Difference between revisions of "OpenIGTLink/ProtocolV2/Type/Transform"
From NAMIC Wiki
| (14 intermediate revisions by the same user not shown) | |||
| Line 1: | Line 1: | ||
| − | [[OpenIGTLink/ProtocolV2/ | + | [[OpenIGTLink/ProtocolV2/Index | << Version 2 Index Page]] |
=Summary= | =Summary= | ||
| Line 36: | Line 36: | ||
| align="left" | 32-bit float | | align="left" | 32-bit float | ||
| align="left" | Element (3, 2) in 4-by-4 linear transformation matrix | | 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" | {| border="1" cellpadding="5" cellspacing="0" align="center" | ||
|- | |- | ||
| Line 47: | Line 70: | ||
| align="left style="background:#e0e0e0;" | Description | | align="left style="background:#e0e0e0;" | Description | ||
|- | |- | ||
| − | | | + | |} |
| − | + | ||
| − | + | ==STT_TRANS== | |
| + | |||
| + | {| border="1" cellpadding="5" cellspacing="0" align="center" | ||
|- | |- | ||
| − | | align="left | + | | align="left style="background:#e0e0e0;" | Data |
| − | + | | align="left style="background:#e0e0e0;" | Type | |
| − | | align="left | + | | align="left style="background:#e0e0e0;" | Description |
| − | |||
| − | |||
| − | | align="left | ||
| − | |||
|- | |- | ||
| + | |||
|} | |} | ||
| − | + | ==STP_TRANS== | |
| − | == | ||
{| border="1" cellpadding="5" cellspacing="0" align="center" | {| border="1" cellpadding="5" cellspacing="0" align="center" | ||
| Line 69: | Line 90: | ||
| align="left style="background:#e0e0e0;" | Type | | align="left style="background:#e0e0e0;" | Type | ||
| align="left style="background:#e0e0e0;" | Description | | align="left style="background:#e0e0e0;" | Description | ||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
|- | |- | ||
|} | |} | ||
| − | == | + | ==RTS_TRANS== |
{| border="1" cellpadding="5" cellspacing="0" align="center" | {| border="1" cellpadding="5" cellspacing="0" align="center" | ||
| Line 92: | Line 101: | ||
| align="left style="background:#e0e0e0;" | Description | | align="left style="background:#e0e0e0;" | Description | ||
|- | |- | ||
| − | | align="left" | | + | | align="left" | Status |
| − | | align="left" | unsigned | + | | align="left" | 8 bit unsigned |
| − | | align="left" | | + | | align="left" | 0: Success 1: Error |
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
| − | |||
|- | |- | ||
|} | |} | ||
| Line 110: | Line 111: | ||
*[http://svn.na-mic.org/NAMICSandBox/trunk/OpenIGTLink/Source/igtlTransformMessage.h igtlTransformMessage.h] | *[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] | *[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= | ||
Latest revision as of 04:40, 30 November 2011
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
TRANSFORM
| Data | Type | Description |
| R11 | 32-bit float | Element (1, 1) in 4-by-4 linear transformation matrix |
| R21 | 32-bit float | Element (2, 1) in 4-by-4 linear transformation matrix |
| R31 | 32-bit float | Element (3, 1) in 4-by-4 linear transformation matrix |
| R12 | 32-bit float | Element (1, 2) in 4-by-4 linear transformation matrix |
| R22 | 32-bit float | Element (2, 2) in 4-by-4 linear transformation matrix |
| R32 | 32-bit float | Element (3, 2) in 4-by-4 linear transformation matrix |
| R13 | 32-bit float | Element (1, 3) in 4-by-4 linear transformation matrix |
| R23 | 32-bit float | Element (2, 3) in 4-by-4 linear transformation matrix |
| R33 | 32-bit float | Element (3, 3) in 4-by-4 linear transformation matrix |
| TX | 32-bit float | Element (1, 4) in 4-by-4 linear transformation matrix (translation along x-axis in millimeter) |
| TY | 32-bit float | Element (2, 4) in 4-by-4 linear transformation matrix (translation along y-axis in millimeter) |
| TZ | 32-bit float | Element (3, 4) in 4-by-4 linear transformation matrix (translation along z-axisin millimeter) |
GET_TRANS
| Data | Type | Description |
STT_TRANS
| Data | Type | Description |
STP_TRANS
| Data | Type | Description |
RTS_TRANS
| Data | Type | Description |
| Status | 8 bit unsigned | 0: Success 1: Error |
Implementations
IMAGE type is implemented in the following files:
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.
