OpenIGTLink/Library

<< OpenIGTLink

Source code

An Open Source implementation of the OpenIGTLink protocol is available at

http://www.na-mic.org/svn/NAMICSandBox/trunk/OpenIGTLink/

License

This code is distributed under the new BSD License.

Design

• Design
• Weekly Meeting: February 5th

Building instructions

• How to build the library?

Tutorial

C-code implementation (w/o socket)

The library contains c codes in the Source/igtlutil directory to generate Open IGT Link message byte stream. The followings are core parts of source codes to create Open IGT Link message.

Include declarations for transformation data:

 #include "igtl_util.h"
 #include "igtl_header.h"
 #include "igtl_transform.h"

Transform package creation:

 /********** pack data body **********/
 igtl_float32 transform[12];
 
 transform[0] = tx;
 transform[1] = ty;
 transform[2] = tz;
 transform[3] = sx;
 transform[4] = sy;
 transform[5] = sz;
 transform[6] = nx;
 transform[7] = ny;
 transform[8] = nz;
 transform[9] = px;
 transform[10] = py;
 transform[11] = pz;
 
 igtl_transform_convert_byte_order(transform);  /* convert endian if necessary */
 
 /********** general header **********/  
 igtl_header header;
 igtl_uint64 crc = crc64(0, 0, 0LL);          /* initial crc */
 header.version   = IGTL_HEADER_VERSION;
 header.timestamp = 0;
 header.body_size = IGTL_TRANSFORM_SIZE;
 header.crc       = crc64((unsigned char*)transform, IGTL_TRANSFORM_SIZE, crc);
 
 strncpy(header.name, "TRANSFORM", 12);       /* Device Type: should be "TRANSFORM" */
 strncpy(header.device_name, "Tracker", 20);    /* Device name */
 
 igtl_header_convert_byte_order(h);   /* convert endian if necessary */

Then send package (in case of BSD socket)

 send(sock, (void*) &header, IGTL_HEADER_SIZE, 0);
 send(sock, (void*) transform, IGTL_TRANSFORM_SIZE, 0);