|
|
| (287 intermediate revisions by 9 users not shown) |
| Line 1: |
Line 1: |
| − | <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.
| |
| − | * [http://www.ndigital.com/ Optotrack]
| |
| − | * MRI real time image
| |
| − | * [http://www.cisst.org/wiki/MRI_Robot JHU robots]
| |
| − | (Please contact us if you would like to include other devices.)
| |
| | | | |
| − | 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=
| |
| − | * [http://www.kitware.com/profile/team/ibanez.html Luis Ibanez], Kitware
| |
| − | * [http://www.spl.harvard.edu/pages/People/tokuda Junichi Tokuda], BWH
| |
| − | * [http://www.cisst.org/wiki/User:Csoma Csaba Csoma], JHU
| |
| − | * Jack Blevins, Acousticmed
| |
| − | * Patrick Cheng, Georgetown University
| |
| − | * [http://www.spl.harvard.edu/pages/People/hliu Haying Liu], BWH
| |
| − | * [http://www.insightsoftwareconsortium.org/ Insight Software Consortium]
| |
| − | * [http://www.na-mic.org/ National Alliance for Medical Image Computing (NA-MIC)]
| |
| − | | |
| − | =Protocol=
| |
| − | | |
| − | ===Header Structure===
| |
| − | Bytes
| |
| − | 0 2 14 34 42 50
| |
| − | +-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+--+-+-+.....
| |
| − | | V | TYPE | DEVICE_NAME | BODY_SIZE | CRC64 | BODY
| |
| − | +-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+--+-+-+.....
| |
| − | | |
| − | ===Byte Order===
| |
| − | Big endian should be used for all numerical values (version, body size, crc). Unused spaces are padded with 0 (binary).
| |
| − | | |
| − | ===Header Fields===
| |
| − | {| 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" | V
| |
| − | | align="left" | Unsigned short (16bit)
| |
| − | | align="left" | Version number (1)
| |
| − | |-
| |
| − | | align="left" | TYPE
| |
| − | | align="left" | char[8]
| |
| − | | align="left" | Type name of body
| |
| − | |-
| |
| − | | align="left" | DEVICE_NAME
| |
| − | | align="left" | char[20]
| |
| − | | align="left" | Unique device name
| |
| − | |-
| |
| − | | align="left" | BODY_SIZE
| |
| − | | align="left" | 64 bit unsigned int
| |
| − | | align="left" | Size of body in bytes
| |
| − | |-
| |
| − | | align="left" | CRC
| |
| − | | align="left" | 64 bit unsigned int
| |
| − | | align="left" | 64 bit CRC for body data
| |
| − | |-
| |
| − | |}
| |
| − | | |
| − | = Message types =
| |
| − | | |
| − | ===IMAGE===
| |
| − | Image data consists of ascii header information followed by binary image pixel data.
| |
| − | (Ascii header is used to maintain compatibility with SlicerDaemon connection)
| |
| − | | |
| − | space right-anterior-superior\n
| |
| − | dimensions <xsize> <ysize> <zsize>\n
| |
| − | space_origin (<x>, <y>, <z>)\n
| |
| − | space_directions (<tx>, <ty>, <tz>) (<sx>, <sy>, <sz>) (<nx>, <ny>, <nz>) \n
| |
| − | kinds space space space\n
| |
| − | components 1\n
| |
| − | scalar_type <scalar type #>\n
| |
| − | <binary image data>
| |
| − | | |
| − | Descriptions:
| |
| − | {| 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" | <xsize>, <ysize>, <zsize>
| |
| − | | align="left" | text number (real)
| |
| − | | align="left" | Center position of the image in RAS coordinate
| |
| − | |-
| |
| − | | align="left" | <tx>, <ty>, <tz>
| |
| − | | align="left" | text number (real)
| |
| − | | align="left" | Transverse vector (direction for 'i' index) / The length represents pixel size in 'i' direction
| |
| − | |-
| |
| − | | align="left" | <sx>, <sy>, <sz>
| |
| − | | align="left" | text number (real)
| |
| − | | align="left" | Transverse vector (direction for 'j' index) / The length represents pixel size in 'j' direction
| |
| − | |-
| |
| − | | align="left" | <nx>, <ny>, <nz>
| |
| − | | align="left" | text number (real)
| |
| − | | align="left" | Normal vector of image plane(direction for 'k' index) / The length represents pixel size in 'z' direction or slice thickness
| |
| − | |-
| |
| − | | align="left" | <scalar type #>
| |
| − | | align="left" | Pixel scalar type number (Ascii)
| |
| − | | align="left" | 2:int8 3:int8 4:int16 5:uint16 6:int32 7:uint32 10:float32 11:float64
| |
| − | |-
| |
| − | | align="left" | <binary image data>
| |
| − | | align="left" | Binary image data (<xsize>*<ysize>*<zsize>* (pixel size)
| |
| − | | align="left" | Image data
| |
| − | |-
| |
| − | |}
| |
| − | | |
| − | ===TRANSFORM===
| |
| − | ===POSITION===
| |
| − | ===STATUS===
| |
| − | Bytes (Body)
| |
| − | 50 52 60 80
| |
| − | +-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+--+-+-+.....
| |
| − | | C | Sub Code | Status name | Status message (optional)
| |
| − | +-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+--+-+-+.....
| |
| − | | |
| − | {| border="1" cellpadding="5" cellspacing="0"
| |
| − | |-
| |
| − | | align="left style="background:#e0e0e0;" | Data
| |
| − | | align="left style="background:#e0e0e0;" | Type
| |
| − | | align="left style="background:#e0e0e0;" | Description
| |
| − | |-
| |
| − | | align="left" | C
| |
| − | | align="left" | Unsigned short (16bit)
| |
| − | | align="left" | Status code groups: 1-Ok, 2-Generic Error, ... (see below)
| |
| − | |-
| |
| − | | align="left" | Sub Code
| |
| − | | align="left" | 64 bit integer
| |
| − | | align="left" | Sub code for the error (ex. 0x200 - file not found)
| |
| − | |-
| |
| − | | align="left" | Error name
| |
| − | | align="left" | char[20]
| |
| − | | align="left" | "Error", "Ok", "Starting up" - can be anything, don't relay on this
| |
| − | |-
| |
| − | | align="left" | Status Message (optional)
| |
| − | | align="left" | char[ BodySize - 30 ]
| |
| − | | align="left" | Optional (English) description (ex. "File C:\test.ini not found")
| |
| − | |-
| |
| − | |}
| |
| − | | |
| − | | |
| − | '''Status codes:'''<br />
| |
| − | 0 No Errors Found (use status 1 instead!)<br />
| |
| − | 1 OK (Default status)<br />
| |
| − | 2 Unknown error<br />
| |
| − | 3 Panic mode (emergency)<br />
| |
| − | 4 Not found (file, configuration, device etc)<br />
| |
| − | 5 Access denied<br />
| |
| − | 6 Busy<br />
| |
| − | 7 Time out / Connection lost<br />
| |
| − | 8 Overflow / Can't be reached<br />
| |
| − | 9 Checksum error<br />
| |
| − | 10 Configuration error<br />
| |
| − | 11 Not enough resource (memory, storage etc)<br />
| |
| − | 12 Illegal/Unknown instruction (or feature not implemented)<br />
| |
| − | 13 Device not ready (starting up)<br />
| |
| − | 14 Manual mode (device does not accept commands)<br />
| |
| − | 15 Device disabled<br />
| |
| − | 16 Device not present<br />
| |
| − | 17 Device version not known<br />
| |
| − | 18 Hardware failure<br />
| |
| − | 19 Exiting / shut down in progress<br />
| |
| − | <br />
| |
| − | | |
| − | | |
| − | = Resources =
| |
| − | * [[Slicer3:_Image_Guided_Therapy_(IGT) ]]
| |
| − | * [[Slicer/Features/Middleware | Middleware features]]
| |
| − | * [http://www.cisst.org/wiki/MRI_robot/MIT_2007_06_27_Meeting Initial discussion about requirements]
| |
