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cxIGTLinkConversionImage.cpp
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1 /*=========================================================================
2 This file is part of CustusX, an Image Guided Therapy Application.
3 
4 Copyright (c) 2008-2014, SINTEF Department of Medical Technology
5 All rights reserved.
6 
7 Redistribution and use in source and binary forms, with or without
8 modification, are permitted provided that the following conditions are met:
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10 1. Redistributions of source code must retain the above copyright notice,
11  this list of conditions and the following disclaimer.
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14  this list of conditions and the following disclaimer in the documentation
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19  without specific prior written permission.
20 
21 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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30 OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
31 =========================================================================*/
32 
33 /*==========================================================================
34 
35  Portions (c) Copyright 2008-2009 Brigham and Women's Hospital (BWH) All Rights Reserved.
36 
37  See Doc/copyright/copyright.txt
38  or http://www.slicer.org/copyright/copyright.txt for details.
39 
40  Program: 3D Slicer
41  Module: $HeadURL: http://svn.slicer.org/Slicer3/trunk/Modules/OpenIGTLinkIF/vtkIGTLToMRMLImage.h $
42  Date: $Date: 2010-11-23 00:58:13 -0500 (Tue, 23 Nov 2010) $
43  Version: $Revision: 15552 $
44 
45 ==========================================================================*/
47 #include "vtkImageData.h"
48 
49 #include <igtl_util.h>
50 #include "cxLogger.h"
53 
54 
55 namespace cx
56 {
57 
58 igtl::ImageMessage::Pointer IGTLinkConversionImage::encode(ImagePtr image, PATIENT_COORDINATE_SYSTEM externalSpace)
59 {
60  igtl::ImageMessage::Pointer retval = igtl::ImageMessage::New();
61 
62  retval->SetDeviceName(cstring_cast(image->getName()));
63  IGTLinkConversionBase().encode_timestamp(image->getAcquisitionTime(), retval);
64  this->encode_vtkImageData(image->getBaseVtkImageData(), retval);
65  this->encode_rMd(image, retval, externalSpace);
66 
67  return retval;
68 }
69 
70 ImagePtr IGTLinkConversionImage::decode(igtl::ImageMessage *msg)
71 {
72  vtkImageDataPtr vtkImage = this->decode_vtkImageData(msg);
73  QDateTime timestamp = IGTLinkConversionBase().decode_timestamp(msg);
74  QString deviceName = msg->GetDeviceName();
75 
76  ImagePtr retval(new Image(deviceName, vtkImage));
77  retval->setAcquisitionTime(timestamp);
78  this->decode_rMd(msg, retval);
79 
80  return retval;
81 }
82 
83 
84 namespace { // unnamed namespace
85 
86 //---------------------------------------------------------------------------
87 // Stream copy + byte swap
88 //---------------------------------------------------------------------------
89 int swapCopy16(igtlUint16 * dst, igtlUint16 * src, int n)
90 {
91  igtlUint16 * esrc = src + n;
92  while (src < esrc)
93  {
94  *dst = BYTE_SWAP_INT16(*src);
95  dst ++;
96  src ++;
97  }
98  return 1;
99 }
100 
101 int swapCopy32(igtlUint32 * dst, igtlUint32 * src, int n)
102 {
103  igtlUint32 * esrc = src + n;
104  while (src < esrc)
105  {
106  *dst = BYTE_SWAP_INT32(*src);
107  dst ++;
108  src ++;
109  }
110  return 1;
111 }
112 
113 int swapCopy64(igtlUint64 * dst, igtlUint64 * src, int n)
114 {
115  igtlUint64 * esrc = src + n;
116  while (src < esrc)
117  {
118  *dst = BYTE_SWAP_INT64(*src);
119  dst ++;
120  src ++;
121  }
122  return 1;
123 }
124 } // unnamed namespace
125 
126 vtkImageDataPtr IGTLinkConversionImage::decode_vtkImageData(igtl::ImageMessage *imgMsg)
127 {
128  // NOTE: This method is mostly a copy-paste from Slicer.
129  // MRML and coordinate stuff are removed.
130  // Avoid refactoring the internals, as it is important to keep the code similar to the origin.
131 
132  // Retrieve the image data
133  int size[3]; // image dimension
134  float spacing[3]; // spacing (mm/pixel)
135  int svsize[3]; // sub-volume size
136  int svoffset[3]; // sub-volume offset
137  int scalarType; // VTK scalar type
138  int numComponents; // number of scalar components
139  int endian;
140 
141  scalarType = IGTLToVTKScalarType( imgMsg->GetScalarType() );
142  endian = imgMsg->GetEndian();
143  imgMsg->GetDimensions(size);
144  imgMsg->GetSpacing(spacing);
145  numComponents = imgMsg->GetNumComponents();
146  imgMsg->GetSubVolume(svsize, svoffset);
147  // imgMsg->GetMatrix(matrix);
148 
149  // check if the IGTL data fits to the current MRML node
150  int sizeInNode[3]={0,0,0};
151  int scalarTypeInNode=VTK_VOID;
152  int numComponentsInNode=0;
153  // Get vtk image from MRML node
154  vtkSmartPointer<vtkImageData> imageData = vtkSmartPointer<vtkImageData>::New();
155  imageData->SetDimensions(size[0], size[1], size[2]);
156  imageData->SetExtent(0, size[0]-1, 0, size[1]-1, 0, size[2]-1);
157  imageData->SetOrigin(0.0, 0.0, 0.0);
158 // imageData->SetSpacing(1.0, 1.0, 1.0); // Slicer inserts spacing into its IKTtoRAS matrix, we dont.
159  imageData->SetSpacing(spacing[0], spacing[1], spacing[2]);
160  imageData->AllocateScalars(scalarType, numComponents);
161 
162  // Check scalar size
163  int scalarSize = imgMsg->GetScalarSize();
164 
165  int fByteSwap = 0;
166  // Check if bytes-swap is required
167  if (scalarSize > 1 &&
168  ((igtl_is_little_endian() && endian == igtl::ImageMessage::ENDIAN_BIG) ||
169  (!igtl_is_little_endian() && endian == igtl::ImageMessage::ENDIAN_LITTLE)))
170  {
171  // Needs byte swap
172  fByteSwap = 1;
173  }
174 
175  if (imgMsg->GetImageSize() == imgMsg->GetSubVolumeImageSize())
176  {
177  // In case that volume size == sub-volume size,
178  // image is read directly to the memory area of vtkImageData
179  // for better performance.
180  if (fByteSwap)
181  {
182  switch (scalarSize)
183  {
184  case 2:
185  swapCopy16((igtlUint16 *)imageData->GetScalarPointer(),
186  (igtlUint16 *)imgMsg->GetScalarPointer(),
187  imgMsg->GetSubVolumeImageSize() / 2);
188  break;
189  case 4:
190  swapCopy32((igtlUint32 *)imageData->GetScalarPointer(),
191  (igtlUint32 *)imgMsg->GetScalarPointer(),
192  imgMsg->GetSubVolumeImageSize() / 4);
193  break;
194  case 8:
195  swapCopy64((igtlUint64 *)imageData->GetScalarPointer(),
196  (igtlUint64 *)imgMsg->GetScalarPointer(),
197  imgMsg->GetSubVolumeImageSize() / 8);
198  break;
199  default:
200  break;
201  }
202  }
203  else
204  {
205  memcpy(imageData->GetScalarPointer(),
206  imgMsg->GetScalarPointer(), imgMsg->GetSubVolumeImageSize());
207  }
208  }
209  else
210  {
211  // In case of volume size != sub-volume size,
212  // image is loaded into ImageReadBuffer, then copied to
213  // the memory area of vtkImageData.
214  char* imgPtr = (char*) imageData->GetScalarPointer();
215  char* bufPtr = (char*) imgMsg->GetScalarPointer();
216  int sizei = size[0];
217  int sizej = size[1];
218  //int sizek = size[2];
219  int subsizei = svsize[0];
220 
221  int bg_i = svoffset[0];
222  //int ed_i = bg_i + svsize[0];
223  int bg_j = svoffset[1];
224  int ed_j = bg_j + svsize[1];
225  int bg_k = svoffset[2];
226  int ed_k = bg_k + svsize[2];
227 
228  if (fByteSwap)
229  {
230  switch (scalarSize)
231  {
232  case 2:
233  for (int k = bg_k; k < ed_k; k ++)
234  {
235  for (int j = bg_j; j < ed_j; j ++)
236  {
237  swapCopy16((igtlUint16 *)&imgPtr[(sizei*sizej*k + sizei*j + bg_i)*scalarSize],
238  (igtlUint16 *)bufPtr,
239  subsizei);
240  bufPtr += subsizei*scalarSize;
241  }
242  }
243  break;
244  case 4:
245  for (int k = bg_k; k < ed_k; k ++)
246  {
247  for (int j = bg_j; j < ed_j; j ++)
248  {
249  swapCopy32((igtlUint32 *)&imgPtr[(sizei*sizej*k + sizei*j + bg_i)*scalarSize],
250  (igtlUint32 *)bufPtr,
251  subsizei);
252  bufPtr += subsizei*scalarSize;
253  }
254  }
255  break;
256  case 8:
257  for (int k = bg_k; k < ed_k; k ++)
258  {
259  for (int j = bg_j; j < ed_j; j ++)
260  {
261  swapCopy64((igtlUint64 *)&imgPtr[(sizei*sizej*k + sizei*j + bg_i)*scalarSize],
262  (igtlUint64 *)bufPtr,
263  subsizei);
264  bufPtr += subsizei*scalarSize;
265  }
266  }
267  break;
268  default:
269  break;
270  }
271  }
272  else
273  {
274  for (int k = bg_k; k < ed_k; k ++)
275  {
276  for (int j = bg_j; j < ed_j; j ++)
277  {
278  memcpy(&imgPtr[(sizei*sizej*k + sizei*j + bg_i)*scalarSize],
279  bufPtr, subsizei*scalarSize);
280  bufPtr += subsizei*scalarSize;
281  }
282  }
283  }
284 
285  }
286 
287  imageData->Modified();
288  return imageData;
289 }
290 
291 void IGTLinkConversionImage::encode_vtkImageData(vtkImageDataPtr in, igtl::ImageMessage *outmsg)
292 {
293  // NOTE: This method is mostly a copy-paste from Slicer.
294  // MRML and coordinate stuff are removed.
295  // Avoid refactoring the internals, as it is important to keep the code similar to the origin.
296 
297  vtkImageDataPtr imageData = in;
298  int isize[3]; // image dimension
299  int scalarType; // scalar type
300  double *spacing; // spacing (mm/pixel)
301  int svoffset[] = {0, 0, 0}; // sub-volume offset
302  int endian;
303 
304  scalarType = imageData->GetScalarType();
305  imageData->GetDimensions(isize);
306  spacing = imageData->GetSpacing();
307  int numComponents = imageData->GetNumberOfScalarComponents();
308 
309  // Check endianness of the machine
310  endian = igtl::ImageMessage::ENDIAN_BIG;
311  if (igtl_is_little_endian())
312  {
313  endian = igtl::ImageMessage::ENDIAN_LITTLE;
314  }
315 
316  outmsg->SetDimensions(isize);
317  outmsg->SetSpacing((float)spacing[0], (float)spacing[1], (float)spacing[2]);
318  outmsg->SetScalarType(scalarType);
319  outmsg->SetEndian(endian);
320  outmsg->SetSubVolume(isize, svoffset);
321  outmsg->SetNumComponents(numComponents);
322  outmsg->AllocateScalars();
323 
324  memcpy(outmsg->GetScalarPointer(),
325  imageData->GetScalarPointer(),
326  outmsg->GetImageSize());
327 }
328 
329 
330 void IGTLinkConversionImage::decode_rMd(igtl::ImageMessage *msg, ImagePtr out)
331 {
332  Transform3D sMigtl = this->getMatrix(msg);
333 
334  Vector3D c = out->boundingBox().center();
336 
337  // s is the inbound reference system, i.e. LPS or RAS.
338  PATIENT_COORDINATE_SYSTEM s = this->getPatientCoordinateSystem(msg->GetCoordinateSystem());
340 
341  Transform3D rMd = rMs * sMigtl * igtlMd;
342 
343  out->get_rMd_History()->setRegistration(rMd);
344 }
345 
346 int IGTLinkConversionImage::getIgtlCoordinateSystem(PATIENT_COORDINATE_SYSTEM space) const
347 {
348  if (space==pcsRAS)
349  return igtl::ImageMessage::COORDINATE_RAS;
350  if (space==pcsLPS)
351  return igtl::ImageMessage::COORDINATE_LPS;
352 
353  return igtl::ImageMessage::COORDINATE_RAS; // default
354 }
355 
356 PATIENT_COORDINATE_SYSTEM IGTLinkConversionImage::getPatientCoordinateSystem(int igtlSpace) const
357 {
358  if (igtlSpace==igtl::ImageMessage::COORDINATE_RAS)
359  return pcsRAS;
360  if (igtlSpace==igtl::ImageMessage::COORDINATE_LPS)
361  return pcsLPS;
362 
363  return pcsRAS; // default
364 }
365 
366 void IGTLinkConversionImage::encode_rMd(ImagePtr image, igtl::ImageMessage *outmsg, PATIENT_COORDINATE_SYSTEM externalSpace)
367 {
368  Transform3D rMd = image->get_rMd();
369 
370  // NOTE: there seems to be a bug in Slicer3D: LPS not supported in OpenIGTLinkIF,
371  // thus using LPS will fail against Slicer3D.
372  // This doesn't matter much, as POLYDATA anyway must use RAS.
373 
374  // s is the outbound reference system, i.e. LPS or RAS.
376  outmsg->SetCoordinateSystem(this->getIgtlCoordinateSystem(externalSpace));
377 
378 // if (coordinateSystem=="RAS")
379 // {
380 // // NOTE: there seems to be a bug in Slicer: LPS not supported in OpenIGTLinkIF.
381 // // This doesn't matter much, as POLYDATA anyway must use RAS.
382 // sMr = createTransformLPS2RAS();
383 // outmsg->SetCoordinateSystem(igtl::ImageMessage::COORDINATE_RAS);
384 // }
385 // else // i.e. LPS
386 // {
387 // sMr = Transform3D::Identity();
388 // outmsg->SetCoordinateSystem(igtl::ImageMessage::COORDINATE_LPS);
389 // }
390 
391  // shift origin to image center
392  Vector3D c = image->boundingBox().center();
394  Transform3D sMigtl = sMr * rMd * dMigtl;
395 
396 // CX_LOG_CHANNEL_DEBUG("ca") << "rMd encode\n" << rMd;
397 // CX_LOG_CHANNEL_DEBUG("ca") << "sMr encode\n" << sMr;
398 // CX_LOG_CHANNEL_DEBUG("ca") << "sMigtl encode\n" << sMigtl;
399 
400  this->setMatrix(outmsg, sMigtl);
401 }
402 
403 Transform3D IGTLinkConversionImage::getMatrix(igtl::ImageMessage *msg)
404 {
405  igtl::Matrix4x4 matrix;
406  msg->GetMatrix(matrix);
407  return Transform3D::fromFloatArray(matrix);
408 }
409 
410 void IGTLinkConversionImage::setMatrix(igtl::ImageMessage *msg, Transform3D matrix)
411 {
412  igtl::Matrix4x4 m;
413  for (int r = 0; r < 4; ++r)
414  for (int c = 0; c < 4; ++c)
415  m[r][c] = matrix(r,c);
416 
417  msg->SetMatrix(m);
418 }
419 
420 int IGTLinkConversionImage::IGTLToVTKScalarType(int igtlType)
421 {
422  switch (igtlType)
423  {
424  case igtl::ImageMessage::TYPE_INT8: return VTK_CHAR;
425  case igtl::ImageMessage::TYPE_UINT8: return VTK_UNSIGNED_CHAR;
426  case igtl::ImageMessage::TYPE_INT16: return VTK_SHORT;
427  case igtl::ImageMessage::TYPE_UINT16: return VTK_UNSIGNED_SHORT;
428  case igtl::ImageMessage::TYPE_INT32: return VTK_UNSIGNED_LONG;
429  case igtl::ImageMessage::TYPE_UINT32: return VTK_UNSIGNED_LONG;
430  case igtl::ImageMessage::TYPE_FLOAT32: return VTK_FLOAT;
431  case igtl::ImageMessage::TYPE_FLOAT64: return VTK_DOUBLE;
432  default:
433  CX_LOG_CHANNEL_ERROR("igtl") << "Invalid IGTL scalar Type: "<< igtlType;
434  return VTK_VOID;
435  }
436 }
437 
438 
439 } //namespace cx
440 
441 
pcsRAS
Right-Anterior-Superior, used by Slicer3D, ITK-Snap, nifti.
Transform3D Transform3D
Transform3D is a representation of an affine 3D transform.
cxResource_EXPORT Transform3D createTransformFromReferenceToExternal(PATIENT_COORDINATE_SYSTEM external)
boost::shared_ptr< class Image > ImagePtr
Definition: cxDicomWidget.h:48
cstring_cast_Placeholder cstring_cast(const T &val)
A volumetric data set.
Definition: cxImage.h:66
Transform3D createTransformTranslate(const Vector3D &translation)
pcsLPS
Left-Posterior-Superior, used internally by CustusX, also DICOM, ITK.
Eigen::Vector3d Vector3D
Vector3D is a representation of a point or vector in 3D.
Definition: cxVector3D.h:63
vtkSmartPointer< class vtkImageData > vtkImageDataPtr
#define CX_LOG_CHANNEL_ERROR(channel)
Definition: cxLogger.h:126