ProbeDefinition ProbeImpl::createProbeSector()
{
ProbeXmlConfigParser::Configuration config = this->getConfiguration();
ProbeDefinition probeSector = createProbeDataFromConfiguration(config);
probeSector.setUid(mActiveUid);
return probeSector;
}
void ProbeImpl::setProbeSector(ProbeDefinition probeSector)
{
if (probeSector.getUid().isEmpty())
probeSector.setUid(mActiveUid);
mProbeData[probeSector.getUid()] = probeSector;
emit sectorChanged();
}
/** extract information from the IGTLinkUSStatusMessage
* and store locally. Also reset the old local info with
* information from the probe in toolmanager.
*/
void VideoConnection::updateStatus(ProbeDefinitionPtr msg)
{
ToolPtr tool = mBackend->tracking()->getFirstProbe();
if (!tool || !tool->getProbe())
{
//Don't throw away the ProbeDefinition. Save it until it can be used
if (mUnusedProbeDefinitionVector.empty())
connect(mBackend->tracking().get(), &TrackingService::stateChanged, this, &VideoConnection::useUnusedProbeDefinitionSlot);
mUnusedProbeDefinitionVector.push_back(msg);
return;
}
ProbePtr probe = tool->getProbe();
// start with getting a valid data object from the probe, in order to keep
// existing values (such as temporal calibration).
// Note that the 'active' data is get while the 'uid' data is set.
ProbeDefinition data = probe->getProbeDefinition();
data.setUid(msg->getUid());
data.setType(msg->getType());
data.setSector(msg->getDepthStart(), msg->getDepthEnd(), msg->getWidth());
data.setOrigin_p(msg->getOrigin_p());
data.setSize(msg->getSize());
data.setSpacing(msg->getSpacing());
data.setClipRect_p(msg->getClipRect_p());
data.setUseDigitalVideo(true);
probe->setProbeDefinition(data);
probe->setActiveStream(msg->getUid());
}
ProbeImpl::ProbeImpl(QString instrumentUid, QString scannerUid) :
mInstrumentUid(instrumentUid),
mScannerUid(scannerUid),
mSoundSpeedCompensationFactor(1.0),
mOverrideTemporalCalibration(false),
mTemporalCalibration(0.0)
{
ProbeDefinition probeData;
mProbeData[probeData.getUid()] = probeData;
mActiveUid = probeData.getUid();
}
void VideoConnection::resetProbe()
{
ToolPtr tool = mBackend->tracking()->getFirstProbe();
if (!tool || !tool->getProbe())
return;
ProbePtr probe = tool->getProbe();
if (probe)
{
ProbeDefinition data = probe->getProbeDefinition();
data.setUseDigitalVideo(false);
probe->setProbeDefinition(data);
}
}
/**
* Write probe configuration to file. This works even for configs not saved to the ProbeCalibConfigs.xml file.
*/
void UsReconstructionFileMaker::writeProbeConfiguration(QString reconstructionFolder, QString session, ProbeDefinition data, QString uid)
{
XmlOptionFile file = XmlOptionFile(reconstructionFolder + "/" + session + ".probedata.xml");
data.addXml(file.getElement("configuration"));
file.getElement("tool").toElement().setAttribute("toolID", uid);
file.save();
}
Transform3D TrackedStream::get_tMu()
{
//Made tMu by copying and modifying code from ProbeSector::get_tMu()
ProbeDefinition probeDefinition = mProbeTool->getProbe()->getProbeData();
Vector3D origin_p = probeDefinition.getOrigin_p();
Vector3D spacing = probeDefinition.getSpacing();
Vector3D origin_u(origin_p[0]*spacing[0], origin_p[1]*spacing[1], origin_p[2]*spacing[2]);
Transform3D Rx = createTransformRotateX(M_PI / 2.0);
Transform3D Ry = createTransformRotateY(-M_PI / 2.0);
Transform3D R = (Rx * Ry);
Transform3D T = createTransformTranslate(-origin_u);
Transform3D tMu = R * T;
return tMu;
}
ProbeDefinition ProbeImpl::getProbeData(QString uid) const
{
ProbeDefinition retval;
if (uid=="active")
uid = mActiveUid;
if (mProbeData.count(uid))
retval = mProbeData.find(uid)->second;
else if (mProbeData.count("default"))
retval = mProbeData.find("default")->second;
else
retval = mProbeData.begin()->second;
// ensure uid is matching the requested uid even if not found.
retval.setUid(uid);
return retval;
}
ProbeDefinition createProbeDefinitionFromConfiguration(ProbeXmlConfigParser::Configuration config)
{
if(config.isEmpty())
return ProbeDefinition();
ProbeDefinition probeDefinition;
if (config.mWidthDeg > 0.1) // Sector probe
{
double depthStart = config.mOffset * config.mPixelHeight;
double depthEnd = config.mDepth * config.mPixelHeight + depthStart;
double width = config.mWidthDeg * M_PI / 180.0;//width in radians
probeDefinition = ProbeDefinition(ProbeDefinition::tSECTOR);
probeDefinition.setSector(depthStart, depthEnd, width);
}
else //Linear probe
{
int widtInPixels = config.mRightEdge - config.mLeftEdge;
double width = config.mPixelWidth * double(widtInPixels); //width in mm
// correct for top/bottom edges if applicable
double depthStart = double(config.mTopEdge-config.mOriginRow) * config.mPixelHeight;
double depthEnd = double(config.mBottomEdge-config.mOriginRow) * config.mPixelHeight;
probeDefinition = ProbeDefinition(ProbeDefinition::tLINEAR);
probeDefinition.setSector(depthStart, depthEnd, width);
}
probeDefinition.setSpacing(Vector3D(config.mPixelWidth, config.mPixelHeight, 1));
probeDefinition.setSize(QSize(config.mImageWidth, config.mImageHeight));
probeDefinition.setOrigin_p(Vector3D(config.mOriginCol, config.mOriginRow, 0));
probeDefinition.setClipRect_p(DoubleBoundingBox3D(config.mLeftEdge,config.mRightEdge,config.mTopEdge,config.mBottomEdge,0,0));
probeDefinition.setTemporalCalibration(config.mTemporalCalibration);
return probeDefinition;
}
ProbeXmlConfigParser::Configuration createConfigurationFromProbeDefinition(ProbeXmlConfigParser::Configuration basis, ProbeDefinition data)
{
ProbeXmlConfigParser::Configuration config = basis;
QSize storedSize(basis.mImageWidth, basis.mImageHeight);
if (storedSize!=data.getSize())
{
// wrong size: resample
data.resample(storedSize);
}
config.mLeftEdge = data.getClipRect_p()[0];
config.mRightEdge = data.getClipRect_p()[1];
config.mTopEdge = data.getClipRect_p()[2];
config.mBottomEdge = data.getClipRect_p()[3];
config.mOriginCol = data.getOrigin_p()[0];
config.mOriginRow = data.getOrigin_p()[1];
config.mPixelWidth = data.getSpacing()[0];
config.mPixelHeight = data.getSpacing()[1];
config.mImageWidth = data.getSize().width();
config.mImageHeight = data.getSize().height();
if (data.getType()==ProbeDefinition::tSECTOR)
{
config.mWidthDeg = data.getWidth() / M_PI*180.0;
config.mOffset = data.getDepthStart() / data.getSpacing()[1];
config.mDepth = (data.getDepthEnd() - data.getDepthStart()) / data.getSpacing()[1];
}
else
{
// derived values
config.mWidthDeg = 0.0;
config.mOffset = 0;
config.mDepth = 0;
}
config.mTemporalCalibration = data.getTemporalCalibration();
return config;
}