Scanlite Analysis ROS2 Package

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

📁 Project Structure

scanlite_analysis_ros2/
├── launch/
│   ├── odom_launch.py
│   ├── vicon_launch.py
│   └── segmentation.launch.xml
├── scanlite_analysis_ros2/
│   ├── segmentation_node.py
│   ├── reconstruction_node.py
│   ├── reconstruction_node_vicon.py
│   ├── transformation.py
│   ├── transformation_odom.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.

reconstruction_node.py and reconstruction_node_vicon.py

• Subscribes to:
  • /us_image for ultrasound images
  • /odomimu_transform or /rigid_body_transforms for motion tracking
• Publishes:
  • Segmented images (/seg_bone/image)
  • 3D point cloud data (/rec_bone/points)
• Features interactive 3D visualization using Matplotlib
• Includes coordinate axes visualization for scanner position tracking

transformation.py

• Publishes:
  • /visualization_marker_rb for RViz visualization
  • /rigid_body_transforms for transform data
  • TF frames for each rigid body

transformation_odom.py

• Publishes:
  • /visualization_marker_odom for RViz visualization
  • /odomimu_transform for transform data
  • TF frames for odometry tracking

Launch Files

To run the system, you can use the following launch commands:

For Vio-based tracking:

ros2 launch scanlite_analysis_ros2 odom_launch.py

This launches:

• transformation_odom.py for IMU data processing
• reconstruction_node.py for 3D reconstruction

For Vicon-based tracking:

ros2 launch scanlite_analysis_ros2 vicon_launch.py

This launches:

• transformation.py for Vicon data processing
• reconstruction_node_vicon.py for 3D reconstruction

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.

Usage

Launch the ROS segmentation nodes and related topics:

ros2 launch scanlite_analysis_ros2 segmentation_launch.py 

Run the 3D reconstruction node (choose based on tracking system):

# For Vio tracking
ros2 run scanlite_analysis_ros2 reconstruction_node.py

# For Vicon tracking
ros2 run scanlite_analysis_ros2 reconstruction_node_vicon.py

Start live device acquisition GUI:

ros2 run scanlite_analysis_ros2 segmentation_node.py

Real-time segmentation visualization tool:

ros2 run scanlite_analysis_ros2 LiveDemoTool.py

Requirements

• ROS2 Humble
• Python 3.x
• Tkinter
• Matplotlib
• NumPy
• OpenCV
• SciPy

---

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

🔗 Repository: PyCATMAUS GitHub