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;
}
