Home < OpenIGTLink < ProtocolV2 < Type < Transform << Version 2 Draft Page
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
|
| V1
|
unsigned short
|
Value 1
|
| V2
|
8bit unsigned int
|
Value 2
|
| ...
|
...
|
...
|
STT_TRANSFORM
| Data
|
Type
|
Description
|
| V1
|
unsigned short
|
Value 1
|
| V2
|
8bit unsigned int
|
Value 2
|
| ...
|
...
|
...
|
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:
