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ImFusion SDK 4.3
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ImFusion SDK 4.3
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#include <ImFusion/US/UltrasoundSweep.h>
Set of 2D ultrasound images constituting a 3D (freehand) ultrasound sweep, so a clip of 2D ultrasound images with arbitrarily sampled tracking data and additional ultrasound-specific metadata. More...
Inheritance diagram for UltrasoundSweep:Set of 2D ultrasound images constituting a 3D (freehand) ultrasound sweep, so a clip of 2D ultrasound images with arbitrarily sampled tracking data and additional ultrasound-specific metadata.
The class ensures that a FrameGeometryMetadata is available.
Just like its base class TrackedSharedImageSet, the matrix assignment within SharedImageSet (each contained image uses its own matrix) is replaced with a look-up into TrackingSequence instances. See TrackedSharedImageSet for details on the full matrix transformation chain that is computed (registration, calibration, etc.) All matrices are natively stored in TOWORLD convention, and methods called "..FromWorld" will evaluate a matrix inversion.
While the class does not strictly enforce identical type, pixel size, spacing, etc. across individual frames, unexpected behavior may result from noncompliance with these assumptions. In particular, all methods exposing size measures in any form (frame pixel or physical size) only access the first frame and ignore all others. I/O operations with non-compliant images may not work.
Public Member Functions | |
| UltrasoundSweep (const UltrasoundSweep &other)=delete | |
| std::unique_ptr< UltrasoundSweep > | clone (Flags< CloneOptions > cloneOptions=Everything) const |
| Create a copy of this UltrasoundSweep instance. | |
| template<typename T> | |
| void | fromVolume (const TypedImage< T > &volume, int dir) |
| Fill sweep from a volume along given axis. | |
| const TypedImage< unsigned char > * | typed (int which=-1) const |
| Return a selected image from the sweep directly as 8-bit data. | |
| Modality | modality () const override |
| Always returns ULTRASOUND. | |
| void | setSize (double sizeX, double sizeY, bool doClearCaches=true) override |
| Set the physical image width and height in mm. | |
| void | setFrameGeometry (std::unique_ptr< FrameGeometry > geometry) |
| Set the ultrasound frame geometry. | |
| void | setFrameGeometry (const FrameGeometry &geometry) |
| Set the ultrasound frame geometry. | |
| std::unique_ptr< FrameGeometry > | frameGeometry (CoordinateSystem cooSystem) const |
| Return a copy of the ultrasound frame geometry in the given unit. | |
| const FrameGeometry & | frameGeometry () const |
| Return the ultrasound frame geometry, may internally use either pixels or millimeters. | |
| Geometry::AlignedBox | bounds () const override |
| Returns the axis-aligned bounding box of all images in world space considering the frame geometry. | |
| void | globalBoundingBox (bool useSelection, bool useFrameGeometry, vec3 ¢erOut, vec3 &extOut) const |
| Compute global bounding box in world coordinates. | |
| void | localBoundingBox (bool useSelection, bool useFrameGeometry, mat4 &matOut, vec3 &extOut) const |
| Compute local bounding box in sweep-aligned coordinates considering the image orientation and sweep direction. | |
| mat4 | transformationForAxisAlignment () |
| Compute the transformation to align the images with the mean normal vector of all slices. | |
| Public Member Functions inherited from TrackedSharedImageSet | |
| TrackedSharedImageSet (const TrackedSharedImageSet &other)=delete | |
| std::unique_ptr< TrackedSharedImageSet > | clone (Flags< CloneOptions > cloneOptions=Everything) const |
| Create a copy of this TrackedSharedImageSet instance. | |
| void | add (std::shared_ptr< SharedImage > img) override |
| Add a shared image to the data set. | |
| void | swapWithImageSet (SharedImageSet &is) |
Swaps all images, timestamps, and properties from is, but does not create any tracking sequence. | |
| DataList | children () const override |
| Exposes the tracking sequences if exposesTrackingAsChildren is on. | |
| void | setTimestamp (double time, int which=-1) override |
| Set specific or focused timestamp in seconds. | |
| void | remove (int pos, int count=1) override |
| Adjusts tracking info when images are removed. | |
| void | removeBefore (double timestamp) |
| Removes images and tracking samples before the passed timestamp. | |
| void | addTracking (std::unique_ptr< TrackingSequence > ts) |
| Add a tracking sequence, transferring ownership. | |
| std::unique_ptr< TrackingSequence > | removeTracking (int num=-1) |
| Removes a tracking sequence from the set. | |
| void | clearTrackings () |
| Deletes all tracking sequences. | |
| TrackingSequence * | tracking (int num=-1) |
| Returns a tracking sequence If the desired sequence number is not specified, the currently active one is returned. | |
| const TrackingSequence * | tracking (int num=-1) const |
| Returns a tracking sequence If the desired sequence number is not specified, the currently active one is returned. | |
| void | setUseTracking (int val) |
| Specify which tracking sequence to use. | |
| void | setUseTimestamps (bool val) |
| Define if video-tracking timestamp synchronization is to be used. | |
| int | numTracking () const |
| Return the number of available tracking sequences. | |
| bool | hasTransformations () const override |
| Return true if the images have transformations. | |
| virtual bool | canSetMatricesIndividually () const |
| Return true if it is possible to set image matrices individually, i.e. | |
| int | width () const |
| Return the width of an image in pixels. | |
| int | height () const |
| Return the height of an image in pixels. | |
| double | sizeX () const |
| Return the horizontal extent of an image in mm. | |
| double | sizeY () const |
| Return the vertical extent of an image in mm. | |
| int | trackingUsed () const |
| Return number of active tracking sequence. | |
| bool | useTimestamps () const |
| Return whether timestamps are used for tracking synchronization. | |
| void | clearCaches () |
| Will mark all caches as outdated. Called when the main tracking sequence updates. | |
| bool | exposesTrackingAsChildren () const |
| Returns whether the inner tracking sequences should be exposed through the CompoundData interface or not. | |
| void | setExposeTrackingAsChildren (bool value) |
| Sets whether the inner tracking sequences should be exposed through the CompoundData interface or not. | |
| double | avgTimestepBetweenImageFrames () const |
| Caclulate average timestep between frames. | |
| double | medianTimestepBetweenImageFrames () const |
| Calculate median timestep between frames. | |
| void | clear () override |
| Clears the tracking information and the cached information, resets all member variables to their default values. | |
| void | clearSharedImageSet () |
| Internally calls SharedImageSet::clear, clearing image-data, time-stamps, properties, signals. | |
| void | add (std::shared_ptr< Image > img) |
| Add a single image to the data set. | |
| void | add (std::shared_ptr< Image > img, const mat4 &m) |
| Add a single image with its transformation matrix. | |
| void | add (const std::vector< std::shared_ptr< SharedImage > > &images) |
| Add a list of shared images. | |
| Pose::TransformationConvention | matrixConvention () const override |
| void | setMatrix (const mat4 &m, int which, bool updateAll=false) override |
| Attempts to update tracking matrices. | |
| mat4 | matrix (int which) const override |
Get specific (which >=0) or focused (which ==-1) image matrix. | |
| void | setMatrix (const mat4 &m) override |
| This method just issues a warning since matrices cannot be edited here. | |
| mat4 | matrix () const override |
| Get the focused image matrix. | |
| void | setMatrixFromWorld (const mat4 &m, int which, bool updateAll=false) override |
| Attempts to update tracking matrices. | |
| void | setMatrixToWorld (const mat4 &m, int which, bool updateAll=false) override |
| Attempts to update tracking matrices, directly calls setMatrix(const mat4&, int, bool). | |
| mat4 | matrixFromWorld (int which) const override |
Get specific (which >=0) or focused (which ==-1) image matrix mapping from the world coordinate system. Inverse of matrix. | |
| mat4 | matrixToWorld (int which) const override |
Get specific (which >=0) or focused (which ==-1) image matrix mapping to the world coordinate system. Same as matrix. | |
| void | setRegistration (const mat4 &m) |
| Sets the registration matrix on the active tracking sequence and invokes transformation listeners. | |
| Public Member Functions inherited from SharedImageSet | |
| SharedImageSet (std::shared_ptr< Image > img) | |
| Construct from a single Image. | |
| SharedImageSet (std::shared_ptr< SharedImage > img) | |
| Construct from a single SharedImage. | |
| SharedImageSet () | |
| Construct an empty SharedImageSet. | |
| SharedImageSet & | operator= (const SharedImageSet &)=delete |
| std::unique_ptr< SharedImageSet > | clone (Flags< CloneOptions > cloneOptions=Everything) const |
| Create a copy of this SharedImageSet instance. | |
| void | add (std::shared_ptr< Image > img) |
| Add a single image to the data set. | |
| void | add (std::shared_ptr< Image > img, const mat4 &m) |
| Add a single image with its transformation matrix. | |
| void | add (const std::vector< std::shared_ptr< SharedImage > > &images) |
| Add a list of shared images. | |
| bool | replace (int pos, std::shared_ptr< SharedImage > img) |
| Replace a particular shared image entry, will not do anything if no image of that index exist yet. | |
| void | remove (const SharedImage *img) |
| Removes a specific image and deletes it if owned. | |
| std::string | describe () const override |
| Short description of the image set. | |
| void | setModalityOverride (std::optional< Data::Modality > modalityOverride) |
| Set a modalityOverride. | |
| virtual void | setModality (Modality m) |
| Set image modality for all frames. | |
| virtual bool | isMultiModal () const |
| Return true if set contains images of different modalities, false otherwise. | |
| virtual void | prepare (bool shiftOnly=false) |
| Prepare the image in memory for most common scenarios Integral types are converted to unsigned representation if applicable, double-precision will be converted to single-precision float. | |
| void | uploadGl () const |
| Upload all images as OpenGL textures. | |
| bool | hasMem (int which=-1) const |
| Query whether an up-to-date memory image is present. If not, a sync is required. | |
| bool | hasGl (int which=-1) const |
| Query whether an up-to-date OpenGL image is present. If not, a sync is required. | |
| const DataComponentList & | components () const |
| Returns the list of DataComponents for this data. | |
| DataComponentList & | components () |
| const DataComponentList & | components (int i) const |
| Returns the DataComponents associated to the element with that index. | |
| virtual SharedImage * | get (int which=-1) |
| Get specific or selected shared image. | |
| std::shared_ptr< SharedImage > | getShared (int which=-1) |
| Get specific or selected shared image. | |
| MemImage * | mem (int which=-1) |
| Get specific or selected image in memory If required image will be synchronized. | |
| GlImage * | gl (int which=-1) |
| Get specific or selected OpenGL image If required image will be synchronized. | |
| const std::vector< std::shared_ptr< SharedImage > > & | images () |
| Return entire vector of images. | |
| std::vector< std::shared_ptr< SharedImage > > | selectedImages (Selection::NonePolicy noneSelectionHandling) |
| Return vector of all selected images. | |
| virtual const SharedImage * | get (int which=-1) const |
| Get specific or selected shared image. | |
| std::shared_ptr< const SharedImage > | getShared (int which=-1) const |
| Get specific or selected shared image. | |
| const Image * | img (int which=-1) const |
| Get specific or selected image descriptor. | |
| const MemImage * | mem (int which=-1) const |
| Get specific or selected image in memory If required image will be synchronized. | |
| const GlImage * | gl (int which=-1) const |
| Get specific or selected OpenGL image If required image will be synchronized. | |
| std::vector< std::shared_ptr< const SharedImage > > | images () const |
| Return entire vector of images. | |
| std::vector< std::shared_ptr< const SharedImage > > | selectedImages (Selection::NonePolicy noneSelectionHandling) const |
| Return vector of all selected images. | |
| virtual void | setDeformation (std::shared_ptr< Deformation > def, int which=-1) |
| Sets a deformation for specified or focus image. | |
| virtual std::shared_ptr< Deformation > | deformation (int which=-1) const |
| Returns the deformation for the specified or focused image, or 0 if not deformation is set. | |
| virtual void | setMask (std::shared_ptr< Mask > mask, int which=-1) |
| Sets a mask for specified or focus image. | |
| virtual std::shared_ptr< Mask > | mask (int which=-1) const |
| Returns the mask for the specified or focused image, or 0 if not mask is set. | |
| 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 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. | |
| double | timestamp (int which=-1) const |
| Get specific or focused timestamp in seconds. | |
| const std::vector< double > | timestamps () const |
| Get the timestamps sequence. | |
| bool | hasTimestamps () const |
| Return if all image frames have timestamps. | |
| int | size () const override |
| Return the size of the image set. | |
| bool | allEqual () const |
| Return if all image descriptors are the same. | |
| Kind | kind () const override |
| Return the kind of data contained here. | |
| Properties * | properties () |
| Return auxiliary data structures stored in Properties. | |
| const Properties * | properties () const |
| Return auxiliary data structures stored in Properties. | |
| Public Member Functions inherited from 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 () |
| Public Member Functions inherited from 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 Member Functions inherited from ElementwiseDataComponentData | |
| ElementwiseDataComponentList & | elementwiseComponents () |
| Returns elementwise data component list. | |
| const ElementwiseDataComponentList & | elementwiseComponents () const |
| Returns elementwise data component list. | |
| DataComponentList & | mutableComponents (int i) |
| Returns the DataComponents associated to the element with that index, creating it if necessary. | |
| const DataComponentList & | components (int i) const |
| Returns the DataComponents associated to the element with that index. | |
| Public Member Functions inherited from 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 Attributes | |
| Signal< const UltrasoundSweep * > | signalFrameGeometryChanged |
| Public Attributes inherited from TrackedSharedImageSet | |
| Signal< const TrackedSharedImageSet * > | signalUsedTrackingSequenceChanged |
| Signal emitted when the used tracking sequence changed or reset due to deletion. | |
| Public Attributes inherited from 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 Selectable | |
| ProtectedSignal | signalSelectionChanged |
| Signals that the selection or size might have changed. | |
| Public Attributes inherited from CompoundData | |
| Signal< Data * > | signalChildAdded |
| Signal emitted when a new Data instance has been added to children() | |
| Signal< Data * > | signalChildMoved |
| Signal emitted when a Data instance has changed its position in children() | |
| Signal< Data * > | signalChildAboutToBeRemoved |
| Signal emitted when a Data instance is about to be removed or taken from children() | |
Protected Member Functions | |
| mat4 | mainAxisTransformation (bool useSelelection, bool useFrameGeometry) const |
| Compute the transformation to align the sweep with the world coordinate system (sweep direction in z-direction). | |
| Geometry::AlignedBox | boundingBox (bool useSelection, bool useFrameGeometry, const mat4 &mainAxisInverse) const |
| Compute the bounding box of the sweep with an optional main axis transformation. | |
| UltrasoundSweep * | createCloneContainer () const override |
| Internal method for creating the container object holding the clone. | |
| Protected Member Functions inherited from TrackedSharedImageSet | |
| void | convertToGray (TypedImage< unsigned char > **img) const |
| Convert a 3 or 4-channel image to gray-scale, see createGrayscale. | |
| void | cloneInternal (SharedImageSet &other, Flags< CloneOptions > cloneFlags) const override |
| Internal method for cloning which should be called from derived container classes. | |
| Protected Member Functions inherited from SharedImageSet | |
| virtual void | swapWith (SharedImageSet &other) |
Internal method for swapping the contents of this container with other. | |
| Protected Member Functions inherited from Data | |
| void | swapWith (Data &other) |
| Swaps the data and emits a matrix and name changed signal for both. | |
| Protected Member Functions inherited from SignalReceiver | |
| void | disconnectAll () |
| Disconnects all existing connections. | |
Additional Inherited Members | |
| Public Types inherited from SharedImageSet | |
| enum | CloneOptions { Everything = 0 , NoImageData = 1 << 0 , NoDataComponents = 1 << 1 , ShallowImageCopy = 1 << 2 , NoSelection = 1 << 3 , NoTracking = 1 << 4 } |
| Bitset enumeration to configure which aspects of a SharedImageSet to copy. More... | |
| Public Types inherited from 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 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 SharedImageSet | |
| std::vector< std::shared_ptr< SharedImage > > | m_images |
| Vector of shared image pointers. | |
| std::vector< double > | m_timestamps |
| Optional timestamps of the image frames. | |
| Properties | m_properties |
| Auxiliary information properties. | |
| Geometry::AlignedBox | m_bounds |
| Axis-aligned bounding box of all images in world space. | |
| bool | m_updateBounds = true |
| Flag specifying whether the bounds should be re-computed. | |
| std::optional< Data::Modality > | m_modalityOverride |
| Overrides the modality of the containing SharedImages. This is used e.g. for the ConeBeamData concept in CT. | |
| Protected Attributes inherited from 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 ElementwiseDataComponentData | |
| ElementwiseDataComponentList | m_elementwiseComponents |
| Encodes elementwise data components. | |
| Protected Attributes inherited from Selectable | |
| std::mutex | m_selectionMutex |
| Mutex protecting the selection. | |
| Selection | m_sel |
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inlineoverridevirtual |
Always returns ULTRASOUND.
Reimplemented from SharedImageSet.
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overridevirtual |
Set the physical image width and height in mm.
Changes the spacing of each frame and updates the frame geometry.
Reimplemented from TrackedSharedImageSet.
| void setFrameGeometry | ( | std::unique_ptr< FrameGeometry > | geometry | ) |
Set the ultrasound frame geometry.
If the sweeps contains images, the frame geometry's image descriptor is overridden. If the sweep contains an UltrasoundMetadata and its m_scanConverted is set, the frame geometry will be interpreted as the pre-scan geometry and applied via setImgDescPrescan.
| void setFrameGeometry | ( | const FrameGeometry & | geometry | ) |
Set the ultrasound frame geometry.
If the sweeps contains images, the frame geometry's image descriptor is overridden. If the sweep contains an UltrasoundMetadata and its m_scanConverted is set, the frame geometry will be interpreted as the pre-scan geometry and applied via setImgDescPrescan.
| std::unique_ptr< FrameGeometry > frameGeometry | ( | CoordinateSystem | cooSystem | ) | const |
Return a copy of the ultrasound frame geometry in the given unit.
If no geometry is set, a linear one will be created spanning the entire image.
| std::runtime_error | if neither geometry nor images are available. |
| const FrameGeometry & frameGeometry | ( | ) | const |
Return the ultrasound frame geometry, may internally use either pixels or millimeters.
If no geometry is set, a linear one will be created spanning the entire image.
| std::runtime_error | if neither geometry nor images are available. |
|
overridevirtual |
Returns the axis-aligned bounding box of all images in world space considering the frame geometry.
The bounds are cached when the method is called multiple times and recalculated upon changes.
Reimplemented from TrackedSharedImageSet.
| void globalBoundingBox | ( | bool | useSelection, |
| bool | useFrameGeometry, | ||
| vec3 & | centerOut, | ||
| vec3 & | extOut ) const |
Compute global bounding box in world coordinates.
Either the selection or all frames are considered (useSelection) with the full image size or only the frame geometry extent (useFrameGeometry). Returns NaN if there are no frames. If the Selection is set to None, all frames will be considered for the bounding box.
| void localBoundingBox | ( | bool | useSelection, |
| bool | useFrameGeometry, | ||
| mat4 & | matOut, | ||
| vec3 & | extOut ) const |
Compute local bounding box in sweep-aligned coordinates considering the image orientation and sweep direction.
Either the selection or all frames are considered (useSelection) with the full image size or only the frame geometry extent (useFrameGeometry).
| mat4 transformationForAxisAlignment | ( | ) |
Compute the transformation to align the images with the mean normal vector of all slices.
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overrideprotectedvirtual |
Internal method for creating the container object holding the clone.
Reimplemented from TrackedSharedImageSet.
| Signal<const UltrasoundSweep*> signalFrameGeometryChanged |
