Difference between revisions of "OpenIGTLink/ProtocolV2/Type/SensorData"

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(Created page with ' << Version 2 Draft Page =Summary= SDATA is a message type, which is used to transfer sensor reading, 3-axis position, velocity, accelera…')
 
 
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[[OpenIGTLink/ProtocolV2/Draft | &lt;&lt; Version 2 Draft Page]]
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[[OpenIGTLink/ProtocolV2/Index | &lt;&lt; Version 2 Index Page]]
  
 
=Summary=
 
=Summary=
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SDATA is a message type, which is used to transfer sensor reading, 3-axis position, velocity, acceleration, angle, angle velocity and angle acceleration. The message format is intended for manipulator control and various types of sensors.
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SENSOR is a message type, which is used to transfer sensor reading, 3-axis position, velocity, acceleration, angle, angle velocity and angle acceleration. The message format is intended for manipulator control and various types of sensors.
  
 
=Message Types=
 
=Message Types=
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==TDATA==
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==SENSOR==
  
 
{| border="1" cellpadding="5" cellspacing="0" align="center"
 
{| border="1" cellpadding="5" cellspacing="0" align="center"
 
|-
 
|-
−
| align="left style="background:#e0e0e0;" | Data
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| align="left" style="background:#e0e0e0;" | Data
−
| align="left style="background:#e0e0e0;" | Type
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| align="left" style="background:#e0e0e0;" | Type
−
| align="left style="background:#e0e0e0;" | Description
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| align="left" style="background:#e0e0e0;" | Description
 +
|-
 +
| align="left" | LARRAY
 +
| align="left" | uint8
 +
| align="left" | Length of array (0-255)
 
|-
 
|-
−
| align="left" | NSENSOR
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| align="left" | STATUS
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| align="left" | UINT16
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| align="left" | uint8
−
| align="left" | Number of sensors
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| align="left" | Sensor status (Reserved)
 
|-
 
|-
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| align="left" | FORMAT
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| align="left" | UNIT
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| align="left" | UINT16
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| align="left" | uint64
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| align="left" | Bit  1: Name flag
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| align="left" | See [[OpenIGTLink/ProtocolV2/Unit| 64-bit UNIT field]].
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Bit  2: Arbitrary value 1          (*)
 
−
Bit  3: Arbitrary value 2          (*)
 
−
Bit  4: Arbitrary value 3          (*)
 
−
Bit  5: Arbitrary value 4          (*)
 
−
Bit  8: Position flag              (m)
 
−
Bit  9: Velocity flag              (m/s)
 
−
Bit 10: Acceleration flag          (m/s^2)
 
−
Bit 11: Force flag                (N)
 
−
Bit 12: Angle flag                (Rad)
 
−
Bit 13: Angle velocity flag     (Rad/s)
 
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Bit 14: Angle acceleration flag    (Rad/s^2)
 
−
Bit 15: Torque flag         (N*m)
 
 
|-
 
|-
−
| align="left" | --
+
| align="left" | DATA
−
| align="left" | 8 bit unsigned
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| align="left" | float64[LARRAY]
−
| align="left" | Reserved
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| align="left" | value array for sensor 0
 
|-
 
|-
−
| align="left" | MATRIX_1
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|}
−
| align="left" | 32 bit float
+
 
−
| align="left" | 12 values like in TRANSFORM message
+
 
 +
===Examples===
 +
====Sending 3-axis troque====
 +
A device with 3-axis torque (N*m) sensor is sending data to a data logger program. The following table shows example data format to send 3-axis torque:
 +
 
 +
{| border="1" cellpadding="5" cellspacing="0" align="center"
 
|-
 
|-
−
| colspan=3 align="center" style="background:#f0f0f0;" | ...
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| align="left" style="background:#e0e0e0;" | Data
 +
| align="left" style="background:#e0e0e0;" | Type
 +
| align="left" style="background:#e0e0e0;" | Value
 
|-
 
|-
−
| align="left" | NAME_N
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| align="left" | LARRAY
−
| align="left" | char[20]
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| align="left" | uint8
−
| align="left" | Name (=Id) of the instrument/tracker
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| align="left" | 3
 
|-
 
|-
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| align="left" | TYPE_N
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| align="left" | STATUS
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| align="left" | 8 bit unsigned
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| align="left" | uint8
−
| align="left" | 1: tracker, 2: 6D instrument (regular instrument), 3: 3D instrument (only tip of the instrument defined), 4: 5D instrument (tip and handle are defined, but not the normal vector)
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| align="left" | 0
 
|-
 
|-
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| align="left" | --
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| align="left" | UNIT
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| align="left" | 8 bit unsigned
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| align="left" | uint64
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| align="left" | Reserved
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| align="left" | 00000010 11000000 00010000 00000000 00000000 00000000 00000000 00000000
 
|-
 
|-
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| align="left" | MATRIX_N
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| align="left" | DATA
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| align="left" | 32 bit float
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| align="left" | double[3]
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| align="left" | 12 values like in TRANSFORM message
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| align="left" | {0.0, 0.0, 0.0}
 
|-
 
|-
 
|}
 
|}
  
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==GET_TDATA==
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====Sending 3-axis force, troque and acceleration====
 +
By binding SENSOR data using BIND type, values from multiple types of sensors can be transferred simultaneously. See [[OpenIGTLink/ProtocolV2/Type/Bind|BIND message description page]] for detail.
 +
 
 +
==GET_SENSOR==
  
 
{| border="1" cellpadding="5" cellspacing="0" align="center"
 
{| border="1" cellpadding="5" cellspacing="0" align="center"
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|}
 
|}
  
 +
==STT_SENSOR==
 +
 +
{| 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
 +
|-
 +
|}
  
−
==STT_TDATA==
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<center> or </center>
  
 
{| border="1" cellpadding="5" cellspacing="0" align="center"
 
{| border="1" cellpadding="5" cellspacing="0" align="center"
 
|-
 
|-
−
| align="left style="background:#e0e0e0;" | Data
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| align="left" style="background:#e0e0e0;" | Data
−
| align="left style="background:#e0e0e0;" | Type
+
| align="left" style="background:#e0e0e0;" | Type
−
| align="left style="background:#e0e0e0;" | Description
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| align="left" style="background:#e0e0e0;" | Description
−
|-
 
−
| align="left" | Resolution
 
−
| align="left" | 32 bit unsigned
 
−
| align="left" | Minimum time between two frames. Use 0 for as fast as possible. If e.g. 50 ms is specified, the maximum update rate will be 20 Hz.
 
 
|-
 
|-
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| align="left" | Coordinate system name
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| align="left" | RESOL
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| align="left" | char[20]
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| align="left" | uint64
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| align="left" | Coordinate system to use. Can be empty for default coordinate system. (not included if action = 2)
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| align="left" | Minimum interval between message (ns). Same format as [[OpenIGTLink/Timestamp|TimeStamp]]
 
|-
 
|-
 
|}
 
|}
  
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* All tracking data from one frame is included.
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==STP_SENSOR==
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* Invisible/unavailable trackers/instruments are not included.
 
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* Easy to develop. Sample pseudo code: '''while(true) { recv(trackingdata); updateView(trackingdata); }'''
 
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*Usually the tracking data will be sent using the standard coordinate system, which is also used for POINT, IMAGE, ... But this does only work after patient registration. Therefore the body of START_PUSH has an optional field for specifing the coordinate system "CAMERA". To switch back to the standard coordinate system, one has to send STOP_PUSH and afterwards START_PUSH without explicitly specifing the camera coordinate system.
 
−
 
 
  
−
==STP_TDATA==
 
  
 
{| border="1" cellpadding="5" cellspacing="0" align="center"
 
{| border="1" cellpadding="5" cellspacing="0" align="center"
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|}
 
|}
  
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==RTS_TDATA==
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==RTS_SENSOR==
  
 +
{| 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" | Status
 +
| align="left" | 8 bit unsigned
 +
| align="left" | 0: Success 1: Error
 +
|-
 +
|}
  
 
=Implementations=
 
=Implementations=
 
The TDATA message type is implemented in the following source code.
 
The TDATA message type is implemented in the following source code.
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*[http://svn.na-mic.org/NAMICSandBox/trunk/OpenIGTLink/Source/igtlTrackingDataMessage.h igtlTrackingDataMessage.h]
+
<!--
−
*[http://svn.na-mic.org/NAMICSandBox/trunk/OpenIGTLink/Source/igtlTrackingDataMessage.cxx igtlTrackingDataMessage.cxx]
+
*[http://svn.na-mic.org/NAMICSandBox/trunk/OpenIGTLink/Source/igtlSensorMessage.h igtlSensorMessage.h]
 +
*[http://svn.na-mic.org/NAMICSandBox/trunk/OpenIGTLink/Source/igtlSensorMessage.cxx igtlSensorMessage.cxx]
 +
-->
  
 
=Contributors=
 
=Contributors=
−
Alexander Schaal
+
Junichi Tokuda, Yuichiro Hayashi
  
 
=Comments=
 
=Comments=
−
 
−
''Junichi'':
 
−
*How about adding 8- or 16-bit status field in TDATA? This will allow us to indicate that coordinate system is not registered. I would like to keep START_PUSH message simple....
 
−
 
−
''Alexander'':
 
−
*What status types can be specified?
 
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*In the case the coordinate system is not valid, a STATUS message should be returned.
 
−
*Well, I understand that you would like to keep it as simple as possible. We really like to specifiy the coordinate system like "Camera" or "Patient". We could also specifiy a SET_COORD message, but I think this would be overkill. I still vote for a data specific argument field in START_PUSH. Maybe other future data types can also use this field?
 
−
*Due to consistency, I think we should add this field to STOP_PUSH, too.
 
−
*We would like to allow only one TDATA push for each client at a time, so a second START_PUSH will stop the first and start the second. A STOP_PUSH will stop the push regardless of the arguments in the body. What do you think about that?
 
−
 
−
''Junichi'':
 
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* I haven't defined status types... it can be a bit array like: bit 0: registered or not; bit 1: line-of-site error; ....
 
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** Do you think it is useful? if not, we can omit it.
 
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* I agree that we need a way to specify coordinate system. It's good idea to have data specific field in the START_PUSH.
 
−
* I agree with the last comment. I would say one TDATA push for each device name, because multiple data sources may exist. The coordinate system can be overwritten by another START_PUSH message with the same device name and type.
 
−
 
−
''Alexander'':
 
−
* I think we don't need the status type. But maybe we define a TDATA in v3 after collecting some feedback from different users. I could think about other fields like diameter of instruments, etc. But for now I would like to keep TDATA as simple as possible.
 
−
* Ok, starting another trackingdata push with the same device name will implictly stop the first one. But if another device name is used, a second push will be started.
 

Latest revision as of 04:44, 30 November 2011

Home < OpenIGTLink < ProtocolV2 < Type < SensorData

<< Version 2 Index Page

Summary

SENSOR is a message type, which is used to transfer sensor reading, 3-axis position, velocity, acceleration, angle, angle velocity and angle acceleration. The message format is intended for manipulator control and various types of sensors.

Message Types

SENSOR

Data Type Description
LARRAY uint8 Length of array (0-255)
STATUS uint8 Sensor status (Reserved)
UNIT uint64 See 64-bit UNIT field.
DATA float64[LARRAY] value array for sensor 0


Examples

Sending 3-axis troque

A device with 3-axis torque (N*m) sensor is sending data to a data logger program. The following table shows example data format to send 3-axis torque:

Data Type Value
LARRAY uint8 3
STATUS uint8 0
UNIT uint64 00000010 11000000 00010000 00000000 00000000 00000000 00000000 00000000
DATA double[3] {0.0, 0.0, 0.0}

Sending 3-axis force, troque and acceleration

By binding SENSOR data using BIND type, values from multiple types of sensors can be transferred simultaneously. See BIND message description page for detail.

GET_SENSOR

Data Type Description

STT_SENSOR

Data Type Description
or
Data Type Description
RESOL uint64 Minimum interval between message (ns). Same format as TimeStamp

STP_SENSOR

Data Type Description

RTS_SENSOR

Data Type Description
Status 8 bit unsigned 0: Success 1: Error

Implementations

The TDATA message type is implemented in the following source code.

Contributors

Junichi Tokuda, Yuichiro Hayashi

Comments

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