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| − | <div class="floatright">__TOC__</div> | + | <font color=red>The OpenIGTLink official web page has moved to http://openigtlink.org/</font> |
| − | Open IGT Link is a simple network protocol intended for trackers, robots and other devices to send data to the main application. Some devices might accept commands.
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| − | * [http://www.ndigital.com/ Optotrack]
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| − | * MRI real time image
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| − | * [http://www.cisst.org/wiki/MRI_Robot JHU robots]
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| − | (Please contact us if you would like to include other devices.)
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| | | | |
| − | License: [http://www.opensource.org/licenses/bsd-license.php new BSD license] ©2008 Insight Software Consortium
| + | Please click [[OpenIGTLink_OldPage|here]] to visit the old page. |
| − | | |
| − | =People / Organizations=
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| − | * [http://www.kitware.com/profile/team/ibanez.html Luis Ibanez], Kitware
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| − | * [http://www.spl.harvard.edu/pages/People/tokuda Junichi Tokuda], BWH
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| − | * [http://www.cisst.org/wiki/User:Csoma Csaba Csoma], JHU
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| − | * Jack Blevins, Acousticmed
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| − | * Patrick Cheng, Georgetown University
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| − | * [http://www.spl.harvard.edu/pages/People/hliu Haying Liu], BWH
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| − | * [http://www.insightsoftwareconsortium.org/ Insight Software Consortium]
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| − | * [http://www.na-mic.org/ National Alliance for Medical Image Computing (NA-MIC)]
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| − | | |
| − | =Protocol=
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| − | | |
| − | ===Header Structure===
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| − | Bytes
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| − | 0 2 14 34 42 50
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| − | +-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+--+-+-+.....
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| − | | V | TYPE | DEVICE_NAME | BODY_SIZE | CRC64 | BODY
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| − | +-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+--+-+-+.....
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| − | | |
| − | ===Byte Order===
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| − | Big endian should be used for all numerical values (version, body size, crc). Unused spaces are padded with 0 (binary).
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| − | | |
| − | ===Header Fields===
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| − | {| border="1" cellpadding="5" cellspacing="0" align="center"
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| − | |-
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| − | | align="left style="background:#e0e0e0;" | Data
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| − | | align="left style="background:#e0e0e0;" | Type | |
| − | | align="left style="background:#e0e0e0;" | Description
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| − | |-
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| − | | align="left" | V
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| − | | align="left" | Unsigned short (16bit)
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| − | | align="left" | Version number (1)
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| − | |-
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| − | | align="left" | TYPE
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| − | | align="left" | char[8]
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| − | | align="left" | Type name of body
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| − | |-
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| − | | align="left" | DEVICE_NAME
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| − | | align="left" | char[20]
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| − | | align="left" | Unique device name
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| − | |-
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| − | | align="left" | BODY_SIZE
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| − | | align="left" | 64 bit unsigned int
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| − | | align="left" | Size of body in bytes
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| − | |-
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| − | | align="left" | CRC
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| − | | align="left" | 64 bit unsigned int
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| − | | align="left" | 64 bit CRC for body data
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| − | |-
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| − | |}
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| − | | |
| − | = Message types =
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| − | | |
| − | ===IMAGE===
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| − | Image data consists of ascii header information followed by binary image pixel data.
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| − | (Ascii header is used to maintain compatibility with SlicerDaemon connection)
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| − | | |
| − | space right-anterior-superior\n
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| − | dimensions <xsize> <ysize> <zsize>\n
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| − | space_origin (<x>, <y>, <z>)\n
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| − | space_directions (<tx>, <ty>, <tz>) (<sx>, <sy>, <sz>) (<nx>, <ny>, <nz>) \n
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| − | kinds space space space\n
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| − | components 1\n
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| − | scalar_type <space type #>\n
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| − | | |
| − | Descriptions:
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| − | {| border="1" cellpadding="5" cellspacing="0" align="center"
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| − | |-
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| − | | align="left style="background:#e0e0e0;" | Data
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| − | | align="left style="background:#e0e0e0;" | Type
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| − | | align="left style="background:#e0e0e0;" | Description
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| − | |-
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| − | | align="left" | <xsize>, <ysize>, <zsize>
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| − | | align="left" | text value (real)
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| − | | align="left" | Center position of the image in RAS coordinate
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| − | |-
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| − | | align="left" | <tx>, <ty>, <tz>
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| − | | align="left" | char[8]
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| − | | align="left" | Type name of body
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| − | |-
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| − | |}
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| − | | |
| − | ===TRANSFORM===
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| − | ===POSITION===
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| − | ===STATUS===
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| − | Bytes (Body)
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| − | 50 52 60 80
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| − | +-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+--+-+-+.....
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| − | | C | Sub Code | Status name | Status message (optional)
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| − | +-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+--+-+-+.....
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| − | | |
| − | {| border="1" cellpadding="5" cellspacing="0"
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| − | |-
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| − | | align="left style="background:#e0e0e0;" | Data
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| − | | align="left style="background:#e0e0e0;" | Type
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| − | | align="left style="background:#e0e0e0;" | Description
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| − | |-
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| − | | align="left" | C
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| − | | align="left" | Unsigned short (16bit)
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| − | | align="left" | Status code groups: 1-Ok, 2-Generic Error, ... (see below)
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| − | |-
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| − | | align="left" | Sub Code
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| − | | align="left" | 64 bit integer
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| − | | align="left" | Sub code for the error (ex. 0x200 - file not found)
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| − | |-
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| − | | align="left" | Error name
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| − | | align="left" | char[20]
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| − | | align="left" | "Error", "Ok", "Starting up" - can be anything, don't relay on this
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| − | |-
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| − | | align="left" | Status Message (optional)
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| − | | align="left" | char[ BodySize - 30 ]
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| − | | align="left" | Optional (English) description (ex. "File C:\test.ini not found")
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| − | |-
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| − | |}
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| − | | |
| − | | |
| − | '''Status codes:'''<br />
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| − | 0 No Errors Found (use status 1 instead!)<br />
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| − | 1 OK (Default status)<br />
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| − | 2 Unknown error<br />
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| − | 3 Panic mode (emergency)<br />
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| − | 4 Not found (file, configuration, device etc)<br />
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| − | 5 Access denied<br />
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| − | 6 Busy<br />
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| − | 7 Time out / Connection lost<br />
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| − | 8 Overflow / Can't be reached<br />
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| − | 9 Checksum error<br />
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| − | 10 Configuration error<br />
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| − | 11 Not enough resource (memory, storage etc)<br />
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| − | 12 Illegal/Unknown instruction (or feature not implemented)<br />
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| − | 13 Device not ready (starting up)<br />
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| − | 14 Manual mode (device does not accept commands)<br />
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| − | 15 Device disabled<br />
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| − | 16 Device not present<br />
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| − | 17 Device version not known<br />
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| − | 18 Hardware failure<br />
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| − | 19 Exiting / shut down in progress<br />
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| − | <br />
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| − | | |
| − | | |
| − | = Resources =
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| − | * [[Slicer3:_Image_Guided_Therapy_(IGT) ]]
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| − | * [[Slicer/Features/Middleware | Middleware features]]
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| − | * [http://www.cisst.org/wiki/MRI_robot/MIT_2007_06_27_Meeting Initial discussion about requirements]
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