Difference between revisions of "OpenIGTLink/ProtocolV2/Type/QTrackingData"
From NAMIC Wiki
m (→STT_QTDATA) |
|||
| Line 81: | Line 81: | ||
|- | |- | ||
| align="left" | Coordinate system name | | align="left" | Coordinate system name | ||
| − | | align="left" | char[ | + | | align="left" | char[32] |
| align="left" | Coordinate system to use. Can be empty for default coordinate system. (not included if action = 2) | | align="left" | Coordinate system to use. Can be empty for default coordinate system. (not included if action = 2) | ||
|- | |- | ||
Revision as of 00:34, 3 February 2011
Home < OpenIGTLink < ProtocolV2 < Type < QTrackingDataContents
Summary
The QTDATA message type is intended for transferring 3D positions of surgical tools, markers etc. Its role is almost identical to TDATA, except that QTDATA describes orientation by using quaternion.
Message Types
QTDATA
| Data | Type | Description |
| NAME_1 | char[20] | Name (=Id) of the instrument/tracker |
| TYPE_1 | 8 bit unsigned | 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) |
| -- | 8 bit unsigned | Reserved |
| POSITION_1 | float32[3] | (X, Y, Z) |
| QUATERNION_1 | float32[4] | Quaternion (QX, QY, QZ, W) |
| ... | ||
| NAME_N | char[20] | Name (=Id) of the instrument/tracker |
| TYPE_N | 8 bit unsigned | 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) |
| -- | 8 bit unsigned | Reserved |
| POSITION_N | float32[3] | (X, Y, Z) |
| QUATERNION_N | float32[4] | Quaternion (QX, QY, QZ, W) |
GET_QTDATA
| Data | Type | Description |
STT_QTDATA
| Data | Type | Description |
| Resolution | 32 bit unsigned | 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. |
| Coordinate system name | char[32] | Coordinate system to use. Can be empty for default coordinate system. (not included if action = 2) |
STP_QTDATA
| Data | Type | Description |
RTS_QTDATA
| Data | Type | Description |
| Status | 8 bit unsigned | 0: Success 1: Error |
Implementations
Contributors
Alexander Schaal
