/usr/include/openigtlink/igtl_tdata.h is in libopenigtlink-dev 1.11.0-1.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 | /*=========================================================================
Program: The OpenIGTLink Library
Language: C
Web page: http://openigtlink.org/
Copyright (c) Insight Software Consortium. All rights reserved.
This software is distributed WITHOUT ANY WARRANTY; without even
the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
PURPOSE. See the above copyright notices for more information.
=========================================================================*/
#ifndef __IGTL_TDATA_H
#define __IGTL_TDATA_H
#include "igtl_win32header.h"
#include "igtl_util.h"
#include "igtl_types.h"
#define IGTL_TDATA_ELEMENT_SIZE 70
#define IGTL_STT_TDATA_SIZE 36
#define IGTL_RTS_TDATA_SIZE 1
#define IGTL_TDATA_LEN_NAME 20 /* Maximum length of tracking instrument name */
#define IGTL_STT_TDATA_LEN_COORDNAME 32 /* Maximum length of coordinate system name */
#define IGTL_TDATA_TYPE_TRACKER 1 /* Tracker */
#define IGTL_TDATA_TYPE_6D 2 /* 6D instrument (regular instrument) */
#define IGTL_TDATA_TYPE_3D 3 /* 3D instrument (only tip of the instrument defined) */
#define IGTL_TDATA_TYPE_5D 4 /* 5D instrument (tip and handle are defined,
but not the normal vector) */
#ifdef __cplusplus
extern "C" {
#endif
#pragma pack(1) /* For 1-byte boundary in memroy */
/** Status data header for OpenIGTLinik protocol */
typedef struct {
char name[IGTL_TDATA_LEN_NAME]; /* Name of instrument / tracker */
igtl_uint8 type; /* Tracking data type (1-4) */
igtl_uint8 reserved; /* Reserved byte */
igtl_float32 transform[12]; /* same as TRANSFORM */
} igtl_tdata_element;
typedef struct {
igtl_int32 resolution; /* 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. */
char coord_name[IGTL_STT_TDATA_LEN_COORDNAME]; /* Name of the coordinate system */
} igtl_stt_tdata;
typedef struct {
igtl_int8 status; /* 0: Success 1: Error */
} igtl_rts_tdata;
#pragma pack()
/** igtl_tdata_get_data_size(n) calculates the size of body based on the number
* of tdatas. The size of body is used in the message header.*/
#define igtl_tdata_get_data_size(n) ((n) * IGTL_TDATA_ELEMENT_SIZE)
/** igtl_tdata_get_data_n(size) calculates the number of tdatas in the body, based on
* the body size. This function may be used when a client program parses a TDATA message. */
#define igtl_tdata_get_data_n(size) ((size) / IGTL_TDATA_ELEMENT_SIZE)
/** Converts endianness of each element in an array of
* igtl_tdata_element from host byte order to network byte order,
* or vice versa.*/
void igtl_export igtl_tdata_convert_byte_order(igtl_tdata_element* tdatalist, int nelem);
void igtl_export igtl_stt_tdata_convert_byte_order(igtl_stt_tdata* stt_tdata);
void igtl_export igtl_rts_tdata_convert_byte_order(igtl_rts_tdata* rts_tdata);
/** Calculates CRC of TDATA, STT_TDATA and RTS_TDATA messages.*/
igtl_uint64 igtl_export igtl_tdata_get_crc(igtl_tdata_element* tdatalist, int nelem);
igtl_uint64 igtl_export igtl_stt_tdata_get_crc(igtl_stt_tdata* stt_tdata);
igtl_uint64 igtl_export igtl_rts_tdata_get_crc(igtl_rts_tdata* rts_tdata);
#ifdef __cplusplus
}
#endif
#endif /* __IGTL_TDATA_H */
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