allow choice of ultrasound probes matching raysim

workflows/robotic_ultrasound/scripts/simulation/README.md

@@ -242,13 +242,17 @@ Optionally, the simulator supports customization through JSON configuration file
 
 ```json
 {
+    "probe_type": "curvilinear",  // or "linear"
     "probe_params": {
-        "num_elements": 4096,
+        "num_elements": 256,
         "opening_angle": 73.0,
         "radius": 45.0,
         "frequency": 2.5,
         "elevational_height": 7.0,
-        "num_el_samples": 10
+        "num_el_samples": 1,
+        "f_num": 1.0,
+        "speed_of_sound": 1.54,
+        "pulse_duration": 2.0
     },
     "sim_params": {
         "conv_psf": true,
@@ -262,12 +266,15 @@ Optionally, the simulator supports customization through JSON configuration file
 
 | Parameter | Description | Default Value |
 |-----------|-------------|---------------|
-| num_elements | Number of elements in the ultrasound probe | 4096 |
-| opening_angle | Beam opening angle in degrees | 73.0 |
-| radius | Radius of the ultrasound probe in mm | 45.0 |
+| num_elements | Number of elements in the ultrasound probe | 256 |
+| opening_angle | Beam opening angle in degrees | 73.0 (curvilinear) / 0.0 (linear) |
+| radius | Radius of the ultrasound probe in mm | 45.0 (curvilinear) / 0.0 (linear) |
 | frequency | Ultrasound frequency in MHz | 2.5 |
 | elevational_height | Height of the elevation plane in mm | 7.0 |
-| num_el_samples | Number of samples in the elevation direction | 10 |
+| num_el_samples | Number of samples in the elevation direction | 1 |
+| f_num | F-number (unitless) | 1.0 |
+| speed_of_sound | Speed of sound in mm/us | 1.54 |
+| pulse_duration | Pulse duration in cycles | 2.0 |
 
 ##### Simulation Parameters
 
@@ -283,6 +290,7 @@ You only need to specify the parameters you want to change - any omitted paramet
 
 ```json
 {
+    "probe_type": "linear",
     "probe_params": {
         "frequency": 3.5,
         "radius": 55.0
@@ -324,3 +332,4 @@ To see the ultrasound probe moving, please ensure the `topic_ultrasound_info` is
 | --topic_out | Topic name to publish generated ultrasound data | topic_ultrasound_data |
 | --config | Path to custom JSON configuration file with probe parameters and simulation parameters | None |
 | --period | Period of the simulation (in seconds) | 1/30.0 (30 Hz) |
+| --probe_type | Type of ultrasound probe to use ("curvilinear" or "linear") | "curvilinear" |

workflows/robotic_ultrasound/scripts/simulation/examples/ultrasound_raytracing.py

@@ -125,6 +125,7 @@ class Simulator(Operator):
         out_width: The width of the output image.
         start_pose: The initial pose of the probe, default is [0, 0, 0, 0, 0, 0].
         config_path: Path to a JSON configuration file with probe parameters.
+        probe_type: Type of ultrasound probe to use ("curvilinear" or "linear").
     """
 
     def __init__(
@@ -135,13 +136,15 @@ def __init__(
         out_width=500,
         start_pose=np.zeros((6,)),
         config_path=None,
+        probe_type="curvilinear",
         **kwargs,
     ):
         # Initialize all critical variables first
         self.out_height = out_height
         self.out_width = out_width
         self.start_pose = start_pose
         self.config_path = config_path
+        self.probe_type = probe_type
         self.simulator = None
         self.sim_params = None
         self.probe = None
@@ -229,13 +232,28 @@ def add_mesh(filename, material_name):
         initial_pose = rs.Pose(position, rotation)
 
         # Load probe configuration from JSON file if provided
-        default_probe_params = {
-            "num_elements": 4096,
-            "opening_angle": 73.0,
-            "radius": 45.0,
-            "frequency": 2.5,
-            "elevational_height": 7.0,
-            "num_el_samples": 10,
+        default_curvilinear_probe_params = {
+            "num_elements": 256,
+            "opening_angle": 73.0,  # degrees
+            "radius": 45.0,         # mm
+            "frequency": 2.5,       # MHz
+            "elevational_height": 7.0,  # mm
+            "num_el_samples": 1,
+            "f_num": 1.0,          # unitless
+            "speed_of_sound": 1.54, # mm/us
+            "pulse_duration": 2.0   # cycles
+        }
+
+        default_linear_probe_params = {
+            "num_elements": 256,
+            "opening_angle": 0.0,   # degrees (linear array)
+            "radius": 0.0,          # mm (linear array)
+            "frequency": 2.5,       # MHz
+            "elevational_height": 7.0,  # mm
+            "num_el_samples": 1,
+            "f_num": 1.0,          # unitless
+            "speed_of_sound": 1.54, # mm/us
+            "pulse_duration": 2.0   # cycles
         }
 
         default_sim_params = {
@@ -244,18 +262,30 @@ def add_mesh(filename, material_name):
             "t_far": 180.0,
         }
 
-        probe_params = default_probe_params
+        # Default to curvilinear probe
+        probe_params = default_curvilinear_probe_params
         sim_config = default_sim_params
 
         if self.config_path:
             try:
                 with open(self.config_path, "r") as f:
                     config_data = json.load(f)
 
+                    # Load probe type
+                    if "probe_type" in config_data:
+                        self.probe_type = config_data["probe_type"]
+                        if self.probe_type == "curvilinear":
+                            probe_params = default_curvilinear_probe_params
+                        elif self.probe_type == "linear":
+                            probe_params = default_linear_probe_params
+                        else:
+                            print(f"Warning: Unknown probe type '{self.probe_type}'. Using curvilinear probe.")
+                            probe_params = default_curvilinear_probe_params
+
                     # Load probe parameters
                     if "probe_params" in config_data:
                         # Use values from JSON, falling back to defaults for any missing parameters
-                        for key in default_probe_params:
+                        for key in probe_params:
                             if key in config_data["probe_params"]:
                                 probe_params[key] = config_data["probe_params"][key]
                         print(f"Loaded probe configuration from {self.config_path}")
@@ -278,15 +308,31 @@ def add_mesh(filename, material_name):
             print("No config file specified. Using default parameters.")
 
         # Create ultrasound probe with configured parameters
-        self.probe = rs.UltrasoundProbe(
-            initial_pose,
-            num_elements=probe_params["num_elements"],
-            opening_angle=probe_params["opening_angle"],
-            radius=probe_params["radius"],
-            frequency=probe_params["frequency"],
-            elevational_height=probe_params["elevational_height"],
-            num_el_samples=probe_params["num_el_samples"],
-        )
+        if self.probe_type == "curvilinear":
+            self.probe = rs.CurvilinearProbe(
+                initial_pose,
+                num_elements_x=probe_params["num_elements"],
+                sector_angle=probe_params["opening_angle"],
+                radius=probe_params["radius"],
+                frequency=probe_params["frequency"],
+                elevational_height=probe_params["elevational_height"],
+                num_el_samples=probe_params["num_el_samples"],
+                f_num=probe_params["f_num"],
+                speed_of_sound=probe_params["speed_of_sound"],
+                pulse_duration=probe_params["pulse_duration"]
+            )
+        else:  # linear
+            self.probe = rs.LinearArrayProbe(
+                initial_pose,
+                num_elements_x=probe_params["num_elements"],
+                width=60.0,  # Default width for linear array
+                frequency=probe_params["frequency"],
+                elevational_height=probe_params["elevational_height"],
+                num_el_samples=probe_params["num_el_samples"],
+                f_num=probe_params["f_num"],
+                speed_of_sound=probe_params["speed_of_sound"],
+                pulse_duration=probe_params["pulse_duration"]
+            )
 
         # Create simulator
         try:
@@ -455,6 +501,7 @@ class StreamingSimulator(Application):
         out_height: The height of the output image.
         start_pose: The initial pose of the probe.
         config_path: Path to a JSON configuration file with probe parameters.
+        probe_type: Type of ultrasound probe to use ("curvilinear" or "linear").
     """
 
     def __init__(
@@ -467,6 +514,7 @@ def __init__(
         start_pose=np.zeros((6,)),
         period=1 / 30.0,
         config_path=None,
+        probe_type="curvilinear",
     ):
         super().__init__()
         self.domain_id = domain_id
@@ -477,6 +525,7 @@ def __init__(
         self.start_pose = start_pose
         self.config_path = config_path
         self.period = period
+        self.probe_type = probe_type
 
     def compose(self):
         """
@@ -498,6 +547,7 @@ def compose(self):
             out_width=self.out_width,
             start_pose=self.start_pose,
             config_path=self.config_path,
+            probe_type=self.probe_type,
             name="simulator",
         )
         simulator.metadata_policy = MetadataPolicy.RAISE
@@ -552,6 +602,13 @@ def main():
         default=1 / 30.0,
         help="period of the simulation each cycle (1/frequency). Unit is second.",
     )
+    parser.add_argument(
+        "--probe_type",
+        type=str,
+        choices=["curvilinear", "linear"],
+        default="curvilinear",
+        help="type of ultrasound probe to use (curvilinear or linear)",
+    )
     args = parser.parse_args()
     app = StreamingSimulator(
         domain_id=args.domain_id,
@@ -561,6 +618,7 @@ def main():
         out_height=args.height,
         period=args.period,
         config_path=args.config,
+        probe_type=args.probe_type,
     )
 
     app.is_metadata_enabled = True