Virtual Volume Reconstructor
Inserts tracked frames into a volume
Device configuration settings
Type:
VirtualVolumeReconstructorAcquisitionRate: (Optional, default:
30)LocalTimeOffsetSec: (Optional, default:
0)EnableReconstruction: Flag that enables adding frames to the volume. If enabled then reconstruction is automatically started on connection.
OutputVolFilename: If specified, the reconstructed volume will be saved into this filename
OutputVolDeviceName: If specified, the reconstructed volume will be sent to the remote control client through OpenIGTLink, using this device name.
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
```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>