Difference between revisions of "OpenIGTLink/ProtocolV2/Type/Transform"
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=Summary= | =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. | 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= | ||
| + | ==POSITION== | ||
| + | |||
| + | {| 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" | V1 | ||
| + | | align="left" | unsigned short | ||
| + | | align="left" | Value 1 | ||
| + | |- | ||
| + | | align="left" | V2 | ||
| + | | align="left" | 8bit unsigned int | ||
| + | | align="left" | Value 2 | ||
| + | |- | ||
| + | | align="left" | ... | ||
| + | | align="left" | ... | ||
| + | | align="left" | ... | ||
| + | |- | ||
| + | |} | ||
| + | |||
| + | |||
| + | ==GET_POSITION== | ||
| + | {| 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" | V1 | ||
| + | | align="left" | unsigned short | ||
| + | | align="left" | Value 1 | ||
| + | |- | ||
| + | | align="left" | V2 | ||
| + | | align="left" | 8bit unsigned int | ||
| + | | align="left" | Value 2 | ||
| + | |- | ||
| + | | align="left" | ... | ||
| + | | align="left" | ... | ||
| + | | align="left" | ... | ||
| + | |- | ||
| + | |} | ||
| + | |||
| + | |||
| + | ==STT_POSITION== | ||
| + | |||
| + | {| 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" | V1 | ||
| + | | align="left" | unsigned short | ||
| + | | align="left" | Value 1 | ||
| + | |- | ||
| + | | align="left" | V2 | ||
| + | | align="left" | 8bit unsigned int | ||
| + | | align="left" | Value 2 | ||
| + | |- | ||
| + | | align="left" | ... | ||
| + | | align="left" | ... | ||
| + | | align="left" | ... | ||
| + | |- | ||
| + | |} | ||
| + | |||
| + | ==STP_POSITION== | ||
| + | |||
| + | |||
| + | {| 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" | V1 | ||
| + | | align="left" | unsigned short | ||
| + | | align="left" | Value 1 | ||
| + | |- | ||
| + | | align="left" | V2 | ||
| + | | align="left" | 8bit unsigned int | ||
| + | | align="left" | Value 2 | ||
| + | |- | ||
| + | | align="left" | ... | ||
| + | | align="left" | ... | ||
| + | | align="left" | ... | ||
| + | |- | ||
| + | |} | ||
=Implementations= | =Implementations= | ||
Revision as of 03:10, 30 June 2010
Home < OpenIGTLink < ProtocolV2 < Type < TransformContents
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
POSITION
| Data | Type | Description |
| V1 | unsigned short | Value 1 |
| V2 | 8bit unsigned int | Value 2 |
| ... | ... | ... |
GET_POSITION
| Data | Type | Description |
| V1 | unsigned short | Value 1 |
| V2 | 8bit unsigned int | Value 2 |
| ... | ... | ... |
STT_POSITION
| Data | Type | Description |
| V1 | unsigned short | Value 1 |
| V2 | 8bit unsigned int | Value 2 |
| ... | ... | ... |
STP_POSITION
| Data | Type | Description |
| V1 | unsigned short | Value 1 |
| V2 | 8bit unsigned int | Value 2 |
| ... | ... | ... |
Implementations
IMAGE type is implemented in the following files:
