OpenIGTLink/ProtocolV2/Type/PolyData

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Summary

POLYDATA is used to transfer 3D polygonal data. The message format is designed based on the POLY DATA format defined in VTK file format and equivalent to VTK's vtkPolyData class.

Message Types

POLYDATA

Data	Type	Description
NPOINTS	uint32	Number of points
PTYPE	uint16	Data type (see image)
NVERTICES	uint32	Number of vertices
NLINES	uint32	Number of lines
NPOLYGONS	uint32	Number of lines
NTRIANGLE_STRIPS	uint32	Number of lines
POINTS	PTYPE * NPOINTS * 3	Coordinates of points (P0x, P0y, P0z, P1x, P1y, P1z, ... P(n-1)x, P(n-1)y, P(n-1)z
VERTICES	uint32 * ((NPOINTS_0+1) + (NPOINTS_1+1) + (NPOINTS_(N-1)+1))	array of vertices ((NPOINTS_0, index_0_0, index_0_1, ....), (NPOINTS_1, index_1_0, index_1_1, ....), ..., (NPOINTS_(N-1), index_(N-1)_0, index_(N-1)_1, ....))
LINES	uint32 * ((NPOINTS_0+1) + (NPOINTS_1+1) + (NPOINTS_(N-1)+1))	array of vertices ((NPOINTS_0, index_0_0, index_0_1, ....), (NPOINTS_1, index_1_0, index_1_1, ....), ..., (NPOINTS_(N-1), index_(N-1)_0, index_(N-1)_1, ....))
POLYGONS	uint32 * ((NPOINTS_0+1) + (NPOINTS_1+1) + (NPOINTS_(N-1)+1))	array of vertices ((NPOINTS_0, index_0_0, index_0_1, ....), (NPOINTS_1, index_1_0, index_1_1, ....), ..., (NPOINTS_(N-1), index_(N-1)_0, index_(N-1)_1, ....))
TRIANGLE_STRIPS	uint32 * ((NPOINTS_0+1) + (NPOINTS_1+1) + (NPOINTS_(N-1)+1))	array of vertices ((NPOINTS_0, index_0_0, index_0_1, ....), (NPOINTS_1, index_1_0, index_1_1, ....), ..., (NPOINTS_(N-1), index_(N-1)_0, index_(N-1)_1, ....))

2/17 change the order of the field to make implementation easier

GET_POLYDATA

Data

Type

Description

STT_POLYDATA

Data

Type

Description

or

Data	Type	Description
RESOL	uint64	Minimum interval between message (ns). Same format as TimeStamp

STP_POLYDATA

Data

Type

Description

RTS_POLYDATA

Data	Type	Description
Status	8 bit unsigned	0: Success 1: Error

Implementations

The NDARRAY message type is implemented in the following source code.

Contributors

Junichi Tokuda