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 in millimeter)
|
| TY
|
32-bit float
|
Element (2, 4) in 4-by-4 linear transformation matrix (translation along y-axis in millimeter)
|
| TZ
|
32-bit float
|
Element (3, 4) in 4-by-4 linear transformation matrix (translation along z-axisin millimeter)
|
GET_TRANS
STT_TRANS
STP_TRANSFORM
RTS_TRANSFORM
| Data
|
Type
|
Description
|
| Status
|
8 bit unsigned
|
0: Success 1: Error
|
Implementations
IMAGE type is implemented in the following files:
Implementations
XXX message type is implemented in the following source code.
- igtlXXXXMessage.h (link to the file in subversion repository, if available)
- igtlXXXXMessage.cxx (link to the file in subversion repository, if available)
Contributors
This is part of original OpenIGTLink Protocol Version 1.
