Difference between revisions of "OpenIGTLink"

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<div class="floatright">__TOC__</div>
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<font color=red>The OpenIGTLink official web page has moved to http://openigtlink.org/</font>
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Open IGT Link is a simple network protocol intended for trackers, robots and other devices to send data to the main application. Some devices might accept commands.
 
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* [http://www.ndigital.com/ Optotrack]
 
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* MRI real time image
 
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* [http://www.cisst.org/wiki/MRI_Robot JHU robots]
 
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(Please contact us if you would like to include other devices.)
 
  
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License: [http://www.opensource.org/licenses/bsd-license.php new BSD license] &copy;2008 Insight Software Consortium
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Please click [[OpenIGTLink_OldPage|here]] to visit the old page.
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=People / Organizations=
 
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* [http://www.kitware.com/profile/team/ibanez.html Luis Ibanez], Kitware
 
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* [http://www.spl.harvard.edu/pages/People/tokuda  Junichi Tokuda], BWH
 
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* [http://www.cisst.org/wiki/User:Csoma Csaba Csoma], JHU
 
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* Jack Blevins, Acousticmed
 
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* Patrick Cheng, Georgetown University
 
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* [http://www.spl.harvard.edu/pages/People/hliu Haying Liu], BWH
 
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* [http://www.insightsoftwareconsortium.org/ Insight Software Consortium]
 
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* [http://www.na-mic.org/ National Alliance for Medical Image Computing (NA-MIC)]
 
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=Protocol=
 
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===Header Structure===
 
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  Bytes
 
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  0  2                      14                                      34            42              50              58
 
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  +-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+.....
 
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  | V |          TYPE        |              DEVICE_NAME              |  TIME_STAMP  |  BODY_SIZE  |    CRC64    |   BODY   
 
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  +-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+.....
 
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===Byte Order===
 
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Big endian should be used for all numerical values (version, body size, crc). Unused spaces are padded with 0 (binary).
 
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===Header Fields===
 
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{| border="1" cellpadding="5" cellspacing="0" align="center"
 
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|-
 
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| align="left style="background:#e0e0e0;" | Data
 
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| align="left style="background:#e0e0e0;" | Type
 
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| align="left style="background:#e0e0e0;" | Description
 
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|-
 
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| align="left" | V
 
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| align="left" | Unsigned short (16bit)
 
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| align="left" | Version number (1)
 
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|-
 
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| align="left" | TYPE
 
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| align="left" | char[8]
 
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| align="left" | Type name of data
 
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|-
 
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| align="left" | DEVICE_NAME
 
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| align="left" | char[20]
 
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| align="left" | Unique device name
 
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|-
 
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| align="left" | TIME_STAMP
 
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| align="left" | 64 bit unsigned int
 
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| align="left" | microseconds since Jan 1, 1970 (is it OK?)
 
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|-
 
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| align="left" | BODY_SIZE
 
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| align="left" | 64 bit unsigned int
 
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| align="left" | Size of body in bytes
 
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|-
 
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| align="left" | CRC
 
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| align="left" | 64 bit unsigned int
 
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| align="left" | 64 bit CRC for body data
 
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|-
 
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|}
 
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= Data types =
 
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==IMAGE==
 
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Image data consists of ascii header information followed by binary image pixel data.
 
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(Ascii header is used to maintain compatibility with SlicerDaemon connection)
 
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space right-anterior-superior\n
 
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dimensions <xsize> <ysize> <zsize>\n
 
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space_origin (<x>, <y>, <z>)\n
 
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space_directions (<tx>, <ty>, <tz>) (<sx>, <sy>, <sz>) (<nx>, <ny>, <nz>) \n
 
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kinds space space space\n
 
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components 1\n
 
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scalar_type <scalar type #>\n
 
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<binary image data>
 
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Descriptions:
 
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{| border="1" cellpadding="5" cellspacing="0" align="center"
 
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|-
 
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| align="left style="background:#e0e0e0;" | Data
 
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| align="left style="background:#e0e0e0;" | Type
 
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| align="left style="background:#e0e0e0;" | Description
 
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|-
 
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| align="left" | <xsize>, <ysize>, <zsize>
 
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| align="left" | text number (real)
 
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| align="left" | Center position of the image in RAS coordinate
 
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|-
 
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| align="left" | <tx>, <ty>, <tz>
 
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| align="left" | text number (real)
 
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| align="left" | Transverse vector (direction for 'i' index) / The length represents pixel size in 'i' direction
 
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|-
 
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| align="left" | <sx>, <sy>, <sz>
 
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| align="left" | text number (real)
 
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| align="left" | Transverse vector (direction for 'j' index) / The length represents pixel size in 'j' direction
 
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|-
 
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| align="left" | <nx>, <ny>, <nz>
 
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| align="left" | text number (real)
 
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| align="left" | Normal vector of image plane(direction for 'k' index) /  The length represents pixel size in 'z' direction or slice thickness
 
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|-
 
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| align="left" | <scalar type #>
 
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| align="left" | Pixel scalar type number (Ascii)
 
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| align="left" | 2:int8 3:int8 4:int16 5:uint16 6:int32 7:uint32 10:float32 11:float64
 
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|-
 
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| align="left" | <binary image data>
 
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| align="left" | Binary image data (<xsize>*<ysize>*<zsize>* (pixel size)
 
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| align="left" | Image data
 
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|-
 
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|}
 
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==TRANSFORM==
 
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The transform data is upper three rows of 4x4 transformation matrix, where element (3,3) is assumed to be 1.
 
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  Bytes (Body)
 
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  50      54      58      62      66      70      74      78      82      86      90      94      98
 
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  +-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
 
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  | (0,0) | (1,0) | (2,0) | (0,1) | (1,1) | (2,1) | (0,2) | (1,2) | (2,2) | (0,3) | (1,3) | (2,3) |
 
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  +-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+
 
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==POSITION==
 
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* Timestamp
 
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* 3D Position
 
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* Optional: Orientation
 
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==STATUS==
 
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  Bytes (Body)
 
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  50  52            60                          80
 
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  +-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+--+-+-+.....
 
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  | C |  Sub Code  |      Status name          |  Status message (optional)
 
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  +-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+-+--+-+-+.....
 
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{| border="1" cellpadding="5" cellspacing="0"
 
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|-
 
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| align="left style="background:#e0e0e0;" | Data
 
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| align="left style="background:#e0e0e0;" | Type
 
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| align="left style="background:#e0e0e0;" | Description
 
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|-
 
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| align="left" | C
 
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| align="left" | Unsigned short (16bit)
 
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| align="left" | Status code groups: 1-Ok, 2-Generic Error, ... (see below)
 
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|-
 
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| align="left" | Sub Code
 
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| align="left" | 64 bit integer
 
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| align="left" | Sub code for the error (ex. 0x200 - file not found)
 
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|-
 
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| align="left" | Error name
 
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| align="left" | char[20]
 
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| align="left" | "Error", "Ok", "Starting up" - can be anything, don't relay on this
 
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|-
 
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| align="left" | Status Message (optional)
 
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| align="left" | char[ BodySize - 30 ]
 
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| align="left" | Optional (English) description (ex. "File C:\test.ini not found")
 
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|-
 
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|}
 
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'''Status codes:'''<br />
 
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0 No Errors Found (use status 1 instead!)<br />
 
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1 OK (Default status)<br />
 
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2 Unknown error<br />
 
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3 Panic mode (emergency)<br />
 
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4 Not found (file, configuration, device etc)<br />
 
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5 Access denied<br />
 
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6 Busy<br />
 
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7 Time out / Connection lost<br />
 
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8 Overflow / Can't be reached<br />
 
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9 Checksum error<br />
 
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10 Configuration error<br />
 
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11 Not enough resource (memory, storage etc)<br />
 
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12 Illegal/Unknown instruction (or feature not implemented)<br />
 
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13 Device not ready (starting up)<br />
 
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14 Manual mode (device does not accept commands)<br />
 
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15 Device disabled<br />
 
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16 Device not present<br />
 
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17 Device version not known<br />
 
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18 Hardware failure<br />
 
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19 Exiting / shut down in progress<br />
 
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<br />
 
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= Open questions =
 
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# What if the application receives hundreds of "position" packets? <br> Should we add "keep only the last" flag to the packet type?
 
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# Authentication (other than Unique Name)
 
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# Compression
 
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# Priority
 
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# Duplicate messages
 
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#
 
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= Resources =
 
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* [[Slicer3:_Image_Guided_Therapy_(IGT) ]]
 
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* [[Slicer/Features/Middleware | Middleware features]]
 
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* [http://www.cisst.org/wiki/MRI_robot/MIT_2007_06_27_Meeting Initial discussion about requirements]
 

Latest revision as of 05:07, 7 April 2013

Home < OpenIGTLink

The OpenIGTLink official web page has moved to http://openigtlink.org/

Please click here to visit the old page.

Retrieved from "https://www.na-mic.org/w/index.php?title=OpenIGTLink&oldid=80850"