController_pimpl::SpectroCamController_pimpl()
  :m_hDS(NULL),
  m_NumRecordedImages(1),
  m_IsCameraRunning(false),
  m_SmallWidth(614),
  m_SmallHeight(514),
  m_FullWidth(2456),
  m_FullHeight(2058),
  m_Image1Selected(true),
  m_ShowOxygenation(false)
{
  my_SpectroCamController = this;
  m_CurrentStackSmall = cv::Mat(8, m_SmallWidth * m_SmallHeight, CV_32F, cv::Scalar(0));
  m_FlatfieldSmall    = cv::Mat(8, m_SmallWidth * m_SmallHeight, CV_32F, cv::Scalar(1));
  m_CurrentTransformedStack = cv::Mat(8, m_SmallWidth * m_SmallHeight, CV_32F, cv::Scalar(1));


  m_LLSQSolutionSmall = createLLSQSolutionFromHMatrix();


}

void mitk::SpectroCamController_pimpl::SetCurrentImageAsWhiteBalance()
{
  // deep copy of current image stack
  m_FlatfieldSmall = m_CurrentStackSmall.clone();

  cv::namedWindow("Oxygenation Estimate", WINDOW_AUTOSIZE);
  m_ShowOxygenation = true;
}



mitk::SpectroCamController_pimpl::~SpectroCamController_pimpl()
{
}





void mitk::SpectroCamController_pimpl::SaveCameraStreamToDisk()
{
  /*
  //=================================Save Images to HDD=================================
  imagesRecoreded=0;

  //If Rec is pressed -> Save Images to Harddrive
  if (rec == true)      //On pressing the Rec-Button we wan to save x Stacks with 8 images each
  {
  //Save Image
  saveImage(in);   //std::cout<< "save no."<< imagesRecoreded<< std::endl;
  //Icrement counter
  imagesRecoreded++;

  if (imagesRecoreded >= (NumberOfStacksToBeRecorded*8) )  //If number of images is bigger or equal to the the Image Stack we want to tecord, untoggle the rec button and reset the counter!
  {
  imagesRecoreded=0;
  rec=false;
  ReCButtonControl_Pointer->EnableWindow(TRUE);
  }
  }
  */
}



//Initialize Camera Controller
bool mitk::SpectroCamController_pimpl::Ini()
{
  //===============Get Ini from File===============
  //Get model from file    std::string CChildWindowSampleDlg::getModelNameFromIni()
  std::ifstream fin("C:\\ModeSettings.txt");   //Set File to read
  std::ofstream fout("C:\\ModeSettingsCheck.txt");   //Set output
  const int bufferSize = 1000;
  char buffer[bufferSize];

  if (fin.fail())
  {
    MITK_INFO << "Failed opening file ModeSettings.txt!" << endl ;
  }

  fin.getline(buffer, bufferSize);
  fin.getline(buffer, bufferSize);
  model = buffer;


  //Get mode from file
  //Skipping model, getting mode
  for (int i = 0; i < 3; ++i)
  {
    fin.getline(buffer, bufferSize);
    fout << buffer << endl;
  }

  mode = buffer;

  // [FastModeExposure]
  for (int i = 0; i < 2; ++i)
  {
    fin.getline(buffer, bufferSize);
    fout << buffer << endl;
  }

  fin >> fastSettings.exposure;
  fout << fastSettings.exposure << endl;;

  // [FastModeGain]
  for (int i = 0; i < 3; ++i)
  {
    fin.getline(buffer, bufferSize);
    fout << buffer << endl;
  }

  fin >> fastSettings.gain;
  fout << fastSettings.gain << endl;

  // [SequenceModeExposures]
  for (int i = 0; i < 3; ++i)
  {
    fin.getline(buffer, bufferSize);
    fout << buffer << endl;
  }

  for (int i = 0; i < NUMBER_FILTERS; ++i)
  {
    fin >> seqSettings.exposures[i];
    fout << seqSettings.exposures[i] << endl;
  }

  // [SequenceModeGains]
  for (int i = 0; i < 3; ++i)
  {
    fin.getline(buffer, bufferSize);
    fout << buffer << endl;
  }

  for (int i = 0; i < NUMBER_FILTERS; ++i)
  {
    fin >> seqSettings.gains[i];
    fout << seqSettings.gains[i] << endl;
  }

  // [IndexModeExposures]
  for (int i = 0; i < 3; ++i)
  {
    fin.getline(buffer, bufferSize);
    fout << buffer << endl;
  }

  for (int i = 0; i < NUMBER_FILTERS; ++i)
  {
    fin >> indexSettings.exposures[i];
    fout << indexSettings.exposures[i] << endl;
  }

  // [IndexModeGains]
  for (int i = 0; i < 3; ++i)
  {
    fin.getline(buffer, bufferSize);
    fout << buffer << endl;
  }
  for (int i = 0; i < NUMBER_FILTERS; ++i)
  {
    fin >> indexSettings.gains[i];
    fout << indexSettings.gains[i] << endl;
  }

  // [IndexModeNumberFilterIterations]
  for (int i = 0; i < 3; ++i)
  {
    fin.getline(buffer, bufferSize);
    fout << buffer << endl;
  }

  for (int i = 0; i < NUMBER_FILTERS; ++i)
  {
    fin >> indexSettings.numFilterIterations[i];
    fout << indexSettings.numFilterIterations[i] << endl;
  }

  //After reading files -> close stream
  fin.close();
  fout.close();

  return 0;

}

void mitk::SpectroCamController_pimpl::InitializeItkImage(mitk::CompositeCameraImageType::Pointer& compositeImage)
{
  if (compositeImage.IsNull())
  {

    MITK_INFO << "initializing itk::Composite Image";
    mitk::CompositeCameraImageType::RegionType region;
    mitk::CompositeCameraImageType::RegionType::SizeType size;
    mitk::CompositeCameraImageType::RegionType::IndexType index;
    mitk::CompositeCameraImageType::SpacingType spacing;
    size.Fill( 1 );
    size[0] = this->m_FullWidth;
    size[1] = this->m_FullHeight;
    index.Fill(0);
    spacing.Fill(1);
    region.SetSize(size);
    region.SetIndex(index);

    compositeImage = mitk::CompositeCameraImageType::New();
    compositeImage->SetRegions(region);
    compositeImage->SetSpacing(spacing);
    compositeImage->SetNumberOfComponentsPerPixel(NUMBER_FILTERS);
    compositeImage->Allocate();
  }
}

static void DisplayCameraStream(SpectroCamImage image)
{

  MITK_INFO << "image callback call";
  try
  {
    if (image.m_FilterNum < 0 || image.m_FilterNum >= NUMBER_FILTERS)
    {
      std::cout << "Filter number out of range.\n"<<  std::endl;
    }
    else
    {
      // Allocate the buffer to hold converted the image. (We only want to do this once for performance reasons)
      if (image.m_pAcqImage->pImageBuffer == NULL)
      {
        if (J_Image_Malloc(image.m_pAcqImage, image.m_pAcqImage) != J_ST_SUCCESS)
        {
          return;
        }
      }


      //============= Get data from spectrocam to opencv

      // TODO SW: probably we can get around this memcopy by simply setting data pointer? Not sure.
      cv::Mat data = cv::Mat( image.m_pAcqImage->iSizeY, image.m_pAcqImage->iSizeX, CV_16U);
      memcpy( data.datastart , image.m_pAcqImage->pImageBuffer , image.m_pAcqImage->iImageSize); //Copy Image from JAI-Format to OCV�s IplImage


      //============= From opencv to mitk::Image (VectorImage)

      mitk::CompositeCameraImageType::Pointer selectedImage;

      if (my_SpectroCamController->m_Image1Selected)
      {
        selectedImage = my_SpectroCamController->m_CompositeItkImage_1;
      }
      else
      {
        selectedImage = my_SpectroCamController->m_CompositeItkImage_2;
      }

      itk::ImageRegionIterator<mitk::CompositeCameraImageType> imageIterator(selectedImage, selectedImage->GetLargestPossibleRegion());

      MatConstIterator_<unsigned short> it, end;
      it  = data.begin<unsigned short>();
      end = data.end<unsigned short>();


      while(!imageIterator.IsAtEnd())
      {
        mitk::CompositeCameraImageType::PixelType compositePixel = imageIterator.Get();

        compositePixel[image.m_FilterNum] = *it;

        ++it;
        ++imageIterator;
      }

       //both matrix and itk image shall reach end at the same time.
      assert(it == end);


      //============= Display image as opencv window ==

      cv::Mat display;
      cv::resize(data, display, cvSize(my_SpectroCamController->m_SmallWidth, my_SpectroCamController->m_SmallHeight)  );   //do some resizeing for faster display

      display *= 16; // image is only 12 bit large, but datatype is 16 bit. Expand to full range for displaying by multiplying by 2^4.



      //Display Image
      cv::imshow("Display window", display);            //Display image
      //MITK_INFO << "pixel 100,100" << display.at<unsigned short>(0,100);


      //============= TODO: live oxygenation estimation

      if (my_SpectroCamController->m_ShowOxygenation)
      {
        cv::Range slice[2];
        slice[0] = cv::Range( image.m_FilterNum, image.m_FilterNum+1 );
        slice[1] = cv::Range::all();

        cv::Mat currentSlice = my_SpectroCamController->m_CurrentStackSmall(slice);

        cv::Mat currentImageF32;
        display.convertTo(currentImageF32, CV_32F);

        currentImageF32 = currentImageF32.reshape(0, 1);
        currentImageF32.copyTo(currentSlice);

        cv::Mat currentWorkingSlice = currentSlice.clone();

        cv::Mat currentFlatfieldSlice = my_SpectroCamController->m_FlatfieldSmall(slice);
        MITK_INFO << "flat current: " << currentFlatfieldSlice.at<float>(0,100);


        MITK_INFO << "raw measured pixel value: " << currentWorkingSlice.at<float>(0,100);

        cv::divide(currentWorkingSlice, currentFlatfieldSlice, currentWorkingSlice);
        MITK_INFO << "corrected by flatfield pixel: " << currentWorkingSlice.at<float>(0,100);

        cv::log(currentWorkingSlice, currentWorkingSlice);
        currentWorkingSlice = -0.43429 * currentWorkingSlice;
        MITK_INFO << "to absorption: " << currentWorkingSlice.at<float>(0,100);

        currentWorkingSlice.copyTo(my_SpectroCamController->m_CurrentTransformedStack(slice) );

        //MITK_INFO << "slice 0: " << my_SpectroCamController->m_CurrentTransformedStack.at<float>(0,100);;

        cv::Mat currentEstimate = my_SpectroCamController->m_LLSQSolutionSmall * my_SpectroCamController->m_CurrentTransformedStack;
        cv::Range oxyHemo[2];
        oxyHemo[0] = cv::Range(0,1);
        oxyHemo[1] = cv::Range::all();

        cv::Range deOxyHemo[2];
        deOxyHemo[0] = cv::Range(1,2);
        deOxyHemo[1] = cv::Range::all();

        cv::Mat saO2 = currentEstimate(oxyHemo) / (currentEstimate(oxyHemo) + currentEstimate(deOxyHemo));

        cv::Mat saO2Image = saO2.reshape(0, my_SpectroCamController->m_SmallHeight);
        MITK_INFO << "saO2, 200 200: " << saO2Image.at<float>(200,200);

        cv::threshold(saO2Image, saO2Image, 1., 1., cv::THRESH_TRUNC);
        cv::threshold(saO2Image, saO2Image, 0., 0., cv::THRESH_TOZERO);

        saO2Image = saO2Image * 637.;// 255.;

        cv::Mat SaO2IntImage;
        saO2Image.convertTo(SaO2IntImage, CV_8U);
        // MITK_INFO << saO2Image.at<float>(0,100);

        cv::Mat colorImage;
        cv::applyColorMap(SaO2IntImage, colorImage, COLORMAP_JET);
        cv::imshow("Oxygenation Estimate", colorImage);            //Display image
      }


      cv::waitKey(1);
    }

  }//try

  catch (std::exception &e) {
    MITK_INFO << e.what();
  }
}



int mitk::SpectroCamController_pimpl::OpenCameraConnection()
{
  //=====================OpenFactoryAndCamera=====================
  //Create Factory and cam based on   //BOOL OpenFactoryAndCamera();        // Open factory and search for cameras. Open first camera
  spectroCam = CreateSpectroCam(&DisplayCameraStream, nullptr, 0);
  MITK_INFO << "Camera " <<  model << " is running in: " << mode << "-mode" << endl;



  //=====================Open Streams=====================
  J_STATUS_TYPE status = spectroCam->initialize(model.c_str(), (std::string("C:\\") + model + "\\").c_str());

  if (status != J_ST_SUCCESS)
  {
    MITK_INFO << "Could not initialize camera!" << endl;
  }

  // initialize VectorImage
  this->InitializeItkImage(this->m_CompositeItkImage_1);
  this->InitializeItkImage(this->m_CompositeItkImage_2);



  //=====================Open Streams=====================
  if (mode == "Fast")
  {
    status = status | spectroCam->start(fastSettings);
  }

  else if (mode == "Sequence")
  {
    status = status |  spectroCam->start(seqSettings);
  }

  else if (mode == "IndexFast")
  {
    indexSettings.filterModeSpeed = IndexModeSettings::INDEX_FAST;
    status = status |  spectroCam->start(indexSettings);
  }

  else if (mode == "IndexSlow")
  {
    indexSettings.filterModeSpeed = IndexModeSettings::INDEX_SLOW;
    status = status | spectroCam->start(indexSettings);
  }

  else if (mode == "IndexTriggered")
  {
    indexSettings.filterModeSpeed = IndexModeSettings::INDEX_TRIGGERED;
    status = status |  spectroCam->start(indexSettings);
  }

  else
  {
    status = status |  spectroCam->start(fastSettings);
  }

  MITK_INFO << "status flag: " << status;

  if (status == J_ST_SUCCESS)
  {
    m_IsCameraRunning = true;
  }


  cv::namedWindow( "Display window", WINDOW_AUTOSIZE );// Create a window for display.

  return status;
}

bool mitk::SpectroCamController_pimpl::isCameraRunning()
{
  return m_IsCameraRunning;
}



//Method to close down connections
int mitk::SpectroCamController_pimpl::CloseCameraConnection()
{

  // On click -> Stop acquisition
  J_STATUS_TYPE retval = 0;
  CAM_HANDLE hCam = spectroCam->GetCameraHandle();

  // Stop Acquision
  if (hCam)
  {
    retval = retval | J_Camera_ExecuteCommand(hCam, (int8_t*) NODE_NAME_ACQSTOP);
  }


  MITK_INFO << "execute acqstop command";


  // Close stream (this frees all allocated buffers)
  // Stop the image acquisition engine
  J_DataStream_StopAcquisition(m_hDS, ACQ_STOP_FLAG_KILL);


  MITK_INFO << "execute stop aqui";

  // UnPrepare Buffers (this removed the buffers from the acquisition engine and frees buffers)
  {
    void      *pPrivate;
    void      *pBuffer;

    // Flush Queues
    J_DataStream_FlushQueue(m_hDS, ACQ_QUEUE_INPUT_TO_OUTPUT);
    J_DataStream_FlushQueue(m_hDS, ACQ_QUEUE_OUTPUT_DISCARD);

    // Remove the frame buffer from the Acquisition engine.
    J_DataStream_RevokeBuffer(m_hDS, m_pAquBufferID, &pBuffer , &pPrivate);

    m_pAquBufferID = 0;

    m_iValidBuffers = 0;
  }

  MITK_INFO << "unprepared buffers";


  // Close Stream
  if(m_hDS)
  {
    J_DataStream_Close(m_hDS);
    m_hDS = NULL;
  }


  MITK_INFO << "closed stream";

  //===================Close Factory and destroy Cam=====================
  //void CloseFactoryAndCamera();       // Close camera and factory to clean up
  retval = retval | spectroCam->stop();


  MITK_INFO << "stopped camera";

  //BOOL TerminateStreamThread(void);   // Terminate the image acquisition thread
  if (spectroCam)
  {
    //DestroySpectroCam(spectroCam);          //Destroy SpectroCam-Objekt
  }

  MITK_INFO << "destroyed spectrocam";

  if (J_ST_SUCCESS == retval)
  {
    m_IsCameraRunning = false;
  }

  return retval;
}


mitk::SpectroCamController::SpectroCamController()
{
  m_SpectroCamController_pimpl = new SpectroCamController_pimpl();
}

mitk::SpectroCamController::~SpectroCamController()
{
  delete m_SpectroCamController_pimpl;
}

int mitk::SpectroCamController::OpenCameraConnection()
{
  return m_SpectroCamController_pimpl->OpenCameraConnection();
}

int mitk::SpectroCamController::CloseCameraConnection()
{
  return m_SpectroCamController_pimpl->CloseCameraConnection();
}

bool mitk::SpectroCamController::Ini()
{
  return m_SpectroCamController_pimpl->Ini();
}

bool mitk::SpectroCamController::isCameraRunning()
{
  return m_SpectroCamController_pimpl->isCameraRunning();
}


mitk::Image::Pointer mitk::SpectroCamController::GetCurrentImage()
{
  return m_SpectroCamController_pimpl->GetCurrentImage();
}

void mitk::SpectroCamController::SetCurrentImageAsWhiteBalance()
{
  m_SpectroCamController_pimpl->SetCurrentImageAsWhiteBalance();
}