1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
|
/*=========================================================================
Program: OpenIGTLink -- Example for Imager Client Program
Language: C++
Copyright (c) Insight Software Consortium. All rights reserved.
This software is distributed WITHOUT ANY WARRANTY; without even
the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
PURPOSE. See the above copyright notices for more information.
=========================================================================*/
#include <iostream>
#include <math.h>
#include <cstdlib>
#include <cstdio>
#include "igtlOSUtil.h"
#include "igtlImageMessage2.h"
#include "igtlClientSocket.h"
int GetTestImage(char * image, const char* dir, int i);
void GetRandomTestMatrix(igtl::Matrix4x4& matrix);
int main(int argc, char* argv[])
{
//------------------------------------------------------------
// Parse Arguments
if (argc != 5) // check number of arguments
{
// If not correct, print usage
std::cerr << "Usage: " << argv[0] << " <hostname> <port> <fps> <imgdir>" << std::endl;
std::cerr << " <hostname> : IP or host name" << std::endl;
std::cerr << " <port> : Port # (18944 in Slicer default)" << std::endl;
std::cerr << " <fps> : Frequency (fps) to send coordinate" << std::endl;
std::cerr << " <imgdir> : file directory, where \"igtlTestImage[1-5].raw\" are placed." << std::endl;
std::cerr << " (usually, in the Examples/Imager/img directory.)" << std::endl;
exit(0);
}
char* hostname = argv[1];
int port = atoi(argv[2]);
double fps = atof(argv[3]);
int interval = (int) (1000.0 / fps);
char* filedir = argv[4];
//------------------------------------------------------------
// Establish Connection
igtl::ClientSocket::Pointer socket;
socket = igtl::ClientSocket::New();
int r = socket->ConnectToServer(hostname, port);
if (r != 0)
{
std::cerr << "Cannot connect to the server." << std::endl;
exit(0);
}
char * image = new char [256 * 256];
//------------------------------------------------------------
// loop
for (int i = 0; i < 100; i ++)
{
//------------------------------------------------------------
// size parameters
int size[] = {256, 256, 1}; // image dimension
float spacing[] = {1.0, 1.0, 5.0}; // spacing (mm/pixel)
int svsize[] = {256, 256, 1}; // sub-volume size
int svoffset[] = {0, 0, 0}; // sub-volume offset
int scalarType = igtl::ImageMessage2::TYPE_UINT8;// scalar type
//------------------------------------------------------------
// Create a new IMAGE type message
igtl::ImageMessage2::Pointer imgMsg = igtl::ImageMessage2::New();
imgMsg->SetDimensions(size);
imgMsg->SetSpacing(spacing);
imgMsg->SetScalarType(scalarType);
imgMsg->SetDeviceName("ImagerClient");
imgMsg->SetSubVolume(svsize, svoffset);
imgMsg->AllocateScalars();
// Following line may be called in case of 16-, 32-, and 64-bit scalar types.
// imgMsg->SetEndian(igtl::ImageMessage::ENDIAN_BIG);
//------------------------------------------------------------
// Set image data (See GetTestImage() bellow for the details)
GetTestImage(image, filedir, i % 5);
imgMsg->SetScalarPointer(image);
//------------------------------------------------------------
// Get random orientation matrix and set it.
igtl::Matrix4x4 matrix;
GetRandomTestMatrix(matrix);
imgMsg->SetMatrix(matrix);
//------------------------------------------------------------
// Pack (serialize) and send
imgMsg->Pack();
//socket->Send(imgMsg->GetPackPointer(), imgMsg->GetPackSize());
for (int i = 0; i < imgMsg->GetNumberOfPackFragments(); i ++)
{
socket->Send(imgMsg->GetPackFragmentPointer(i), imgMsg->GetPackFragmentSize(i));
}
igtl::Sleep(interval); // wait
}
//------------------------------------------------------------
// Close connection
socket->CloseSocket();
}
//------------------------------------------------------------
// Function to read test image data
int GetTestImage(char * image, const char* dir, int i)
{
//------------------------------------------------------------
// Check if image index is in the range
if (i < 0 || i >= 5)
{
std::cerr << "Image index is invalid." << std::endl;
return 0;
}
//------------------------------------------------------------
// Generate path to the raw image file
char filename[128];
sprintf(filename, "%s/igtlTestImage%d.raw", dir, i+1);
std::cerr << "Reading " << filename << "...";
//------------------------------------------------------------
// Load raw data from the file
FILE *fp = fopen(filename, "rb");
if (fp == NULL)
{
std::cerr << "File opeining error: " << filename << std::endl;
return 0;
}
size_t b = fread(image, 1, 256*256, fp);
fclose(fp);
std::cerr << "done." << std::endl;
return 1;
}
//------------------------------------------------------------
// Function to generate random matrix.
void GetRandomTestMatrix(igtl::Matrix4x4& matrix)
{
//float position[3];
//float orientation[4];
/*
// random position
static float phi = 0.0;
position[0] = 50.0 * cos(phi);
position[1] = 50.0 * sin(phi);
position[2] = 0;
phi = phi + 0.2;
// random orientation
static float theta = 0.0;
orientation[0]=0.0;
orientation[1]=0.6666666666*cos(theta);
orientation[2]=0.577350269189626;
orientation[3]=0.6666666666*sin(theta);
theta = theta + 0.1;
igtl::Matrix4x4 matrix;
igtl::QuaternionToMatrix(orientation, matrix);
matrix[0][3] = position[0];
matrix[1][3] = position[1];
matrix[2][3] = position[2];
*/
matrix[0][0] = 1.0; matrix[1][0] = 0.0; matrix[2][0] = 0.0; matrix[3][0] = 0.0;
matrix[0][1] = 0.0; matrix[1][1] = -1.0; matrix[2][1] = 0.0; matrix[3][1] = 0.0;
matrix[0][2] = 0.0; matrix[1][2] = 0.0; matrix[2][2] = 1.0; matrix[3][2] = 0.0;
matrix[0][3] = 0.0; matrix[1][3] = 0.0; matrix[2][3] = 0.0; matrix[3][3] = 1.0;
igtl::PrintMatrix(matrix);
}
|
