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QuaternionTrackingData Message

  • Protocol Version: 3.0
  • Release Date: January 20, 2017

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_0 char[20] Name (=Id) of the instrument/tracker # 0
TYPE_0 uint8 Type of instrument for #0
(--) uint8 Researved
POSITION_0 float32[3] (X, Y, Z)
QUATERNION_0 float32[4] Quaternion (QX, QY, QZ, W)
... ... ...
NAME_(N-1) char[20] Name (=Id) of the instrument/tracker
TYPE_(N-1) uint8 Type of instrument for #0
(--) uint8 Reserved
POSITION_(N-1) float32[3] (X, Y, Z)
QUATERNION_(N-1) float32[4] Quaternion (QX, QY, QZ, W)
  • TYPE_X should be one of the followings:
    • 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)

GET_QTDATA

Data Type Description
          |               |

STT_QTDATA

Data Type Description
STATUS uint8 0: Success; 1: Error
RESOL uint32 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.
COORD_NAME char[32] Name of coordinate system to use. Can be empty for default coordinate system. (not included if action = 2)

STP_QTDATA

Data Type Description
          |               |

RTS_QDATA

Data Type Description
STATUS uint8 0: Success; 1: Error

Implementations

Contributors

  • Alexander Schaal