Virtual Volume Reconstructor

Inserts tracked frames into a volume

Device configuration settings

• 
  Type = "VirtualVolumeReconstructor"
  
• 
  AcquisitionRate
  

  Default = "30"
• 
  LocalTimeOffsetSec
  

  Default = "0"
• 
  EnableReconstruction Flag that enables adding frames to the volume. If enabled then reconstruction is automatically started on connection.
  

  Default = "FALSE"
• 
  OutputVolFilename If specified, the reconstructed volume will be saved into this filename
  

  Default = " "
• 
  OutputVolDeviceName If specified, the reconstructed volume will be sent to the remote control client through OpenIGTLink, using this device name.
  

  Default = " "
• 
  ElementVolumeReconstruction

Example configuration files

PlusDeviceSet_Server_Sim_NwirePhantom.xml

<PlusConfiguration version="2.1">

  <DataCollection StartupDelaySec="1.0" >
    <DeviceSet 
      Name="PlusServer: Replay fCal phantom scan with Ultrasonix US (L14-5 probe) + Ascension3DG tracker (Probe, Reference, Stylus)"
      Description="Free-hand probe motion, imaging 3 NWires, after spatial calibration. OpenIGTLink broadcasting through PlusServer of image and tool tracking data." />
    <Device
      Id="TrackedVideoDevice"
      Type="SavedDataSource"
      SequenceFile="fCal_Test_Calibration_3NWires.igs.mha"
      UseData="IMAGE_AND_TRANSFORM"
      UseOriginalTimestamps="TRUE"
      RepeatEnabled="TRUE" >
      <DataSources>
        <DataSource Type="Video" Id="Video" />
      </DataSources>
      <OutputChannels>
        <OutputChannel Id="TrackedVideoStream" VideoDataSourceId="Video" />
      </OutputChannels>
    </Device>
    <Device
      Id="CaptureDevice"
      Type="VirtualCapture"
      BaseFilename="RecordingTest.igs.mha"
      EnableCapturingOnStart="FALSE" >
      <InputChannels>
        <InputChannel Id="TrackedVideoStream" />
      </InputChannels>
    </Device>
    <Device
      Id="VolumeReconstructorDevice"
      Type="VirtualVolumeReconstructor"
      OutputVolDeviceName="RecVol_Reference">
      <InputChannels>
        <InputChannel Id="TrackedVideoStream" />
      </InputChannels>
      <VolumeReconstruction
        ImageCoordinateFrame="Image" ReferenceCoordinateFrame="Reference"
        Interpolation="LINEAR" Optimization="NONE" CompoundingMode="MEAN" FillHoles="OFF" NumberOfThreads="2"
        ClipRectangleOrigin="0 0" ClipRectangleSize="820 616"
        OutputOrigin="-15 -15 30" OutputExtent="0 300 0 300 0 300" OutputSpacing="0.15 0.15 0.15" />
    </Device>
  </DataCollection>

  <PlusOpenIGTLinkServer 
    MaxNumberOfIgtlMessagesToSend="1" 
    MaxTimeSpentWithProcessingMs="50" 
    ListeningPort="18944" 
    SendValidTransformsOnly="true" 
    OutputChannelId="TrackedVideoStream" > 
    <DefaultClientInfo> 
      <MessageTypes> 
        <Message Type="IMAGE" />
        <Message Type="TRANSFORM" />
      </MessageTypes>
      <TransformNames> 
        <Transform Name="ProbeToTracker" /> 
        <Transform Name="ReferenceToTracker" /> 
        <Transform Name="ProbeToReference" />
      </TransformNames>
      <ImageNames>
        <Image Name="Image" EmbeddedTransformToFrame="Reference" />
      </ImageNames>
    </DefaultClientInfo>
  </PlusOpenIGTLinkServer>
  
  <CoordinateDefinitions>
    <Transform From="Image" To="TransducerOriginPixel"
      Matrix="
        1 0 0 -410
        0 1 0 5
        0 0 1 0
        0 0 0 1"
      Date="2011.12.06 17:57:00" />
    <Transform From="Phantom" To="Reference"
      Matrix="
        0.00898765 -0.0136951 -0.999866 9.59137
        0.0246163 -0.9996 0.0139127 36.0012
        -0.999657 -0.024738 -0.00864693 87.8909
        0 0 0 1"
      Error="0.404711" Date="012712_152104" />
    <Transform From="StylusTip" To="Stylus"
      Matrix="
        1 0 0 203.772
        0 1 0 -12.283
        0 0 1 1.17469
        0 0 0 1"
      Error="0.582721" Date="012712_152030" />
    <Transform From="Image" To="Probe"
      Matrix="
        0     0.08    0     11
        -0.08 0       0     50
        0     0       0.08  0
        0     0       0     1"
      Error="0.582721" Date="012712_152030" />
  </CoordinateDefinitions> 

</PlusConfiguration>

PlusDeviceSet_OpenIGTLinkCommandsTest.xml

<PlusConfiguration version="2.1">

  <DataCollection StartupDelaySec="1.0">
    <DeviceSet 
      Name="TEST PlusServer remote control using OpenIGTLink commands, no hardware is needed" 
      Description="Read data from file and stream it through OpenIGTLink. Can be used to test commands, such as start/stop recording and reconstruct volume" />
      
    <Device
      Id="TrackedVideoDevice"
      Type="SavedDataSource"
      SequenceFile="NwirePhantomFreehandCropped.igs.mha"
      UseData="IMAGE_AND_TRANSFORM"
      UseOriginalTimestamps="FALSE"
      AcquisitionRate="3.0"
      RepeatEnabled="TRUE">
      <DataSources>
        <DataSource Type="Video" Id="Video"  />
      </DataSources>
      <OutputChannels>
        <OutputChannel Id="TrackedVideoStream" VideoDataSourceId="Video" />
      </OutputChannels>
    </Device>

    <Device
      Id="CaptureDevice"
      Type="VirtualCapture"
      BaseFilename="OpenIGTTrackedVideoRecordingTest.igs.mha"
      EnableCapturingOnStart="FALSE" >
      <InputChannels>
        <InputChannel Id="TrackedVideoStream" />
      </InputChannels>
    </Device>

    <Device
      Id="VolumeReconstructorDevice"
      Type="VirtualVolumeReconstructor">
      <InputChannels>
        <InputChannel Id="TrackedVideoStream" />
      </InputChannels>
      <VolumeReconstruction
        ImageCoordinateFrame="Image" ReferenceCoordinateFrame="Reference"
        Interpolation="LINEAR" Optimization="NONE" CompoundingMode="MEAN" FillHoles="OFF" NumberOfThreads="2"
        ClipRectangleOrigin="0 0" ClipRectangleSize="200 150" OutputOrigin="-10 -128 -36" OutputExtent="0 20 0 15 0 12" OutputSpacing="1.0 1.0 1.0" />
    </Device>

    </DataCollection>

  <CoordinateDefinitions>
    <Transform From="Image" To="TransducerOriginPixel"
      Matrix="1 0 0 -410 0 1 0 5 0 0 1 0 0 0 0 1"
      Date="2011.12.06 17:57:00" />
    <Transform From="Phantom" To="Reference" Matrix="1 0 0 0  0 1 0 0  0 0 1 0 0 0 0 1" Error="0.0" />
    <!-- Image was cropped with a rectangle origin (335, 285), size (200, 150). The original non-cropped image is renamed to ImageFull. Therefore, transform between the cropped image (Image) and the original image (ImageFull) is the following: -->
    <Transform From="Image" To="ImageFull"
      Matrix="
        1 0 0 335
        0 1 0 285
        0 0 1 0
        0 0 0 1" />
    <Transform From="ImageFull" To="Probe"
      Matrix="
        -0.0094 -0.0739 -0.0028 -103.5322
        0.0774 -0.0076 -0.0049 -43.1227
        0.0046 -0.0032 0.0760 -93.3
        0 0 0 1"
      Error="0.508027" Date="2011.08.19 14:11:53" />
    <Transform From="StylusTip" To="Stylus"
      Matrix="
        1 0 0 203.772
        0 1 0 -12.283
        0 0 1 1.17469
        0 0 0 1"
      Error="0.582721" Date="012712_152030"
    />        
  </CoordinateDefinitions>   
  
  <PlusOpenIGTLinkServer
    MaxNumberOfIgtlMessagesToSend="10"
    MaxTimeSpentWithProcessingMs="50"
    ListeningPort="18944"
    SendValidTransformsOnly="true" 
    OutputChannelId="TrackedVideoStream" > 
    <DefaultClientInfo> 
      <MessageTypes> 
        <Message Type="IMAGE" />
        <Message Type="TRANSFORM" />
      </MessageTypes>
      <TransformNames> 
        <Transform Name="ProbeToReference" /> 
        <Transform Name="StylusTipToReference" />
      </TransformNames>
    <ImageNames>
      <Image Name="Image" EmbeddedTransformToFrame="Reference" />
    </ImageNames>
    </DefaultClientInfo>
  </PlusOpenIGTLinkServer>
  
</PlusConfiguration>