OpenIGTLink/Library/Tutorial

<< OpenIGTLink

Example using igtlutil (C/C++)

The igtlutil c functions are available from Source/igtlutil in the Open IGT Link Library.

The followings are example codes to create Open IGT Link message.

Include declarations for transformation data:

 #include "igtl_util.h"
 #include "igtl_header.h"
 #include "igtl_transform.h"

Transform package creation:

 /********** pack data body **********/
 igtl_float32 transform[12];
 
 transform[0] = tx;
 transform[1] = ty;
 transform[2] = tz;
 transform[3] = sx;
 transform[4] = sy;
 transform[5] = sz;
 transform[6] = nx;
 transform[7] = ny;
 transform[8] = nz;
 transform[9] = px;
 transform[10] = py;
 transform[11] = pz;
 
 igtl_transform_convert_byte_order(transform);  /* convert endian if necessary */
 
 /********** general header **********/  
 igtl_header header;
 igtl_uint64 crc = crc64(0, 0, 0LL);          /* initial crc */
 header.version   = IGTL_HEADER_VERSION;
 header.timestamp = 0;
 header.body_size = IGTL_TRANSFORM_SIZE;
 header.crc       = crc64((unsigned char*)transform, IGTL_TRANSFORM_SIZE, crc);
 
 strncpy(header.name, "TRANSFORM", 12);       /* Device Type: should be "TRANSFORM" */
 strncpy(header.device_name, "Tracker", 20);    /* Device name */
 
 igtl_header_convert_byte_order(h);   /* convert endian if necessary */

Then send package (in case of BSD socket)

 send(sock, (void*) &header, IGTL_HEADER_SIZE, 0);
 send(sock, (void*) transform, IGTL_TRANSFORM_SIZE, 0);