View source for OpenIGTLink/ProtocolV2/Type/QTrackingData

[[OpenIGTLink/ProtocolV2/Index | &lt;&lt; Version 2 Index Page]]

=Summary=
The QTDATA message type is intended for transferring 3D positions of surgical tools, markers etc. Its role is almost identical to TDATA, except that QTDATA describes orientation by using quaternion. 

=Message Types=
==QTDATA==


{| border="1" cellpadding="5" cellspacing="0" align="center"
|-
| align="left style="background:#e0e0e0;" | Data
| align="left style="background:#e0e0e0;" | Type
| align="left style="background:#e0e0e0;" | Description
|-
| align="left" | NAME_1
| align="left" | char[32]
| align="left" | Name (=Id) of the instrument/tracker
|-
| align="left" | TYPE_1
| align="left" | 8 bit unsigned
| align="left" | 1: tracker, 2: 6D instrument (regular instrument), 3: 3D instrument (only tip of the instrument defined), 4: 5D instrument (tip and handle are defined, but not the normal vector)
|-
| align="left" | --
| align="left" | 8 bit unsigned
| align="left" | Reserved
|-
| align="left" | POSITION_1
| align="left" | float32[3]
| align="left" | (X, Y, Z)
|-
| align="left" | QUATERNION_1
| align="left" | float32[4]
| align="left" | Quaternion (QX, QY, QZ, W)
|-
| colspan=3 align="center" style="background:#f0f0f0;" | ...
|-
| align="left" | NAME_N
| align="left" | char[32]
| align="left" | Name (=Id) of the instrument/tracker
|-
| align="left" | TYPE_N
| align="left" | 8 bit unsigned
| align="left" | 1: tracker, 2: 6D instrument (regular instrument), 3: 3D instrument (only tip of the instrument defined), 4: 5D instrument (tip and handle are defined, but not the normal vector)
|-
| align="left" | --
| align="left" | 8 bit unsigned
| align="left" | Reserved
|-
| align="left" | POSITION_N
| align="left" | float32[3]
| align="left" | (X, Y, Z)
|-
| align="left" | QUATERNION_N
| align="left" | float32[4]
| align="left" | Quaternion (QX, QY, QZ, W)
|-
|}

<font color="red">Feb 2, 2011: The length of the coordinate system field was corrected. (It should be the same as TDATA.) </font>

==GET_QTDATA==

{| border="1" cellpadding="5" cellspacing="0" align="center"
|-
| align="left style="background:#e0e0e0;" | Data
| align="left style="background:#e0e0e0;" | Type
| align="left style="background:#e0e0e0;" | Description
|-
|}

==STT_QTDATA==

{| border="1" cellpadding="5" cellspacing="0" align="center"
|-
| align="left style="background:#e0e0e0;" | Data
| align="left style="background:#e0e0e0;" | Type
| align="left style="background:#e0e0e0;" | Description
|-
| align="left" | Resolution
| align="left" | 32 bit unsigned
| align="left" | Minimum time between two frames. Use 0 for as fast as possible. If e.g. 50 ms is specified, the maximum update rate will be 20 Hz.
|-
| align="left" | Coordinate system name
| align="left" | char[32]
| align="left" | Coordinate system to use. Can be empty for default coordinate system. (not included if action = 2)
|-
|}

==STP_QTDATA==

{| border="1" cellpadding="5" cellspacing="0" align="center"
|-
| align="left style="background:#e0e0e0;" | Data
| align="left style="background:#e0e0e0;" | Type
| align="left style="background:#e0e0e0;" | Description
|-
|}

==RTS_QTDATA==

{| border="1" cellpadding="5" cellspacing="0" align="center"
|-
| align="left style="background:#e0e0e0;" | Data
| align="left style="background:#e0e0e0;" | Type
| align="left style="background:#e0e0e0;" | Description
|-
| align="left" | Status
| align="left" | 8 bit unsigned 
| align="left" | 0: Success 1: Error
|-
|}

=Implementations=

=Contributors=
Alexander Schaal

=Comments=

See [[OpenIGTLink/ProtocolV2/Type/TrackingData]].