void PlusProtocol::translate(const igtl::TransformMessage::Pointer body)
{
CX_LOG_DEBUG() << "Transform incoming to plusprotocol";
QString deviceName = body->GetDeviceName();
this->registerTransformDeviceName(deviceName);
IGTLinkConversion converter;
Transform3D matrix = converter.decode(body);
if(this->isCalibration(deviceName))
{
Transform3D s_M_igtltool = matrix;
Transform3D s_M_custustool = s_M_igtltool * igtltool_M_custustool;
Transform3D sMt = s_M_custustool;
QString calibrationBelongsToDeviceName = this->findDeviceForCalibration(deviceName);
if(calibrationBelongsToDeviceName != "NOT_FOUND")
{
emit calibration(calibrationBelongsToDeviceName, sMt);
}
}
else
{
IGTLinkConversionBase baseConverter;
double timestamp_ms = baseConverter.decode_timestamp(body).toMSecsSinceEpoch();
timestamp_ms = this->getSyncedTimestampForTransformsAndImages(timestamp_ms);
Transform3D prMs = matrix;
emit transform(deviceName, prMs, timestamp_ms);
}
}
void PlusProtocol::translate(const igtl::ImageMessage::Pointer body)
{
CX_LOG_DEBUG() << "Image incoming to plusprotocol";
//DIMENSION
int x = 0;
int y = 1;
int z = 2;
//There seems to be a bug in the received images spacing from the plusserver
/*
float wrong_spacing[3];
body->GetSpacing(wrong_spacing);
float right_spacing[3];
right_spacing[x] = wrong_spacing[x];
right_spacing[y] = wrong_spacing[z];
right_spacing[z] = 1;
body->SetSpacing(right_spacing);
*/
int dimensions_p[3];
body->GetDimensions(dimensions_p);
float spacing[3];
body->GetSpacing(spacing);
int extent_p[3];
extent_p[x] = dimensions_p[x]-1;
extent_p[y] = dimensions_p[y]-1;
extent_p[z] = dimensions_p[z]-1;
//IMAGE
IGTLinkConversion converter;
ImagePtr theImage = converter.decode(body);
IGTLinkConversionBase baseConverter;
double timestamp_ms = baseConverter.decode_timestamp(body).toMSecsSinceEpoch();
timestamp_ms = this->getSyncedTimestampForTransformsAndImages(timestamp_ms);
theImage->setAcquisitionTime(QDateTime::fromMSecsSinceEpoch(timestamp_ms));
emit image(theImage);
//PROBEDEFINITION
ProbeDefinitionPtr definition(new ProbeDefinition);
definition->setUseDigitalVideo(true);
definition->setType(ProbeDefinition::tLINEAR);
definition->setSpacing(Vector3D(spacing[x], spacing[y], spacing[z]));
definition->setSize(QSize(dimensions_p[x], dimensions_p[y]));
definition->setOrigin_p(Vector3D(dimensions_p[x]/2, 0, 0));
double depthstart_mm = 0;
double depthend_mm = extent_p[y]*spacing[y];
double width_mm = extent_p[x]*spacing[x];
definition->setSector(depthstart_mm, depthend_mm, width_mm);
definition->setClipRect_p(DoubleBoundingBox3D(0, extent_p[x], 0, extent_p[y], 0, extent_p[z]));
emit probedefinition(mProbeToTrackerName, definition);
}
void OpenIGTLinkProtocol::translate(const igtl::TransformMessage::Pointer body)
{
//CX_LOG_DEBUG() << "Transform incoming to OpenIGTLinkProtocol";
QString deviceName = body->GetDeviceName();
IGTLinkConversion converter;
Transform3D prMs = converter.decode(body);
IGTLinkConversionBase baseConverter;
QDateTime timestamp = baseConverter.decode_timestamp(body);
if (mStreamSynchronizer)
{
mStreamSynchronizer->addTimestamp(timestamp);
timestamp = timestamp.addMSecs(mStreamSynchronizer->getShift());
}
emit transform(deviceName, prMs, timestamp.toMSecsSinceEpoch());
}
ImagePtr IGTLinkConversionSonixCXLegacy::decode(igtl::ImageMessage::Pointer message)
{
vtkImageImportPtr imageImport = vtkImageImportPtr::New();
// Retrive the image data
float spacing[3]; // spacing (mm/pixel)
int svsize[3]; // sub-volume size
int svoffset[3]; // sub-volume offset
int scalarType; // scalar type
int size[3]; // image dimension
// Note: subvolumes is not supported. Implement when needed.
scalarType = message->GetScalarType();
message->GetDimensions(size);
message->GetSpacing(spacing);
message->GetSubVolume(svsize, svoffset);
QString deviceName = message->GetDeviceName();
imageImport->SetNumberOfScalarComponents(1);
switch (scalarType)
{
case igtl::ImageMessage::TYPE_INT8:
CX_LOG_WARNING() << "signed char is not supported. Falling back to unsigned char.";
imageImport->SetDataScalarTypeToUnsignedChar();
break;
case igtl::ImageMessage::TYPE_UINT8:
imageImport->SetDataScalarTypeToUnsignedChar();
break;
case igtl::ImageMessage::TYPE_INT16:
imageImport->SetDataScalarTypeToShort();
break;
case igtl::ImageMessage::TYPE_UINT16:
imageImport->SetNumberOfScalarComponents(2);
imageImport->SetDataScalarTypeToUnsignedChar();
break;
case igtl::ImageMessage::TYPE_INT32:
case igtl::ImageMessage::TYPE_UINT32:
imageImport->SetNumberOfScalarComponents(4);
imageImport->SetDataScalarTypeToUnsignedChar();
break;
case igtl::ImageMessage::TYPE_FLOAT32:
imageImport->SetDataScalarTypeToFloat();
break;
case igtl::ImageMessage::TYPE_FLOAT64:
imageImport->SetDataScalarTypeToDouble();
break;
default:
CX_LOG_WARNING() << "Unknown image type. Falling back to unsigned char.";
imageImport->SetDataScalarTypeToUnsignedChar();
}
imageImport->SetDataOrigin(0, 0, 0);
imageImport->SetDataSpacing(spacing[0], spacing[1], spacing[2]);
imageImport->SetWholeExtent(0, size[0] - 1, 0, size[1] - 1, 0, size[2] - 1);
imageImport->SetDataExtentToWholeExtent();
imageImport->SetImportVoidPointer(message->GetScalarPointer());
imageImport->Modified();
imageImport->Update();
ImagePtr retval(new Image(deviceName, imageImport->GetOutput()));
IGTLinkConversionBase baseConverter;
retval->setAcquisitionTime(baseConverter.decode_timestamp(message));
retval = this->decode(retval);
return retval;
}
igtl::ImageMessage::Pointer IGTLinkConversionSonixCXLegacy::encode(ImagePtr image)
{
vtkImageDataPtr rawImage = image->getBaseVtkImageData();
int size[] = {256, 256, 1}; // image dimension
rawImage->GetDimensions(size);
double spacingD[3];
float spacingF[3];
rawImage->GetSpacing(spacingD);
spacingF[0] = spacingD[0];
spacingF[1] = spacingD[1];
spacingF[2] = spacingD[2];
int* svsize = size;
int svoffset[] = {0, 0, 0}; // sub-volume offset
int scalarType = -1;
if (rawImage->GetNumberOfScalarComponents()==4)
{
if (rawImage->GetScalarType()==VTK_UNSIGNED_CHAR)
{
scalarType = igtl::ImageMessage::TYPE_UINT32;// scalar type
}
}
if (rawImage->GetNumberOfScalarComponents()==1)
{
if (rawImage->GetScalarType()==VTK_UNSIGNED_SHORT)
{
scalarType = igtl::ImageMessage::TYPE_UINT16;// scalar type
}
else if (rawImage->GetScalarType()==VTK_UNSIGNED_CHAR)
{
scalarType = igtl::ImageMessage::TYPE_UINT8;// scalar type
}
}
if (scalarType==-1)
{
std::cerr << "Unsupported file type based on vtk " << rawImage->GetScalarTypeAsString() << std::endl;
return igtl::ImageMessage::Pointer();
}
//------------------------------------------------------------
// Create a new IMAGE type message
igtl::ImageMessage::Pointer imgMsg = igtl::ImageMessage::New();
imgMsg->SetDimensions(size);
imgMsg->SetSpacing(spacingF);
imgMsg->SetScalarType(scalarType);
imgMsg->SetDeviceName(cstring_cast(image->getUid()));
imgMsg->SetSubVolume(svsize, svoffset);
imgMsg->AllocateScalars();
IGTLinkConversionBase baseConverter;
baseConverter.encode_timestamp(image->getAcquisitionTime(), imgMsg);
int fsize = imgMsg->GetImageSize();
memcpy(imgMsg->GetScalarPointer(), rawImage->GetScalarPointer(0,0,0), fsize); // not sure if we need to copy
igtl::Matrix4x4 matrix;
GetIdentityMatrix(matrix);
imgMsg->SetMatrix(matrix);
return imgMsg;
}