OpenIGTLink/ProtocolV2/Type/Transform

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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)
TY	32-bit float	Element (2, 4) in 4-by-4 linear transformation matrix (translation along y-axis)
TZ	32-bit float	Element (3, 4) in 4-by-4 linear transformation matrix (translation along z-axis)

GET_TRANSFORM

Data

Type

Description

STT_TRANSFORM

Data

Type

Description

STP_TRANSFORM

Data	Type	Description
V1	unsigned short	Value 1
V2	8bit unsigned int	Value 2
...	...	...

Implementations

IMAGE type is implemented in the following files:

• igtlTransformMessage.h
• igtlTransformMessage.cxx