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ImFusion C++ SDK 4.5.0
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ImFusion C++ SDK 4.5.0
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#include <ImFusion/LiveUS/ProcessedUltrasoundStream.h>
ImageStream that preprocesses live ultrasound frames and attaches frame geometry metadata. More...
ImageStream that preprocesses live ultrasound frames and attaches frame geometry metadata.
Wraps an input ImageStream (frame grabber or similar), forwards each 2D frame through ProcessUltrasound (grayscale conversion, optional crop, mask, depth-based spacing, Doppler handling), and emits new ImageStreamData on this stream. Each output frame carries FrameGeometryMetadata and UltrasoundMetadata (depth range when applyDepth is enabled). Modality is set to ultrasound.
FrameGrabbingPresets can match incoming frames to stored templates and switch geometry and depth automatically when automaticPresetChange is true. detectGeometry() buffers frames until more than ten have been received, then runs GeometryDetection on that buffer in doGeometryDetection().
A FrameGeometry can be specified through the AttachUSGeometryDataController, and the image can be optionally cropped and/or the pixels outside the US geometry can be set to zero to hide UI elements in the incoming frame-grabbed images.
Typical use: created by ProcessUltrasoundStreamAlgorithm, or constructed directly around an ImageStream. Configure via frameGrabbingPresets and processing sub-properties, or the legacy presets / geometry layouts.
Public Member Functions | |
| ProcessedUltrasoundStream (ImageStream *imgStream) | |
| ProcessedUltrasoundStream (ImageStream *imgStream, std::unique_ptr< FrameGrabbingPresets > &&presets) | |
| bool | openImpl () override |
| Open stream. | |
| bool | closeImpl () override |
| Close stream. | |
| bool | startImpl () override |
| Start stream. | |
| bool | stopImpl () override |
| Stop stream. | |
| bool | topDown () const override |
| Delegates to the input ImageStream, or true if there is no input. | |
| void | configure (const Properties *p) override |
| Configure this object instance by de-serializing the given Properties. | |
| void | configuration (Properties *p) const override |
| Serialize the current object configuration into the given Properties object. | |
| void | initFromCache () |
| Try to initialize the ProcessUltrasound instance using the last cached frame from ImageStreamCache through onStreamData() when the input stream is not running. | |
| ProcessUltrasoundParameters | currentProcessingParameters () const |
| Returns a copy of the current ProcessUltrasoundParameters. | |
| void | setProcessingParameters (const ProcessUltrasoundParameters ¶ms) |
| Replaces ProcessUltrasound processing parameters. | |
| void | setAutomaticPresetChange (bool enabled) |
| If true, match() on FrameGrabbingPresets may switch the active preset on each incoming frame. | |
| bool | automaticPresetChange () const |
| Whether preset switching from template matching is enabled. | |
| std::optional< ImageDescriptor > | lastImageOriginalDescriptor () |
| Descriptor of the last received image. | |
| std::optional< ImageDescriptor > | lastImageProcessedDescriptor () |
| Descriptor of the last processed output image. | |
| void | initGeometry () |
| Initializes ProcessUltrasound geometry from the last received image descriptor, if available. | |
| void | setGeometryToWholeImage () |
| Sets ProcessUltrasound geometry to cover the full last received image. | |
| void | detectGeometry () |
| Starts collecting frames for automatic geometry detection (see detectingGeometry()). | |
| bool | detectingGeometry () |
| Returns true while frames are being buffered for detectGeometry() (until doGeometryDetection() completes). | |
| const ImageStream * | inputStream () const |
| Return a read-only pointer to the input stream. | |
| std::vector< std::string > | presetNames () |
| Names of all FrameGrabbingPresets entries. | |
| bool | applyPreset (const std::string &presetName) |
| Activates the preset with the given name. | |
| bool | savePreset (const std::string &presetName) |
| Adds a preset from the current ProcessUltrasound geometry and depth (no ImageTemplate). | |
| bool | removePreset (const std::string &presetName) |
| Removes the preset with the given name. | |
| FrameGrabbingPresets * | presets () |
| Frame-grabbing preset collection used for matching and depth/geometry switching. | |
| void | onStreamData (std::shared_ptr< const StreamData > streamData) |
| Callback for each frame from the input stream: rotate, optional preset match, process, emit output StreamData. | |
| Public Member Functions inherited from ImFusion::ImageStream | |
| ImageStream (const std::string &name="") | |
| Data::Kind | kind () const override final |
| Returns the kind (typically IMAGESTREAM or VOLUMESTREAM). | |
| void | setModality (Modality m) |
| Set the modality descriptor of this stream. | |
| Modality | modality () const override final |
| Return the modality of this stream. | |
| std::optional< ImageDescriptor > | descriptor () const |
| Return the image descriptor of this stream. | |
| int | size () const override |
| Returns the number of images of the image stream per emission. | |
| std::string | describe () const override |
| Short description of the stream including latest state and update rate information. | |
| Public Member Functions inherited from ImFusion::Stream | |
| Stream (const std::string &name="") | |
Constructor with the name for this stream. | |
| virtual ThreadingMode | threadingMode () const |
| Configures threading mode of stream. | |
| virtual bool | supportsAsyncOperation () |
| Returns true if xxxAsync() methods support execution in a background thread. | |
| std::shared_future< bool > | openAsync () |
| Open stream in an asynchronous fashion (wait on the returned future before taking further actions). Returns whether the operation was successful. | |
| std::shared_future< bool > | closeAsync () |
| Close stream in an asynchronous fashion (wait on the returned future before taking further actions). Returns whether the operation was successful. | |
| std::shared_future< bool > | startAsync () |
| Start stream in an asynchronous fashion (wait on the returned future before taking further actions). Returns whether the operation was successful. | |
| std::shared_future< bool > | stopAsync () |
| Stop stream in an asynchronous fashion (wait on the returned future before taking further actions). Returns whether the operation was successful. | |
| std::shared_future< bool > | pauseAsync () |
| Pause stream in an asynchronous fashion (wait on the returned future before taking further actions). Returns whether the operation was successful. | |
| std::shared_future< bool > | resumeAsync () |
| Resume stream in an asynchronous fashion (wait on the returned future before taking further actions). Returns whether the operation was successful. | |
| bool | open () |
| Open stream and wait for the operation to complete. Returns whether the operation was successful. | |
| bool | close () |
| Close stream and wait for the operation to complete. Returns whether the operation was successful. | |
| bool | start () |
| Start stream and wait for the operation to complete. Returns whether the operation was successful. | |
| bool | stop () |
| Stop stream and wait for the operation to complete. Returns whether the operation was successful. | |
| bool | pause () |
| Pause stream and wait for the operation to complete. Returns whether the operation was successful. | |
| bool | resume () |
| Resume stream and wait for the operation to complete. Returns whether the operation was successful. | |
| virtual bool | supportsPausing () const |
| Override and return true if this stream implements the pausing and resume operations. | |
| bool | restart () |
| Stops, closes, opens and starts the stream. Returns whether the operation was successful. | |
| virtual bool | reset () |
| Reverts stream to first frame, if possible. Returns whether the operation was successful. | |
| virtual bool | isRunning () const |
| Return whether stream is currently running. | |
| virtual std::string | uuid () |
| Unique identifier for stream. | |
| State | currentState () const |
| bool | isStateOneOf (const std::vector< State > &states) const |
| Geometry::AlignedBox | bounds () const override |
| Per default a Stream has empty/invalid bounds. | |
| Pose::TransformationConvention | matrixConvention () const override |
| Matrices of streams by default map to the world coordinate system. | |
| virtual bool | createDefaultStreamController () |
| Indicates whether a StreamController should be created for the stream (by default returns true). | |
| double | updateRate () const |
| Average update rate in Hz of the signalStreamData. | |
| std::string | describe () const override |
| Short description of the stream including latest state and update rate information. | |
| Public Member Functions inherited from ImFusion::Data | |
| Data (const std::string &name="") | |
| Data (const Data &other) | |
| Data & | operator= (const Data &other) |
| virtual | ~Data () |
| Mandatory virtual destructor. | |
| const std::string & | name () const |
| Return the name of this data. | |
| void | setName (const std::string &name) |
| Sets the name of this data. | |
| virtual bool | isAnnotationType () const |
| Return whether this data type is visualized through an annotation (e.g. mesh). | |
| const DataComponentList & | components () const |
| Returns the list of DataComponents for this data. | |
| DataComponentList & | components () |
| virtual void | setMatrixFromWorld (const mat4 &m) |
| Set matrix mapping from the world coordinate system to the data coordinate system. | |
| virtual void | setMatrixToWorld (const mat4 &m) |
| Set matrix mapping from the data coordinate system to the world coordinate system. | |
| virtual mat4 | matrixFromWorld () const |
| Get matrix mapping from the world coordinate system to the data coordinate system. | |
| virtual mat4 | matrixToWorld () const |
| Get matrix mapping from the data coordinate system to the world coordinate system. | |
| virtual mat4 | matrix () const |
| Return the transformation matrix. | |
| virtual void | setMatrix (const mat4 &m) |
| Set the transformation matrix. | |
| Public Member Functions inherited from ImFusion::Configurable | |
| virtual void | configureDefaults () |
| Retrieve the properties of this object, replaces values with their defaults and sets it again. | |
| void | registerParameter (ParameterBase *param) |
| Register the given Parameter or SubProperty, so that it will be configured during configure()/configuration(). | |
| void | unregisterParameter (const ParameterBase *param) |
| Remove the given Parameter or SubProperty from the list of registered parameters. | |
| Configurable (const Configurable &rhs) | |
| Configurable (Configurable &&rhs) noexcept | |
| Configurable & | operator= (const Configurable &) |
| Configurable & | operator= (Configurable &&) noexcept |
| Public Member Functions inherited from ImFusion::Selectable | |
| Selectable (const Selectable &) | |
| Selectable (Selectable &&) | |
| Selectable & | operator= (const Selectable &) |
| Selectable & | operator= (Selectable &&) |
| virtual Selection | selection () const |
| virtual int | focus () const |
| virtual void | setSelection (const Selection &sel) |
| Set the underlying selection. | |
| virtual void | setFocus (int index) |
| Set focus of the selection. | |
| Public Member Functions inherited from ImFusion::SignalReceiver | |
| SignalReceiver ()=default | |
| Default constructor. | |
| SignalReceiver (const SignalReceiver &other) | |
| Copy constructor, does not copy any existing signal connections from other. | |
| SignalReceiver & | operator= (SignalReceiver rhs) |
| Assignment operator, disconnects all existing connections, does not copy any existing signal connections from rhs. | |
| virtual | ~SignalReceiver () |
| Virtual destructor disconnects from all connected signals. | |
Public Attributes | |
| Signal | presetChanged |
| Emitted when the active FrameGrabbingPresets entry changes. | |
| Signal | presetsListChanged |
| Emitted when presets are added, removed, or loaded. | |
| Public Attributes inherited from ImFusion::ImageStream | |
| Signal< Data::Kind > | signalKindChanged |
| Is emitted when the stream changes between IMAGESTREAM and VOLUMESTREAM, before the next ImageStreamData is emitted. | |
| Public Attributes inherited from ImFusion::Stream | |
| ProtectedSignal< StateChange > | signalStateChanged |
| Emitted after a state change has been completed with the old and new state. | |
| ProtectedSignal | signalEnded |
| Indicates that the stream reached the end of its data, e.g. when a video stream has played to the end. | |
| ProtectedSignal< std::shared_ptr< const StreamData > > | signalStreamData |
| Signal that is emitted by the stream when a new StreamData is available. | |
| DeprecatedSignal< ProtectedSignal< std::shared_ptr< const StreamData > >, const StreamData & > | signalNewData |
| Signal that is emitted by the stream when a new StreamData is available. | |
| Public Attributes inherited from ImFusion::Data | |
| Signal< const Data * > | signalDeleted |
| Signal emitted when this instance is deleted. | |
| Signal< const Data * > | signalMatrixChanged |
| Signal emitted when the transformation of this Data has changed. | |
| Signal< std::string > | signalNameChanged |
| Signal emitted when the name changed. | |
| Public Attributes inherited from ImFusion::Configurable | |
| Signal | signalParametersChanged |
| Emitted whenever one of the registered Parameters' or SubPropertys' signalValueChanged signal was emitted. | |
| Public Attributes inherited from ImFusion::Selectable | |
| ProtectedSignal | signalSelectionChanged |
| Signals that the selection or size might have changed. | |
Protected Member Functions | |
| std::optional< WorkContinuation > | doWork () override |
| Create one StreamData and publish it (this function will be called at the desired frame rate) If this is not desired, you can do the following: return std::nullopt;. | |
| Protected Member Functions inherited from ImFusion::ImageStream | |
| void | setKind (Kind k) |
| Sets the kind (typically IMAGESTREAM or VOLUMESTREAM) and emits signalKindChanged. | |
| bool | workerThreadRequiresOpenGl () const override |
| Ensure the thread has an GL context before the main loop starts. | |
| Protected Member Functions inherited from ImFusion::Stream | |
| virtual bool | pauseImpl () |
| Pause stream (not required to be supported). | |
| virtual bool | resumeImpl () |
| Resume stream from pause (only required to be supported when pauseImpl() is supported). | |
| virtual bool | worksWhilePaused () const |
| Override if doWork() should be called also in the Paused state. | |
| void | changeState (State newState) |
| std::shared_future< bool > | attemptStateChange (std::function< bool()> work, State stateWorking, State stateSuccess, State stateError) |
| Protected Member Functions inherited from ImFusion::Data | |
| void | swapWith (Data &other) |
| Swaps the data and emits a matrix and name changed signal for both. | |
| Protected Member Functions inherited from ImFusion::SignalReceiver | |
| void | disconnectAll () |
| Disconnects all existing connections. | |
Additional Inherited Members | |
| Public Types inherited from ImFusion::Stream | |
| enum class | ThreadingMode { BaseClassRunsWorkerThread , DerivedClassHandlesThreading } |
| This flag represents the two supported threading modes of a Stream. More... | |
| enum class | State { Closed , Opening , Open , Starting , Running , Pausing , Paused , Resuming , Stopping , Closing } |
| Public Types inherited from ImFusion::Data | |
| enum | Kind { UNKNOWN = 0 , IMAGE = 1 , VOLUME = 2 , IMAGESET = 3 , VOLUMESET = 4 , IMAGESTREAM = 5 , VOLUMESTREAM = 6 , POINTSET = 7 , SURFACE = 8 , TRACKINGSTREAM = 9 , LIVETRACKINGSTREAM = TRACKINGSTREAM , TRACKINGDATA = 10 , TREE = 11 , TENSOR = 12 , POLYDATASTREAM = 13 , STEREOIMAGESET = 14 , STEREOIMAGESTREAM = 15 , VOLUMETRICMESH = 16 } |
| Kind of data. More... | |
| enum | Modality { NA = 0 , XRAY = 1 , CT = 2 , MRI = 3 , ULTRASOUND = 4 , VIDEO = 5 , NM = 6 , OCT = 7 , LABEL = 8 , DISTANCE = 9 } |
| Image modality of the data. More... | |
| Static Public Member Functions inherited from ImFusion::Stream | |
| static std::string | stateToString (State state) |
| Static Public Member Functions inherited from ImFusion::Data | |
| static std::string | modalityString (Data::Modality m) |
| Return the name of an image modality. | |
| static Data::Modality | stringToModality (const std::string &s) |
| Returns the modality corresponding to a modality string or NA if nothing matches. | |
| Protected Attributes inherited from ImFusion::Data | |
| mat4 | m_matrix |
| Transformation matrix. | |
| std::recursive_mutex * | m_matrixMutex |
| Used to internally synchronize access to the matrix of data. | |
| DataComponentList | m_dataComponentList |
| The list of DataComponents for this data. | |
| Protected Attributes inherited from ImFusion::Configurable | |
| std::vector< Param > | m_params |
| List of all registered Parameter and SubProperty instances. | |
| Protected Attributes inherited from ImFusion::Selectable | |
| std::mutex | m_selectionMutex |
| Mutex protecting the selection. | |
| Selection | m_sel |
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explicit |
| imgStream | Input stream whose frames are processed, must outlive this object until signalEnded clears the pointer. |
| ImFusion::US::ProcessedUltrasoundStream::ProcessedUltrasoundStream | ( | ImageStream * | imgStream, |
| std::unique_ptr< FrameGrabbingPresets > && | presets ) |
| imgStream | Input image stream. |
| presets | Owned preset collection (template matching and geometry/depth per preset). |
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overridevirtual |
Open stream.
Returns whether the operation was successful. This method is responsible for allocating necessary resources, initializing device handles, and establishing connections to devices. Implementers should ensure that all one-time setup tasks are completed here.
Implements ImFusion::Stream.
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overridevirtual |
Close stream.
Returns whether the operation was successful. This method should be used to free any resources that were allocated during the openImpl() call and to disconnect from any devices. Implementers must ensure that all resources are properly released to avoid memory leaks.
Implements ImFusion::Stream.
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overridevirtual |
Start stream.
Returns whether the operation was successful. This method is intended to initiate the actual data readout process or to connect a callback function for data handling. Implementers should ensure that the stream is ready and producing data after this call.
Implements ImFusion::Stream.
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overridevirtual |
Stop stream.
Returns whether the operation was successful. This method should halt any ongoing data readouts or callbacks, effectively pausing the data flow to reduce CPU load. Implementers should ensure that the stream can be restarted after this call.
Implements ImFusion::Stream.
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overridevirtual |
Delegates to the input ImageStream, or true if there is no input.
Reimplemented from ImFusion::ImageStream.
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overridevirtual |
Configure this object instance by de-serializing the given Properties.
The default implementation will do so automatically for all registered Parameter and SubProperty instances.
Reimplemented from ImFusion::Configurable.
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overridevirtual |
Serialize the current object configuration into the given Properties object.
The default implementation will do so automatically for all registered Parameter and SubProperty instances.
Reimplemented from ImFusion::Configurable.
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inlineoverrideprotectedvirtual |
Create one StreamData and publish it (this function will be called at the desired frame rate) If this is not desired, you can do the following: return std::nullopt;.
Implements ImFusion::Stream.