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Scanlite Analysis ROS1 Package

This package provides tools for real-time ultrasound bone segmentation, 3D reconstruction, ROS integration, and interactive GUI visualization.

📁 Project Structure

scanlite_analysis/
├── launch/
│   └── segmentation.launch
├── scripts/
│   ├── segmentation_node.py
│   ├── rosbagtest.py
│   ├── LiveDemoTool.py
│   ├── DataAcqTool.py
│   └── PyCATMAUS/
│       ├── SegBone.py
│       └── TransFunction.py
├── package.xml
└── CMakeLists.txt

ROS Nodes

segmentation_node.py

  • Publishes real-time segmentation results as ROS topics.
  • Independent from GUI, facilitating integration into broader ROS systems.

🖥 GUI Tools (Tkinter)

Tool Description
DataAcqTool.py GUI tool for acquiring real-time data from ultrasound devices. Built using Python's Tkinter.
LiveDemoTool.py Real-time bone segmentation visualization tool using Python's Tkinter. Displays segmentation overlay dynamically.

Functional Overview

ROS Nodes

  • segmentation_node.py
    • Publishes segmentation results independently via ROS topics.

ROS Bag Testing (CatMausApp)

  • rosbagtest.py
    • Select and play ROS bags for validating segmentation.

Features:

  • ROS Integration:

    • Subscribes to /us_image and Vicon motion topics (/vicon/clarius_5_marker/clarius_5_marker).
    • Synchronizes motion data with ultrasound images (bound_img_motion()).

  • Graphical User Interface (GUI):

    • Developed with Tkinter.
    • Displays ultrasound images with segmentation overlays using Matplotlib.
    • Interactive controls for segmentation parameters (F0, F1, Bth, JC).

  • Bone Segmentation:

    • Real-time segmentation via the BoneSeg() method.

  • 3D Reconstruction:

    • Converts segmented 2D data into interactive 3D visuals using Vicon motion tracking data.
    • Features interactive zooming and reset functionalities.

  • User Interaction:

    • Controls for segmentation start/stop, zoom, and reset functionalities.
    • Live updating visualization.

Explanation of Segmentation Parameters

Parameter Meaning Effect on Segmentation
F0 Energy continuity weight Controls smoothness along bone surfaces. Higher values enforce smoother edges.
F1 Energy smoothness weight Penalizes abrupt depth changes. Higher values produce gradual transitions.
Bth Bone threshold Pixel intensity threshold. Lower values include more pixels as bone.
JC Jump constraint Limits allowed segmentation path jumps. Higher values increase path flexibility.

System Flow Diagram

Live Ultrasound & Vicon motion data (/us_image, Vicon topics)
│
├─► segmentation_node.py ────► ROS Topics (segmentation data)
│
├─► DataAcqTool.py ────► Live device acquisition GUI (Tkinter)
│
└─► LiveDemoTool.py (CatMausApp)
    │
    ├─► GUI (Tkinter & Matplotlib)
    ├── Image & segmentation visualization
    ├── Segmentation parameters control
    ├── Real-time segmentation (`BoneSeg()`)
    └── 3D Reconstruction (interactive)

Usage

Launch the ROS segmentation nodes and related topics:

roslaunch scanlite_analysis segmentation.launch

Run ROS Bag Testing GUI for validating segmentation:

rosrun scanlite_analysis rosbagtest.py

Start live device acquisition GUI:

rosrun scanlite_analysis DataAcqTool.py

Real-time segmentation visualization tool:

rosrun scanlite_analysis LiveDemoTool.py

Requirements

  • ROS1 ( Noetic)
  • Python 3.x
  • Tkinter
  • Matplotlib
  • NumPy

This project relies on PyCATMAUS, a library used for segmentation and transformation functions.

🔗 Repository: PyCATMAUS GitHub