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. The message also supports dataset attribute field in VTK, including scalars, calar_scalars, vectors, vectors, normals, texture coordinates and tensor, but not lookup table.
Message Types
POLYDATA
| Data | Type | Description |
| NPOINTS | uint32 | Number of points |
| NVERTICES | uint32 | Number of vertices |
| SIZE_VERTICES | uint32 | Total size of vertices data |
| NLINES | uint32 | Number of lines |
| SIZE_LINES | uint32 | Total size of line data |
| NPOLYGONS | uint32 | Number of polygons |
| SIZE_POLYGONS | uint32 | Total size of polygon data |
| NTRIANGLE_STRIPS | uint32 | Number of triangle strips |
| SIZE_TRIANGLE_STRIPS | uint32 | Total size of triangle strips data |
| NATTRIBUTES | uint32 | Number of dataset attributes |
| POINTS | float32 * 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, ....)) |
| TYPE_ATTRIBUTE0 | uint16 | Type of dataset attribute 0 (including number of components for scalar type) |
| NATTRIBUTE0 | uint32 | Number of data for attribute 0 |
| TYPE_ATTRIBUTE1 | uint16 | Type of dataset attribute 1 (including number of components for scalar type) |
| NATTRIBUTE1 | uint32 | Number of data for attribute1 |
| ... | ... | ... |
| TYPE_ATTRIBUTE(NATTRIBUTES-1) | uint16 | Type of dataset attribute 1 (including number of components for scalar type) |
| NATTRIBUTE(NATTRIBUTES-1) | uint32 | Number of data for attribute2 |
| NAME_ATTRIBUTE0 | char * (name length) | Name of attribute 0 |
| (null) | char | (null) |
| NAME_ATTRIBUTE1 | char * (name length) | Name of attribute 1 |
| (null) | char | (null) |
| ... | ... | ... |
| NAME_ATTRIBUTE(NATTRIBUTES-1) | char * (name length) | Name of attribute (NATTRIBUTES-1) |
| (null) | char | (null) |
| (Padding) | char or 0 | Padding (inserted if (NAMESIZE_ATTRIBUTE0+1+NAMESIZE_ATTRIBUTE1+1+...NAMESIZE_ATTRIBUTE(NATTRIBUTES-1)+1) % 2 == 1) |
| ATTRIBUTE0 | SIZE_ATTRIBUTE0 * (number of components) * (float32) | Actual attribute data |
| ATTRIBUTE1 | NATTRIBUTE0 * (number of components) * (float32) | Actual attribute data |
| ... | ... | ... |
| ATTRIBUTE(NATTRIBUTES-1) | NATTRIBUTE(NATTRIBUTES-1) * (number of components) * (float32) | Actual attribute data |
2/17 change the order of the field to make implementation easier
- Values for TYPE_ATTRIBUTE (16-bit)
- 0-7 bit: Attribute Type:
- 0x00: POINT_DATA / Scalars
- 0x01: POINT_DATA / Vectors
- 0x02: POINT_DATA / Normals
- 0x03: POINT_DATA / Tensors
- 0x04: POINT_DATA / RGBA
- 0x10: CELL_DATA / Scalars
- 0x11: CELL_DATA / Vectors
- 0x12: CELL_DATA / Normals
- 0x13: CELL_DATA / Tensors
- 0x14: CELL_DATA / RGBA
- 8-15 bit: Number of components -- must be 3 for Vectors and Normal, 9 for Tensor, 4 for RGBA.
- 0-7 bit: Attribute Type:
- Maximum length for attribute name is 255
- If there are a pair of scalar and RGBA data with the same name and type (either POINT or CELL), those are used as scalar values and a look up table.
- elements in RGBA data must be in the rage of [0.0, 1.0]
GET_POLYDATA
| Data | Type | Description |
STT_POLYDATA
| Data | Type | Description |
| 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
