Home < OpenIGTLink < ProtocolV2 < Type < QTrackingData << Version 2 Draft Page
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
STT_TDATA
| 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[20]
|
Coordinate system to use. Can be empty for default coordinate system. (not included if action = 2)
|
STP_TDATA
RTS_TDATA
Implementations
The TDATA message type is implemented in the following source code.
Contributors
Alexander Schaal
See OpenIGTLink/ProtocolV2/Type/TrackingData.
