A mitk::USIGTLDevice is a USDevice to receive images over an OpenIGTLink connection. It registers an OIGTL device as a Microservice to receive image messages and transforms them to mitk::Images. It can act both as a server (listening for incoming connections) and as a client (connecting to an existing OIGTL server). More...

#include <mitkUSIGTLDevice.h>

Inheritance diagram for mitk::USIGTLDevice:

Public Member Functions
	mitkClassMacro (USIGTLDevice, mitk::USDevice)

	mitkNewMacro5Param (Self, std::string, std::string, std::string, int, bool)

std::string	GetDeviceClass () override
	Returns the Class of the Device. This Method must be reimplemented by every Inheriting Class.

USImageSource::Pointer	GetUSImageSource () override

	USIGTLDevice (std::string manufacturer, std::string model, std::string host, int port, bool server)

itk::SmartPointer< USAbstractControlInterface >	GetControlInterfaceCustom () override

void	UnregisterOnService ()
	Remove the IGTLDevice from the micro service.

std::vector< mitk::USProbe::Pointer >	GetAllProbes () override
	Return all probes for this USVideoDevice or an empty vector it no probes were set Returns a std::vector of all probes that exist for this USVideoDevice if there were probes set while creating or modifying this USVideoDevice. Otherwise it returns an empty vector. Therefore always check if vector is filled, before using it!

void	DeleteAllProbes () override
	Cleans the std::vector containing all configured probes.

mitk::USProbe::Pointer	GetCurrentProbe () override
	Return current active probe for this USDevice Returns a pointer to the probe that is currently in use. If there were probes set while creating or modifying this USDevice. Returns null otherwise.

void	AddNewProbe (mitk::USProbe::Pointer probe) override
	adds a new probe to the device

mitk::USProbe::Pointer	GetProbeByName (std::string name) override
	get the probe by its name Returns a pointer to the probe identified by the given name. If no probe of given name exists for this Device 0 is returned.

void	RemoveProbeByName (std::string name) override
	Removes the Probe with the given name.

void	SetDefaultProbeAsCurrentProbe () override
	Sets the first existing probe or the default probe of the video device as the current probe of it.

void	SetCurrentProbe (std::string probename) override
	Sets the probe with the given name as current probe if the named probe exists.

void	SetSpacing (double xSpacing, double ySpacing) override
	Sets the given spacing of the current depth of the current probe.

Public Member Functions inherited from mitk::USDevice
	mitkClassMacro (USDevice, mitk::ImageSource)

	itkSetMacro (SpawnAcquireThread, bool)

	itkGetMacro (SpawnAcquireThread, bool)

	mitkNewMessage2Macro (PropertyChanged, const std::string &, const std::string &)
	Event for being notified about changes of the micro service properties. This event can be used if no micro service context is available.

virtual itk::SmartPointer< USControlInterfaceBMode >	GetControlInterfaceBMode ()
	Default getter for the b mode control interface. Has to be implemented in a subclass if a b mode control interface is available. Default implementation returns null.

virtual itk::SmartPointer< USControlInterfaceProbes >	GetControlInterfaceProbes ()
	Default getter for the probes control interface. Has to be implemented in a subclass if a probes control interface is available. Default implementation returns null.

virtual itk::SmartPointer< USControlInterfaceDoppler >	GetControlInterfaceDoppler ()
	Default getter for the doppler control interface. Has to be implemented in a subclass if a doppler control interface is available. Default implementation returns null.

bool	Initialize ()
	Changes device state to mitk::USDevice::State_Initialized. During initialization the virtual method mitk::USDevice::OnInitialization will be called. If this method returns false the initialization process will be canceled. Otherwise the mitk::USDevice is registered in a micro service.

bool	Connect ()
	Connects this device. A connected device is ready to deliver images (i.e. be Activated). A Connected Device can be active. A disconnected Device cannot be active. Internally calls onConnect and then registers the device with the service. A device usually should override the OnConnection() method, but never the Connect() method, since this will possibly exclude the device from normal service management. The exact flow of events is: Check if the device is already connected. If yes, return true anyway, but don't do anything.

void	ConnectAsynchron ()

bool	Disconnect ()
	Works analogously to mitk::USDevice::Connect(). Don't override this Method, but onDisconnection instead.

bool	Activate ()
	Activates this device. After the activation process, the device will start to produce images. This Method will fail, if the device is not connected.

void	Deactivate ()
	Deactivates this device. After the deactivation process, the device will no longer produce images, but still be connected.

virtual void	SetIsFreezed (bool freeze)
	Can toggle if ultrasound image is currently updated or freezed.

virtual bool	GetIsFreezed ()

void	PushFilter (AbstractOpenCVImageFilter::Pointer filter)

void	PushFilterIfNotPushedBefore (AbstractOpenCVImageFilter::Pointer filter)

bool	RemoveFilter (AbstractOpenCVImageFilter::Pointer filter)

void	ProbeChanged (std::string probename)
	To be called when the used probe changed. Will update the service properties.

void	DepthChanged (double depth)
	To be called when the scanning depth of the probe changed. Will update the service properties.

void	UpdateServiceProperty (std::string key, std::string value)
	Given property is updated in the device micro service. This method is mainly for being used by the control interface superclasses. You do not need to call it by yoursefs in your concrete control interface classes.

void	UpdateServiceProperty (std::string key, double value)

void	UpdateServiceProperty (std::string key, bool value)

bool	GetIsInitialized ()
	True, if the device object is created and initialized, false otherwise.

bool	GetIsActive ()
	True, if the device is currently generating image data, false otherwise.

bool	GetIsConnected ()
	True, if the device is currently ready to start transmitting image data or is already transmitting image data. A disconnected device cannot be activated.

mitk::USDevice::USImageCropArea	GetCropArea ()

unsigned int	GetSizeOfImageVector ()

	DEPRECATED (std::string GetDeviceManufacturer())
	Deprecated -> use GetManufacturer() instead.

	DEPRECATED (std::string GetDeviceModel())
	Deprecated -> use GetName() instead.

	DEPRECATED (std::string GetDeviceComment())
	Deprecated -> use GetCommend() instead.

	itkGetMacro (Manufacturer, std::string)

	itkGetMacro (Name, std::string)

	itkGetMacro (Comment, std::string)

void	SetManufacturer (std::string manufacturer)

void	SetName (std::string name)

void	SetComment (std::string comment)

	itkGetMacro (DeviceState, DeviceStates)

	itkGetMacro (ServiceProperties, us::ServiceProperties)

void	GrabImage ()

Protected Member Functions
bool	OnInitialization () override
	Is called during the initialization process. Override this method in a subclass to handle the actual initialization. If it returns false, the initialization process will be canceled.

bool	OnConnection () override
	Is called during the connection process. Override this method in a subclass to handle the actual connection. If it returns false, the connection process will be canceled.

bool	OnDisconnection () override
	Is called during the disconnection process. Override this method in a subclass to handle the actual disconnection. If it returns false, the disconnection process will be canceled.

bool	OnActivation () override
	Is called during the activation process. After this method is finished, the device should be generating images. If it returns false, the activation process will be canceled.

bool	OnDeactivation () override
	Is called during the deactivation process. After a call to this method the device should still be connected, but not producing images anymore.

void	GenerateData () override
	Grabs the next frame from the Video input. This method is called internally, whenever Update() is invoked by an Output.

Protected Member Functions inherited from mitk::USDevice
virtual void	SetImageVector (std::vector< mitk::Image::Pointer > vec)

void	Acquire ()

void	ConnectThread ()

void	ProvideViaOIGTL ()
	Registers an OpenIGTLink device as a microservice so that we can send the images of this device via the network.

void	DisableOIGTL ()
	Deregisters the microservices for OpenIGTLink.

us::ServiceProperties	ConstructServiceProperties ()
	This Method constructs the service properties which can later be used to register the object with the Microservices Return service properties.

void	UnregisterOnService ()
	Remove this device from the micro service.

virtual void	OnFreeze (bool)
	Called when mitk::USDevice::SetIsFreezed() is called. Subclasses can overwrite this method to do additional actions. Default implementation does noting.

	USDevice (std::string manufacturer, std::string model)
	Enforces minimal Metadata to be set.

	USDevice (mitk::USImageMetadata::Pointer metadata)
	Constructs a device with the given Metadata. Make sure the Metadata contains meaningful content!

	~USDevice () override

void	GenerateData () override
	Grabs the next frame from the Video input. This method is called internally, whenever Update() is invoked by an Output.

std::string	GetServicePropertyLabel ()

Additional Inherited Members
Public Types inherited from mitk::USDevice
enum	DeviceStates { State_NoState , State_Initialized , State_Connected , State_Activated }

Static Public Member Functions inherited from mitk::USDevice
static mitk::USDevice::PropertyKeys	GetPropertyKeys ()

Protected Attributes inherited from mitk::USDevice
std::condition_variable	m_FreezeBarrier

std::mutex	m_FreezeMutex

std::mutex	m_ImageMutex
	mutex for images provided by the image source

std::thread	m_Thread

std::vector< mitk::Image::Pointer >	m_ImageVector

mitk::Vector3D	m_Spacing

mitk::IGTLServer::Pointer	m_IGTLServer

mitk::IGTLMessageProvider::Pointer	m_IGTLMessageProvider

mitk::ImageToIGTLMessageFilter::Pointer	m_ImageToIGTLMsgFilter

bool	m_IsFreezed

DeviceStates	m_DeviceState

USImageCropArea	m_CropArea

unsigned int	m_NumberOfOutputs

us::ServiceProperties	m_ServiceProperties
	Properties of the device's Microservice.

us::ServiceRegistration< Self >	m_ServiceRegistration
	The device's ServiceRegistration object that allows to modify it's Microservice registraton details.

Detailed Description

A mitk::USIGTLDevice is a USDevice to receive images over an OpenIGTLink connection. It registers an OIGTL device as a Microservice to receive image messages and transforms them to mitk::Images. It can act both as a server (listening for incoming connections) and as a client (connecting to an existing OIGTL server).

Definition at line 44 of file mitkUSIGTLDevice.h.

Constructor & Destructor Documentation

◆ USIGTLDevice()

mitk::USIGTLDevice::USIGTLDevice	(	std::string	manufacturer,
		std::string	model,
		std::string	host,
		int	port,
		bool	server )

Definition at line 15 of file mitkUSIGTLDevice.cpp.

Member Function Documentation

◆ AddNewProbe()

void mitk::USIGTLDevice::AddNewProbe ( mitk::USProbe::Pointer probe )

overridevirtual

adds a new probe to the device

Reimplemented from mitk::USDevice.

Definition at line 90 of file mitkUSIGTLDevice.cpp.

◆ DeleteAllProbes()

void mitk::USIGTLDevice::DeleteAllProbes ( )

overridevirtual

Cleans the std::vector containing all configured probes.

Reimplemented from mitk::USDevice.

Definition at line 73 of file mitkUSIGTLDevice.cpp.

◆ GenerateData()

void mitk::USIGTLDevice::GenerateData ( )

overrideprotected

Grabs the next frame from the Video input. This method is called internally, whenever Update() is invoked by an Output.

Definition at line 190 of file mitkUSIGTLDevice.cpp.

◆ GetAllProbes()

std::vector< mitk::USProbe::Pointer > mitk::USIGTLDevice::GetAllProbes ( )

overridevirtual

Return all probes for this USVideoDevice or an empty vector it no probes were set Returns a std::vector of all probes that exist for this USVideoDevice if there were probes set while creating or modifying this USVideoDevice. Otherwise it returns an empty vector. Therefore always check if vector is filled, before using it!

Implements mitk::USDevice.

Definition at line 64 of file mitkUSIGTLDevice.cpp.

◆ GetControlInterfaceCustom()

mitk::USAbstractControlInterface::Pointer mitk::USIGTLDevice::GetControlInterfaceCustom ( )

overridevirtual

Getter for the custom control interface which was created during the construction process of mitk::USIGTLDevice.

Returns: custom control interface of the video device

Reimplemented from mitk::USDevice.

Definition at line 52 of file mitkUSIGTLDevice.cpp.

◆ GetCurrentProbe()

mitk::USProbe::Pointer mitk::USIGTLDevice::GetCurrentProbe ( )

overridevirtual

Return current active probe for this USDevice Returns a pointer to the probe that is currently in use. If there were probes set while creating or modifying this USDevice. Returns null otherwise.

Implements mitk::USDevice.

Definition at line 78 of file mitkUSIGTLDevice.cpp.

◆ GetDeviceClass()

std::string mitk::USIGTLDevice::GetDeviceClass ( )

overridevirtual

Returns the Class of the Device. This Method must be reimplemented by every Inheriting Class.

Implements mitk::USDevice.

Definition at line 45 of file mitkUSIGTLDevice.cpp.

◆ GetProbeByName()

mitk::USProbe::Pointer mitk::USIGTLDevice::GetProbeByName ( std::string name )

overridevirtual

get the probe by its name Returns a pointer to the probe identified by the given name. If no probe of given name exists for this Device 0 is returned.

Implements mitk::USDevice.

Definition at line 95 of file mitkUSIGTLDevice.cpp.

◆ GetUSImageSource()

mitk::USImageSource::Pointer mitk::USIGTLDevice::GetUSImageSource ( )

overridevirtual

Returns: Returns the current image source of this device.

Implements mitk::USDevice.

Definition at line 47 of file mitkUSIGTLDevice.cpp.

◆ mitkClassMacro()

mitk::USIGTLDevice::mitkClassMacro	(	USIGTLDevice	,
		mitk::USDevice	)

◆ mitkNewMacro5Param()

mitk::USIGTLDevice::mitkNewMacro5Param	(	Self	,
		std::string	,
		std::string	,
		std::string	,
		int	,
		bool	)

◆ OnActivation()

bool mitk::USIGTLDevice::OnActivation ( )

overrideprotectedvirtual

Is called during the activation process. After this method is finished, the device should be generating images. If it returns false, the activation process will be canceled.

Returns: true if successful and false if unsuccessful

Exceptions

mitk::Exception implementation may throw an exception to clarify what went wrong

Implements mitk::USDevice.

Definition at line 175 of file mitkUSIGTLDevice.cpp.

◆ OnConnection()

bool mitk::USIGTLDevice::OnConnection ( )

overrideprotectedvirtual

Is called during the connection process. Override this method in a subclass to handle the actual connection. If it returns false, the connection process will be canceled.

Returns: true if successful and false if unsuccessful

Exceptions

mitk::Exception implementation may throw an exception to clarify what went wrong

Implements mitk::USDevice.

Definition at line 159 of file mitkUSIGTLDevice.cpp.

◆ OnDeactivation()

bool mitk::USIGTLDevice::OnDeactivation ( )

overrideprotectedvirtual

Is called during the deactivation process. After a call to this method the device should still be connected, but not producing images anymore.

Returns: true if successful and false if unsuccessful

Exceptions

mitk::Exception implementation may throw an exception to clarify what went wrong

Implements mitk::USDevice.

Definition at line 185 of file mitkUSIGTLDevice.cpp.

◆ OnDisconnection()

bool mitk::USIGTLDevice::OnDisconnection ( )

overrideprotectedvirtual

Is called during the disconnection process. Override this method in a subclass to handle the actual disconnection. If it returns false, the disconnection process will be canceled.

Returns: true if successful and false if unsuccessful

Exceptions

mitk::Exception implementation may throw an exception to clarify what went wrong

Implements mitk::USDevice.

Definition at line 170 of file mitkUSIGTLDevice.cpp.

◆ OnInitialization()

bool mitk::USIGTLDevice::OnInitialization ( )

overrideprotectedvirtual

Is called during the initialization process. Override this method in a subclass to handle the actual initialization. If it returns false, the initialization process will be canceled.

Returns: true if successful and false if unsuccessful

Exceptions

mitk::Exception implementation may throw an exception to clarify what went wrong

Implements mitk::USDevice.

Definition at line 157 of file mitkUSIGTLDevice.cpp.

◆ RemoveProbeByName()

void mitk::USIGTLDevice::RemoveProbeByName ( std::string name )

overridevirtual

Removes the Probe with the given name.

Reimplemented from mitk::USDevice.

Definition at line 106 of file mitkUSIGTLDevice.cpp.

◆ SetCurrentProbe()

void mitk::USIGTLDevice::SetCurrentProbe ( std::string probename )

overridevirtual

Sets the probe with the given name as current probe if the named probe exists.

Reimplemented from mitk::USDevice.

Definition at line 133 of file mitkUSIGTLDevice.cpp.

◆ SetDefaultProbeAsCurrentProbe()

void mitk::USIGTLDevice::SetDefaultProbeAsCurrentProbe ( )

overridevirtual

Sets the first existing probe or the default probe of the video device as the current probe of it.

Reimplemented from mitk::USDevice.

Definition at line 119 of file mitkUSIGTLDevice.cpp.

◆ SetSpacing()

void mitk::USIGTLDevice::SetSpacing	(	double	xSpacing,
		double	ySpacing )

overridevirtual

Sets the given spacing of the current depth of the current probe.

Reimplemented from mitk::USDevice.

Definition at line 139 of file mitkUSIGTLDevice.cpp.

◆ UnregisterOnService()

void mitk::USIGTLDevice::UnregisterOnService ( )

Remove the IGTLDevice from the micro service.

Definition at line 57 of file mitkUSIGTLDevice.cpp.

The documentation for this class was generated from the following files:

Modules/US/USModel/mitkUSIGTLDevice.h
Modules/US/USModel/mitkUSIGTLDevice.cpp

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ USIGTLDevice()

Member Function Documentation

◆ AddNewProbe()

◆ DeleteAllProbes()

◆ GenerateData()

◆ GetAllProbes()

◆ GetControlInterfaceCustom()

◆ GetCurrentProbe()

◆ GetDeviceClass()

◆ GetProbeByName()

◆ GetUSImageSource()

◆ mitkClassMacro()

◆ mitkNewMacro5Param()

◆ OnActivation()

◆ OnConnection()

◆ OnDeactivation()

◆ OnDisconnection()

◆ OnInitialization()

◆ RemoveProbeByName()

◆ SetCurrentProbe()

◆ SetDefaultProbeAsCurrentProbe()

◆ SetSpacing()

◆ UnregisterOnService()