OpenIGTLink/ProtocolV2/Type/QTrackingData

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Summary

The QTDATA message type is intended for transferring 3D positions of surgical tools, markers etc. Its role is almost identical to TDATA, except that QTDATA describes orientation by using quaternion.

Message Types

QTDATA

Data Type Description
NAME_1 char[32] Name (=Id) of the instrument/tracker
TYPE_1 8 bit unsigned 1: tracker, 2: 6D instrument (regular instrument), 3: 3D instrument (only tip of the instrument defined), 4: 5D instrument (tip and handle are defined, but not the normal vector)
-- 8 bit unsigned Reserved
POSITION_1 float32[3] (X, Y, Z)
QUATERNION_1 float32[4] Quaternion (QX, QY, QZ, W)
...
NAME_N char[32] Name (=Id) of the instrument/tracker
TYPE_N 8 bit unsigned 1: tracker, 2: 6D instrument (regular instrument), 3: 3D instrument (only tip of the instrument defined), 4: 5D instrument (tip and handle are defined, but not the normal vector)
-- 8 bit unsigned Reserved
POSITION_N float32[3] (X, Y, Z)
QUATERNION_N float32[4] Quaternion (QX, QY, QZ, W)

Feb 2, 2011: The length of the coordinate system field was corrected. (It should be the same as TDATA.)

GET_QTDATA

Data Type Description

STT_QTDATA

Data Type Description
Resolution 32 bit unsigned Minimum time between two frames. Use 0 for as fast as possible. If e.g. 50 ms is specified, the maximum update rate will be 20 Hz.
Coordinate system name char[32] Coordinate system to use. Can be empty for default coordinate system. (not included if action = 2)

STP_QTDATA

Data Type Description

RTS_QTDATA

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

Implementations

Contributors

Alexander Schaal

Comments

See OpenIGTLink/ProtocolV2/Type/TrackingData.