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| | = Building instructions = | | = Building instructions = |
| | * [[OpenIGTLink/Library/Build | How to build the library?]] | | * [[OpenIGTLink/Library/Build | How to build the library?]] |
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| − | = Tutorial =
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| − | ==C-code implementation (w/o socket)==
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| − |
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| − | The library contains c codes in the Source/igtlutil directory to generate Open IGT Link message byte stream.
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| − | The followings are core parts of source codes to create Open IGT Link message.
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| − | Include declarations for transformation data:
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| − | #include "igtl_util.h"
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| − | #include "igtl_header.h"
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| − | #include "igtl_transform.h"
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| − | Transform package creation:
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| − | /********** pack data body **********/
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| − | igtl_float32 transform[12];
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| − |
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| − | transform[0] = tx;
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| − | transform[1] = ty;
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| − | transform[2] = tz;
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| − | transform[3] = sx;
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| − | transform[4] = sy;
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| − | transform[5] = sz;
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| − | transform[6] = nx;
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| − | transform[7] = ny;
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| − | transform[8] = nz;
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| − | transform[9] = px;
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| − | transform[10] = py;
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| − | transform[11] = pz;
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| − |
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| − | igtl_transform_convert_byte_order(transform); /* convert endian if necessary */
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| − |
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| − | /********** general header **********/
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| − | igtl_header header;
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| − | igtl_uint64 crc = crc64(0, 0, 0LL); /* initial crc */
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| − | header.version = IGTL_HEADER_VERSION;
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| − | header.timestamp = 0;
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| − | header.body_size = IGTL_TRANSFORM_SIZE;
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| − | header.crc = crc64((unsigned char*)transform, IGTL_TRANSFORM_SIZE, crc);
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| − | strncpy(header.name, "TRANSFORM", 12); /* Device Type: should be "TRANSFORM" */
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| − | strncpy(header.device_name, "Tracker", 20); /* Device name */
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| − |
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| − | igtl_header_convert_byte_order(h); /* convert endian if necessary */
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| − | Then send package (in case of BSD socket)
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| − | send(sock, (void*) &header, IGTL_HEADER_SIZE, 0);
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| − | send(sock, (void*) transform, IGTL_TRANSFORM_SIZE, 0);
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