View source for OpenIGTLink/ProtocolV2/Type/Transform

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

=Summary=
The TRANSFORM data type is used to transfer a homogeneous linear transformation in 4-by-4 matrix form. One such matrix was shown earlier in equation (1).  Note that if a device is sending only translation and rotation, then TRANSFORM is equivalent to POSITION. But TRANSFORM can also be used to transfer affine transformations or simple scaling. Like IMAGE and POSITION, TRANSFORM carries information about the coordinate system used.

=Message Types=
==TRANSFORM==

{| 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" | R11
| align="left" | 32-bit float
| align="left" | Element (1, 1) in 4-by-4 linear transformation matrix
|-
| align="left" | R21
| align="left" | 32-bit float
| align="left" | Element (2, 1) in 4-by-4 linear transformation matrix
|-
| align="left" | R31
| align="left" | 32-bit float
| align="left" | Element (3, 1) in 4-by-4 linear transformation matrix
|-
| align="left" | R12
| align="left" | 32-bit float
| align="left" | Element (1, 2) in 4-by-4 linear transformation matrix
|-
| align="left" | R22
| align="left" | 32-bit float
| align="left" | Element (2, 2) in 4-by-4 linear transformation matrix
|-
| align="left" | R32
| align="left" | 32-bit float
| align="left" | Element (3, 2) in 4-by-4 linear transformation matrix
|-
| align="left" | R13
| align="left" | 32-bit float
| align="left" | Element (1, 3) in 4-by-4 linear transformation matrix
|-
| align="left" | R23
| align="left" | 32-bit float
| align="left" | Element (2, 3) in 4-by-4 linear transformation matrix
|-
| align="left" | R33
| align="left" | 32-bit float
| align="left" | Element (3, 3) in 4-by-4 linear transformation matrix
|-
| align="left" | TX
| align="left" | 32-bit float
| align="left" | Element (1, 4) in 4-by-4 linear transformation matrix (translation along x-axis in millimeter) 
|-
| align="left" | TY
| align="left" | 32-bit float
| align="left" | Element (2, 4) in 4-by-4 linear transformation matrix (translation along y-axis in millimeter)
|-
| align="left" | TZ
| align="left" | 32-bit float
| align="left" | Element (3, 4) in 4-by-4 linear transformation matrix (translation along z-axisin millimeter)
|-
|}

==GET_TRANS==
{| 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_TRANS==

{| 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
|-

|}

==STP_TRANS==

{| 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_TRANS==

{| 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=
IMAGE type is implemented in the following files:
*[http://svn.na-mic.org/NAMICSandBox/trunk/OpenIGTLink/Source/igtlTransformMessage.h igtlTransformMessage.h]
*[http://svn.na-mic.org/NAMICSandBox/trunk/OpenIGTLink/Source/igtlTransformMessage.cxx igtlTransformMessage.cxx]

=Implementations=
XXX message type is implemented in the following source code.
*igtlXXXXMessage.h (link to the file in subversion repository, if available)
*igtlXXXXMessage.cxx (link to the file in subversion repository, if available)

=Contributors=
This is part of original OpenIGTLink Protocol Version 1.

=Comments=