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 OpenIGTLinkProtocol::translate(igtl::StringMessage::Pointer body) { IGTLinkConversion converter; QString string = converter.decode(body); //This was spamming the console CX_LOG_CHANNEL_INFO(CX_OPENIGTLINK_CHANNEL_NAME) << "IGTL string: " << string; }
void DirectlyLinkedSender::send(ProbeDefinitionPtr msg) { if (!this->isReady()) return; // decode color format: IGTLinkConversion converter; mUSStatus = converter.decode(msg); emit newUSStatus(); }
void PlusProtocol::translate(const igtl::StringMessage::Pointer body) { IGTLinkConversion converter; QString string = converter.decode(body); if(string.contains("CommandReply", Qt::CaseInsensitive)) CX_LOG_CHANNEL_INFO(CX_OPENIGTLINK_CHANNEL_NAME) << string; //else // CX_LOG_CHANNEL_DEBUG(CX_OPENIGTLINK_CHANNEL_NAME) << string; }
void DirectlyLinkedSender::send(ImagePtr msg) { if (!this->isReady()) return; mImage = msg; // decode color format: IGTLinkConversion converter; mImage = converter.decode(msg); emit newImage(); }
void DirectlyLinkedSender::send(IGTLinkImageMessage::Pointer msg) { if (!msg || !this->isReady()) return; IGTLinkConversion converter; this->send(converter.decode(msg)); if (mUnsentUSStatusMessage) { this->send(converter.decode(mUnsentUSStatusMessage, msg, mUSStatus)); mUnsentUSStatusMessage = IGTLinkUSStatusMessage::Pointer(); } }
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()); }
void OpenIGTLinkProtocol::translate(const igtl::StatusMessage::Pointer body) { IGTLinkConversion converter; QString status = converter.decode(body); CX_LOG_CHANNEL_VOLATILE(CX_OPENIGTLINK_CHANNEL_NAME) << "IGTL status: " << status; }