1 /*# ---------------------------------------------------------------------
3 # Copyright (c) CREATIS (Centre de Recherche en Acquisition et Traitement de l'Image
5 # Authors : Eduardo Davila, Frederic Cervenansky, Claire Mouton
6 # Previous Authors : Laurent Guigues, Jean-Pierre Roux
7 # CreaTools website : www.creatis.insa-lyon.fr/site/fr/creatools_accueil
9 # This software is governed by the CeCILL-B license under French law and
10 # abiding by the rules of distribution of free software. You can use,
11 # modify and/ or redistribute the software under the terms of the CeCILL-B
12 # license as circulated by CEA, CNRS and INRIA at the following URL
13 # http://www.cecill.info/licences/Licence_CeCILL-B_V1-en.html
14 # or in the file LICENSE.txt.
16 # As a counterpart to the access to the source code and rights to copy,
17 # modify and redistribute granted by the license, users are provided only
18 # with a limited warranty and the software's author, the holder of the
19 # economic rights, and the successive licensors have only limited
22 # The fact that you are presently reading this means that you have had
23 # knowledge of the CeCILL-B license and that you accept its terms.
24 # ------------------------------------------------------------------------ */
26 #include "bbmaracasvisuShowNPoints.h"
27 #include "bbcreaMaracasVisuPackage.h"
29 #include "vtkProperty.h"
30 #include "vtkSphereSource.h"
31 #include "vtkPolyDataMapper.h"
32 #include "vtkRenderWindow.h"
33 #include "vtkTextActor3D.h"
34 #include <vtkTextProperty.h>
36 namespace bbcreaMaracasVisu
39 //----------------------------------------------------------------------
40 WidgetShowNPoints::WidgetShowNPoints(wxWindow *parent, bbcreaMaracasVisu::ShowNPoints *box)
41 : wxPanel( parent, -1, wxDefaultPosition, wxDefaultSize, wxTAB_TRAVERSAL)
44 this->renderer = NULL;
45 wxPanel *panel = this;
46 wxSizer *sizer = NULL;
48 if (mbbShowNPoints->bbGetInputType()==0)
51 askPointLabel = new wxStaticText(panel, -1, _T("Point label :")); // JPR
52 textCtrl = new wxTextCtrl(panel, -1);
53 wxButton *btnAddPoint = new wxButton( panel, -1, _T("Add Point"));
54 wxButton *btnSetPositionPoint = new wxButton( panel, -1, _T("Set nearest point"));
55 wxButton *btnRenamePoint = new wxButton( panel, -1, _T("Rename point"));
56 wxButton *btnEraseLastPoint = new wxButton( panel, -1, _T("Erase Last point"));
57 wxButton *btnErasePoint = new wxButton( panel, -1, _T("Erase point"));
58 wxButton *btnDeleteAllPoints = new wxButton( panel, -1, _T("Delete all points"));
59 wxButton *btnSavePoints = new wxButton( panel, -1, _T("Save points"));
60 wxButton *btnLoadPoints = new wxButton( panel, -1, _T("Load points"));
61 txtNrPoints = new wxStaticText(panel,-1, _T(" "));
63 //NTU: Sliders for opacity and radio change
64 wxStaticText* txOpacity = new wxStaticText(this, -1, wxString(_T(" Points Opacity ")));
65 sdrOpacity = new wxSlider(this, -1, 0, 0, 100, wxDefaultPosition, wxDefaultSize, wxSL_LABELS);
66 wxStaticText* txRadio = new wxStaticText(this, -1, wxString(_T(" Points Radio ")));
67 sdrRadio = new wxSlider(this, -1, 0, 1, 50, wxDefaultPosition, wxDefaultSize, wxSL_LABELS);
69 wxFlexGridSizer *sizer1 = new wxFlexGridSizer(1);
70 // sizer1->Add(new wxStaticText(panel,-1,_T(" ")));
72 Connect(btnAddPoint->GetId() , wxEVT_COMMAND_BUTTON_CLICKED , (wxObjectEventFunction) &WidgetShowNPoints::OnAddPoint);
73 Connect(btnSetPositionPoint->GetId(), wxEVT_COMMAND_BUTTON_CLICKED , (wxObjectEventFunction) &WidgetShowNPoints::OnSetPoint);
74 Connect(btnRenamePoint->GetId() , wxEVT_COMMAND_BUTTON_CLICKED , (wxObjectEventFunction) &WidgetShowNPoints::OnRenamePoint);
75 Connect(btnEraseLastPoint->GetId() , wxEVT_COMMAND_BUTTON_CLICKED , (wxObjectEventFunction) &WidgetShowNPoints::OnEraseLastPoint);
76 Connect(btnErasePoint->GetId() , wxEVT_COMMAND_BUTTON_CLICKED , (wxObjectEventFunction) &WidgetShowNPoints::OnErasePoint);
77 Connect(btnDeleteAllPoints->GetId() , wxEVT_COMMAND_BUTTON_CLICKED , (wxObjectEventFunction) &WidgetShowNPoints::OnDeleteAllPoints);
78 Connect(btnSavePoints->GetId() , wxEVT_COMMAND_BUTTON_CLICKED , (wxObjectEventFunction) &WidgetShowNPoints::OnSavePoints);
79 Connect(btnLoadPoints->GetId() , wxEVT_COMMAND_BUTTON_CLICKED , (wxObjectEventFunction) &WidgetShowNPoints::OnLoadPoints);
82 Connect(sdrOpacity->GetId() , wxEVT_COMMAND_SLIDER_UPDATED , (wxObjectEventFunction) &WidgetShowNPoints::UpdatePoints);
83 Connect(sdrRadio->GetId() , wxEVT_COMMAND_SLIDER_UPDATED , (wxObjectEventFunction) &WidgetShowNPoints::UpdatePoints);
85 sizer1->Add(askPointLabel); // JPR
86 sizer1->Add(textCtrl);
87 sizer1->Add(btnAddPoint);
88 sizer1->Add(btnSetPositionPoint);
89 sizer1->Add(btnRenamePoint);
90 sizer1->Add(btnErasePoint);
91 sizer1->Add(btnEraseLastPoint);
92 sizer1->Add(btnDeleteAllPoints);
93 sizer1->Add(txtNrPoints);
94 sizer1->Add(txOpacity);
95 sizer1->Add(sdrOpacity,1,wxGROW );
97 sizer1->Add(sdrRadio,1,wxGROW );
98 sizer1->Add(btnSavePoints);
99 sizer1->Add(btnLoadPoints);
103 if (mbbShowNPoints->bbGetInputType()==1)
106 wxButton *btnSetPositionPoint = new wxButton( panel, -1, _T("Set nearest point"));
107 txtNrPoints = new wxStaticText(panel,-1, _T(" "));
109 //NTU: Sliders for opacity and radio change
110 wxStaticText* txOpacity = new wxStaticText(this, -1, wxString(_T(" Points Opacity ")));
111 sdrOpacity = new wxSlider(this, -1, 0, 0, 100, wxDefaultPosition, wxDefaultSize, wxSL_LABELS);
112 wxStaticText* txRadio = new wxStaticText(this, -1, wxString(_T(" Points Radio ")));
113 sdrRadio = new wxSlider(this, -1, 0, 1, 50, wxDefaultPosition, wxDefaultSize, wxSL_LABELS);
114 wxFlexGridSizer *sizer1 = new wxFlexGridSizer(1);
115 Connect(btnSetPositionPoint->GetId() , wxEVT_COMMAND_BUTTON_CLICKED , (wxObjectEventFunction) &WidgetShowNPoints::OnSetPoint);
116 Connect(sdrOpacity->GetId() , wxEVT_COMMAND_SLIDER_UPDATED , (wxObjectEventFunction) &WidgetShowNPoints::UpdatePoints);
117 Connect(sdrRadio->GetId() , wxEVT_COMMAND_SLIDER_UPDATED , (wxObjectEventFunction) &WidgetShowNPoints::UpdatePoints);
119 sizer1->Add(btnSetPositionPoint);
120 sizer1->Add(txtNrPoints);
121 sizer1->Add(txOpacity);
122 sizer1->Add(sdrOpacity,1,wxGROW );
123 sizer1->Add(txRadio);
124 sizer1->Add(sdrRadio,1,wxGROW );
128 if (mbbShowNPoints->bbGetInputType() == 2) {
129 askPointLabel = new wxStaticText(panel, -1, _T("\nPOINT CONTROLS:")); // JPR
131 wxButton *btnAddPoint = new wxButton(panel, -1, _T(" Add Point "));
132 wxButton *btnDeleteAllPoints = new wxButton(panel, -1, _T(" Delete All "));
133 wxStaticText* spacer = new wxStaticText(panel, -1, _T("\n")); // JPR
134 textCtrl = new wxTextCtrl(panel, -1);
136 wxFlexGridSizer *sizer1 = new wxFlexGridSizer(1);
138 Connect(btnAddPoint->GetId(), wxEVT_COMMAND_BUTTON_CLICKED, (wxObjectEventFunction) & WidgetShowNPoints::OnAddPoint);
139 Connect(btnDeleteAllPoints->GetId(), wxEVT_COMMAND_BUTTON_CLICKED, (wxObjectEventFunction) & WidgetShowNPoints::OnDeleteAllPoints);
141 sizer1->Add(askPointLabel);
142 sizer1->Add(btnAddPoint);
143 sizer1->Add(btnDeleteAllPoints);
145 sizer1->Add(textCtrl);
147 sdrOpacity = new wxSlider();
148 sdrRadio = new wxSlider();
150 txtNrPoints = new wxStaticText(panel, -1, _T("\n\n\n"));
156 panel->SetSizer(sizer);
157 panel->SetAutoLayout(true);
162 //------------------------------------------------------------------------
163 WidgetShowNPoints::~WidgetShowNPoints()
167 //------------------------------------------------------------------------
168 void WidgetShowNPoints::SetRadio(double radio)
172 sdrRadio->SetValue(this->mradio);
175 //------------------------------------------------------------------------
176 std::vector<int> WidgetShowNPoints::GetLstPointsX()
181 //------------------------------------------------------------------------
182 std::vector<int> WidgetShowNPoints::GetLstPointsY()
187 //------------------------------------------------------------------------
188 std::vector<int> WidgetShowNPoints::GetLstPointsZ()
193 //------------------------------------------------------------------------
194 std::vector<std::string> WidgetShowNPoints::GetLstLabels()
199 //------------------------------------------------------------------------
200 void WidgetShowNPoints::SetPoint(std::vector<int> ppoint)
205 //------------------------------------------------------------------------
206 void WidgetShowNPoints::SetColour(std::vector<double> colour)
208 this->mcolour = colour;
211 //------------------------------------------------------------------------
212 void WidgetShowNPoints::SetOpacity(double opacity)
214 this->mopacity=opacity;
216 sdrOpacity->SetValue(this->mopacity*100.0);
219 //------------------------------------------------------------------------
220 void WidgetShowNPoints::SetImage(vtkImageData *image)
225 //------------------------------------------------------------------------
226 void WidgetShowNPoints::SetRenderer(vtkRenderer *renderer)
228 this->renderer = renderer;
231 //------------------------------------------------------------------------
233 std::string WidgetShowNPoints::CleanSpaces(std::string ss)
236 while( (i=ss.find(32))>=0 )
244 //------------------------------------------------------------------------
246 void WidgetShowNPoints::RefreshPoint(int id)
248 int x = lstPointsX[id];
249 int y = lstPointsY[id];
250 int z = lstPointsZ[id];
253 mimage->GetSpacing(spc);
255 lstActorsSphere[id]->SetPosition( spc[0]*x , spc[1]*y , spc[2]*z );
256 lstActorsSphere[id]->GetProperty()->SetColor( mcolour[0] , mcolour[1] , mcolour[2] );
257 lstActorsSphere[id]->GetProperty()->SetOpacity( mopacity );
259 lstActorsText[id]->SetPosition( mradio+spc[0]*x , spc[1]*y , spc[2]*z );
263 //------------------------------------------------------------------------
264 void WidgetShowNPoints::AddPoint(int x, int y, int z, std::string label)
266 lstPointsX.push_back( x );
267 lstPointsY.push_back( y );
268 lstPointsZ.push_back( z );
270 std::string strLabel = CleanSpaces( label );
272 lstLabels.push_back( strLabel );
275 vtkSphereSource *vtksphere = vtkSphereSource::New();
276 vtksphere->SetThetaResolution (20);
277 vtksphere->SetPhiResolution (20);
278 vtksphere->SetRadius( mradio );
280 //NTU: For updating points
282 lstSourceSphere.push_back(vtksphere);
284 vtkPolyDataMapper *sphereMapper = vtkPolyDataMapper::New();
285 sphereMapper->SetInput( vtksphere->GetOutput() );
286 vtkActor *sphereActor = vtkActor::New();
287 sphereActor->SetMapper(sphereMapper);
288 sphereActor->SetOrigin(0, 0, 0);
293 wxMessageDialog dialog(this, _T("Image Not Set"),_T("Image Not Set"),wxICON_ERROR);
297 mimage->GetSpacing(spc);
298 sphereActor->SetPosition( spc[0]*x , spc[1]*y , spc[2]*z );
299 sphereActor->GetProperty()->SetColor( mcolour[0] , mcolour[1] , mcolour[2] );
300 sphereActor->GetProperty()->SetOpacity( mopacity );
303 lstActorsSphere.push_back(sphereActor);
305 wxMessageDialog dialog(this, _T("Renderer Not Set"),_T("Renderer Not Set"),wxICON_ERROR);
309 renderer->AddActor( sphereActor );
312 vtkTextActor3D *textActor = vtkTextActor3D::New();
314 textActor->SetPosition( mradio+spc[0]*x , spc[1]*y , spc[2]*z );
316 textActor->SetInput( strLabel.c_str() );
317 renderer->AddActor( textActor );
318 lstActorsText.push_back(textActor);
320 RefreshPoint(lstPointsX.size()-1);
323 //------------------------------------------------------------------------
324 void WidgetShowNPoints::OnAddPoint (wxCommandEvent& event)
327 wxMessageDialog dialog(this, _T("Image Not Set"),_T("Image Not Set"),wxICON_ERROR);
332 if (this->renderer!=NULL){
333 if (mpoint.size()==3){
334 AddPoint(mpoint[0],mpoint[1],mpoint[2], (const char*) ( textCtrl->GetValue().mb_str() ) );
336 } else {//mpoint.size
337 printf("creaMaracasVisu::ShowNPoints (not match point) \n");
342 //------------------------------------------------------------------------
343 void WidgetShowNPoints::SetOutputBox()
345 renderer->GetRenderWindow()->Render();
347 strTmp.Printf(_T("Nbr of points: %d"), (int)(lstPointsX.size()) );
348 txtNrPoints->SetLabel( strTmp );
351 mbbShowNPoints->bbSetOutputlstPointsX( lstPointsX );
352 mbbShowNPoints->bbSetOutputlstPointsY( lstPointsY );
353 mbbShowNPoints->bbSetOutputlstPointsZ( lstPointsZ );
354 mbbShowNPoints->bbSetOutputlstLabels( lstLabels );
355 mbbShowNPoints->bbSignalOutputModification(std::string("lstPointsX"));
356 mbbShowNPoints->bbSignalOutputModification(std::string("lstPointsY"));
357 mbbShowNPoints->bbSignalOutputModification(std::string("lstPointsZ"));
358 mbbShowNPoints->bbSignalOutputModification(std::string("lstLabels"));
361 //------------------------------------------------------------------------
362 void WidgetShowNPoints::OnSavePoints(wxCommandEvent& event)
364 wxFileDialog* FD = new wxFileDialog( 0,
365 _T("Save points .."),
369 wxSAVE | wxOVERWRITE_PROMPT,
373 int result_FD = FD->ShowModal();
374 std::string tmpLabel;
376 // This line is need it by windows //EED
377 FD->SetReturnCode( result_FD );
379 if (FD->GetReturnCode()==wxID_OK)
382 std::string filename= (const char*) ( FD->GetPath().mb_str() );
383 ff = fopen( filename.c_str() , "w+" );
386 int i , size = (int) (lstActorsSphere.size());
387 fprintf(ff,"NumberOfPoints %d \n",size);
388 fprintf(ff," X\tY\tZ\tvalue\tLabel\n");
391 for (i=0; i<size; i++)
396 value= mimage->GetScalarComponentAsDouble(x,y,z,0);
397 if (lstLabels[i]!="")
399 tmpLabel=lstLabels[i];
403 fprintf(ff,"%d\t%d\t%d\t%f\t%s\n", x , y , z , value , tmpLabel.c_str());
407 printf("WidgetShowNPoints::OnSavePoints ...Error... creating file");
412 //------------------------------------------------------------------------
413 void WidgetShowNPoints::OnLoadPoints(wxCommandEvent& event)
415 wxFileDialog* FD = new wxFileDialog( 0,
416 _T("Load points .."),
420 wxOPEN | wxFILE_MUST_EXIST,
424 int result_FD = FD->ShowModal();
426 // This line is need it by windows //EED
427 FD->SetReturnCode( result_FD );
429 if (FD->GetReturnCode()==wxID_OK)
432 std::string filename= (const char*) ( FD->GetPath().mb_str() );
433 ff = fopen( filename.c_str() , "r+" );
438 fscanf(ff," %s %d",chartmp,&size);
439 fscanf(ff," %s %s %s %s %s",chartmp, chartmp,chartmp,chartmp,chartmp );
443 for (i=0; i<size; i++)
445 fscanf(ff,"%d%d%d%f%s",&x,&y,&z,&value,chartmp ); // x,y,z,value,label
446 if (strcmp(chartmp,"<_VOID_>")==0) { strcpy(chartmp,""); }
447 AddPoint(x,y,z, chartmp );
452 printf("WidgetShowNPoints::OnLoadPoints ...Error... reading file");
459 //------------------------------------------------------------------------
461 int WidgetShowNPoints::GetNearestPoint()
464 int i, size=(int)(lstActorsSphere.size());
465 double radioMin=10000000;
468 wxMessageDialog* diag = new wxMessageDialog(this, _T("Image not set"), _T("Image Not Set"), wxICON_ERROR);
473 for ( i=0 ; i<size; i++ )
475 double rx = mpoint[0] - lstPointsX [i];
476 double ry = mpoint[1] - lstPointsY [i];
477 double rz = mpoint[2] - lstPointsZ [i];
478 double radio = rx*rx + ry*ry + rz*rz;
479 if ( radio <= radioMin)
491 //------------------------------------------------------------------------
492 void WidgetShowNPoints::OnSetPoint(wxCommandEvent& event)
494 int id=GetNearestPoint();
495 if((id==-1) && (mbbShowNPoints->bbGetInputType()==1))
505 printf("WidgetShowNPoints::OnSetPoint \n");
506 lstPointsX[id] = mpoint[0];
507 lstPointsY[id] = mpoint[1];
508 lstPointsZ[id] = mpoint[2];
511 this->lstActorsSphere[id]->SetPosition( spc[0]*mpoint[0]+difradio, spc[1]*mpoint[1], spc[2]* mpoint[2] );
512 this->lstActorsText[id]->SetPosition( spc[0]*mpoint[0]+difradio, spc[1]*mpoint[1], spc[2]* mpoint[2] );
519 //------------------------------------------------------------------------
521 int WidgetShowNPoints::IdInsidePoint()
524 int i, size=(int)(lstActorsSphere.size());
528 wxMessageDialog* diag = new wxMessageDialog(this, _T("Image not set"), _T("Image Not Set"), wxICON_ERROR);
533 mimage->GetSpacing(spc);
535 for ( i=0 ; i<size; i++ )
537 double rx = spc[0]*(mpoint[0] - lstPointsX [i]);
538 double ry = spc[1]*(mpoint[1] - lstPointsY [i]);
539 double rz = spc[2]*(mpoint[2] - lstPointsZ [i]);
540 if ( rx*rx + ry*ry + rz*rz <= mradio*mradio)
550 //------------------------------------------------------------------------
551 void WidgetShowNPoints::OnRenamePoint(wxCommandEvent& event)
553 int id=IdInsidePoint();
556 std::string strLabel = CleanSpaces( (const char*) ( textCtrl->GetValue().mb_str() ) );
557 lstLabels[id] = CleanSpaces( (const char*) (textCtrl->GetValue().mb_str()) ) ;
558 lstActorsText[id]->SetInput( lstLabels[id].c_str() );
563 //------------------------------------------------------------------------
564 void WidgetShowNPoints::ErasePoint(int id)
566 if (this->renderer!=NULL){
568 renderer->RemoveActor( lstActorsSphere[id] );
569 renderer->RemoveActor( lstActorsText[id] );
570 lstActorsSphere[id]->Delete();
571 lstActorsText[id]->Delete();
572 lstSourceSphere[id]->Delete();
573 lstActorsSphere.erase( lstActorsSphere.begin()+id );
574 lstActorsText.erase( lstActorsText.begin()+id );
575 lstSourceSphere.erase( lstSourceSphere.begin()+id );
577 lstPointsX.erase( lstPointsX.begin()+id );
578 lstPointsY.erase( lstPointsY.begin()+id );
579 lstPointsZ.erase( lstPointsZ.begin()+id );
580 lstLabels.erase( lstLabels.begin()+id );
588 //------------------------------------------------------------------------
589 void WidgetShowNPoints::OnErasePoint(wxCommandEvent& event)
591 ErasePoint( IdInsidePoint() );
594 //------------------------------------------------------------------------
595 void WidgetShowNPoints::OnEraseLastPoint(wxCommandEvent& event)
597 ErasePoint(lstActorsSphere.size()-1);
600 //------------------------------------------------------------------------
601 void WidgetShowNPoints::OnDeleteAllPoints(wxCommandEvent& event)
603 int id,size=lstActorsSphere.size();
604 for (id=size-1;id>=0;id--)
610 //NTU: Method for updating points opacity and Radio
612 //------------------------------------------------------------------------
613 void WidgetShowNPoints::UpdatePoints(wxCommandEvent &event)
615 //Difference in Radio for text placement
616 int difradio = sdrRadio->GetValue() - this->mradio;
618 this->mopacity = sdrOpacity->GetValue()/100.0;
619 this->mradio = sdrRadio->GetValue();
621 //NTU refresh the inputs
622 mbbShowNPoints->bbSetInputOpacity(this->mopacity);
623 mbbShowNPoints->bbSetInputRadio(this->mradio);
625 int size = (int) this->lstActorsSphere.size();
627 for(i = 0; i < size; i ++)
629 this->lstSourceSphere[i]->SetRadius(mradio);
630 this->lstActorsSphere[i]->GetProperty()->SetOpacity(mopacity);
631 this->lstActorsText[i]->GetTextProperty()->SetOpacity(mopacity);
632 this->lstActorsText[i]->SetPosition(this->lstActorsText[i]->GetPosition()[0]+difradio,this->lstActorsText[i]->GetPosition()[1], this->lstActorsText[i]->GetPosition()[2]);
636 //EED SetOutputBox();
637 renderer->GetRenderWindow()->Render();
641 BBTK_ADD_BLACK_BOX_TO_PACKAGE(creaMaracasVisu,ShowNPoints)
642 BBTK_BLACK_BOX_IMPLEMENTATION(ShowNPoints,bbtk::WxBlackBox);
644 //-----------------------------------------------------------------
645 void ShowNPoints::Process()
649 mwxwidget->SetRenderer( bbGetInputRenderer() );
650 mwxwidget->SetPoint( bbGetInputIn() );
651 mwxwidget->SetImage( bbGetInputImage() );
652 mwxwidget->SetColour( bbGetInputColour() );
653 mwxwidget->SetOpacity( bbGetInputOpacity() );
654 mwxwidget->SetRadio( bbGetInputRadio() );
656 bbSetOutputlstPointsX( mwxwidget->GetLstPointsX() );
657 bbSetOutputlstPointsY( mwxwidget->GetLstPointsY() );
658 bbSetOutputlstPointsZ( mwxwidget->GetLstPointsZ() );
659 bbSetOutputlstLabels( mwxwidget->GetLstLabels() );
664 //-----------------------------------------------------------------
665 void ShowNPoints::CreateWidget(wxWindow* parent)
667 mwxwidget = new WidgetShowNPoints( parent, this);
668 bbSetOutputWidget( mwxwidget );
671 //-----------------------------------------------------------------
672 void ShowNPoints::bbUserSetDefaultValues()
677 bbSetInputOpacity(1);
679 std::vector<double> colour;
680 colour.push_back(1.0);
681 colour.push_back(0.0);
682 colour.push_back(0.0);
683 bbSetInputColour(colour);
685 bbSetInputImage(NULL);
687 bbSetInputRenderer(NULL);
690 //-----------------------------------------------------------------
691 void ShowNPoints::bbUserInitializeProcessing()
695 //-----------------------------------------------------------------
696 void ShowNPoints::bbUserFinalizeProcessing()
700 //-----------------------------------------------------------------
703 // EO namespace bbcreaMaracasVisu