smg-interface/telemed_class.py at main · hrelab/smg-interface · GitHub

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#!/usr/bin/env python3
# -*- coding: utf-8 -*-

# Scanner Libraries
import sys
import ctypes
from ctypes import *
import numpy as np
import cv2

# Change these values to define the width and depth picked up by the ultrasound system
IMAGE_HEIGHT = 512
IMAGE_WIDTH = 512

class TelemedObject:
    """
    Class for Interfacing directly with the Telemed ArtUS.

    A TelemedObject stores a pointer to ultrasound sensor readings from a specified probe,
    the resolution of that probe, and the index of the probe (For the ArtUS probeIndex = 0 is bottom scanner, probeIndex = 1 is top scanner)
    """
    def __init__(self):

        # current height and width values defined in our .dll (may be different for different users)
        self.w = IMAGE_HEIGHT
        self.h = IMAGE_WIDTH

        # Load the C library for the Telemed
        # Change the file path below to match your system, but it most point to the usgfw2wrapper.dll
        PATH_TO_DLL = r".\telemed_dll\usgfw2wrapper_C++_sources\usgfw2wrapper\x64\Debug\usgfw2wrapper.dll"
        self.usgfw2 = cdll.LoadLibrary(PATH_TO_DLL)
        if self.usgfw2.init_ultrasound_usgfw2()<0:
            print(f"[Error]: Usgfw2 library not initialized.")
            sys.exit()

        result = self.usgfw2.find_connected_probe()
        if result < 0:
            print(f"[Error]: Find Connected Probe Error -> {result}")
            sys.exit()

        result = self.usgfw2.data_view_function()
        if result < 0:
            print(f"[Error]: Data view function Error -> {result}")
            sys.exit()

        result = self.usgfw2.mixer_control_function(0, 0, self.w, self.h, 0, 0, 0)
        if result < 0:
            print(f"[Error]: Mixer Control function Error -> {result}")
            sys.exit()

    def setup_scanner(self, probeIndex = 0):
        """
        Sets up all the needed data for an ultrasound probe.
        """

        res_X = ctypes.c_float(0.0)
        res_Y = ctypes.c_float(0.0)
        self.usgfw2.get_resolution(probeIndex, pointer(res_X), pointer(res_Y))
        resolutions = (res_X.value, res_Y.value) # this finds and determines the resolution of the connected probe

        p_array = (ctypes.c_uint * (self.w * self.h * 4))() # pointer array that stores ultrasound data, 4 channels!

        return {
            "p_array": p_array,
            "resolutions": resolutions,
            "probeIndex": probeIndex
        }

    def update_scanner(self, probe):
        """
        Gets the next ultrasound image returned from the specified probe.
        """
        res_X = ctypes.c_float(0.0)
        res_Y = ctypes.c_float(0.0)

        self.usgfw2.return_pixel_values(probe["probeIndex"], ctypes.pointer(probe["p_array"])) # pulling pixel values from the probe
        buffer_copy = np.copy(np.frombuffer(probe["p_array"], np.uint))
        reshaped_array = np.reshape(buffer_copy, (self.w, self.h // 2, 4))

        image_matrix = reshaped_array[:,:,3].astype(np.uint8).copy()

        image_matrix = cv2.medianBlur(image_matrix,7) # applying a blur to help with optical flow tracking

        # Check resolution changes
        self.usgfw2.get_resolution(probe["probeIndex"], pointer(res_X), pointer(res_Y))
        if (res_X.value, res_Y.value) != probe["resolutions"]:
            probe["resolutions"] = (res_X.value, res_Y.value)

        return(image_matrix)

    def end_scanner(self):
        """
        Safely ends the scanning loop on the Telemed device.
        """
        self.usgfw2.Stop_ultrasound_scanning()
        self.usgfw2.Close_and_release()
        return()