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[Back to Index](/Documents/Protocol/index.md)
PolyData Message
================
- Protocol Version: 3.0
- Release Date: January 20, 2017
Summary
=======
POLYDATA is used to transfer 3D polygonal data. The message format is designed
based on the [POLY DATA format](http://www.vtk.org/VTK/img/file-formats.pdf)
defined in VTK file format and equivalent to
[VTK's vtkPolyData class](http://noodle.med.yale.edu/vtk5/classvtkPolyData.html).
The message also supports dataset attribute field in VTK, including scalars,
calar_scalars, vectors, vectors, normals, texture coordinates, and tensor, but
not lookup table.
Message Types
=============
POLYDATA
--------
Data | Type | Description
----------------------|--------------|------------------------------------------
NPOINTS | uint32 | Number of points
NVERTICES | uint32 | Number of vertices
SIZE_VERTICES | uint32 | Total size of vertices data
NLINES | uint32 | Number of lines
SIZE_LINES | uint32 | Total size of line data
NPOLYGONS | uint32 | Number of polygons
SIZE_POLYGONS | uint32 | Total size of polygon data
NTRIANGLE_STRIPS | uint32 | Number of triangle strips
SIZE_TRIANGLE_STRIPS | uint32 | Total size of triangle strips data
NATTRIBUTES | uint32 | Number of dataset attributes
POINTS | POINTS | Coordinates of point 0 - (NPOINTS-1)
VERTICES | STRUCT_ARRAY | Array of vertices
LINES | STRUCT_ARRAY | Array of lines
POLYGONS | STRUCT_ARRAY | Array of polygons
TRIANGLE_STRIPS | STRUCT_ARRAY | Array of triangle strips
ATTRIBUTES | ATTRIBUTES | Attributes
- POINTS
Data | Type | Description
--------------|---------------|-------------------------------------------------
P0X,P0Y,P0Z | float32[3] | Coordinates for point 0
... | ... | ...
P(NPOINTS-1)X,P(NPOINTS-1)Y,P(NPOINTS-1)Z | float32[3] | Coordinates for point (NPOINTS-1)
- STRUCT_ARRAY
STRUCT_ARRAY contains an array of point indices that represent a geometric
structure, including vertices, lines, polygons, and triangle strips.
The number of structures (N_STRUCT) are specified by either NVERTICES, NLINES,
NPOLYGONS, or NTRIANGLE_STRIPS (see the table above).
Data | Type | Description
--------------------------|--------------|---------------------------------------
STRUCT_0 | POINT_INDICES| Point indices for 0th structure
... | ... | ...
STRUCT_(N_STRUCT-1) | POINT_INDICES| Point indices for N_STRUCT-1 th structure
- POINT_INDICES
Data | Type | Description
--------------------------|-------------|---------------------------------------
NINDICES | uint32 | Number of point indices
POINT_INDEX_0 | uint32 | Index for point #0
... | ... |
POINT_INDEX_(NINDICES-1) | uint32 | Index for point # (NINDICES - 1)
- ATTRIBUTES
Data | Type | Description
-------------------------|----------------|----------------------------------------
ATTRIBUTE_HEADER |ATTRIBUTE_HEADER| Attribute header
ATTRIBUTE_NAMES | ATTRIBUTE_NAMES| List of attribute names
ATTRIBUTE_0 | ATTRIBUTE_DATA | Data for attribute #0
... | ... | ...
ATTRIBUTE_(NATTRIBUTE-1)| ATTRIBUTE_DATA | Data for attribute #(NATTRIBUTE-1)
- ATTRIBUTE_HEADER
Data | Type | Description
----------------------|---------------|------------------------------------------
TYPE_ATTRIBUTE_0 | uint16 | Type of dataset attribute #0 (including number of components for scalar type)
NATTRIBUTE_0 | uint32 | Number of data for attribute #0
... | ... | ...
... | ... | ...
TYPE_ATTRIBUTE(NATTRIBUTES-1)| uint16| Type of dataset attribute #(NATTRIBUTES-1)
NATTRIBUTE(NATTRIBUTES-1)| uint32 | Number of data for attribute #(NATTRIBUTES-1)
- ATTRIBUTE_NAMES
Data | Type | Description
----------------------|---------------|------------------------------------------
NAME_ATTRIBUTE_0 | char[] | Name of attribute 0
(null) | char | (null)
... | ... | ...
... | ... | ...
NAME_ATTRIBUTE_(NATTRIBUTES-1)| char[] | Name of attribute (NATTRIBUTES-1)
(null) | char | (null)
Padding | (int8) NULL | Padding (inserted to make the size of ATTRIBUTE_NAMES even)
- ATTRIBUTE_DATA
Data | Type | Description
------|-------------------------------|------------------------------------------
DATA | float32[NATTRIBUTE_0][NCOMP] | Attribute data
... | ... |
DATA | float32[NATTRIBUTE_(NATTRIBUTES-1)][NCOMP] | Attribute data
* Values for TYPE_ATTRIBUTE (16-bit)
* 0-7 bit: Attribute Type:
* 0x00: POINT_DATA / Scalars
* 0x01: POINT_DATA / Vectors
* 0x02: POINT_DATA / Normals
* 0x03: POINT_DATA / Tensors
* 0x04: POINT_DATA / RGBA
* 0x10: CELL_DATA / Scalars
* 0x11: CELL_DATA / Vectors
* 0x12: CELL_DATA / Normals
* 0x13: CELL_DATA / Tensors
* 0x14: CELL_DATA / RGBA
* 8-15 bit: Number of components -- must be 3 for Vectors and Normal, 9 for Tensor, 4 for RGBA.
* Maximum length for attribute name is 255
* If there are a pair of scalar and RGBA data with the same name and type (either POINT or CELL), those are used as scalar values and a look up table.
* elements in RGBA data must be in the rage of \[0.0, 1.0\]
GET_POLYDATA
-------------------
Data | Type | Description
--------------|---------------|-------------------------------------------------
| |
STT_POLYDATA
-------------------
Data | Type | Description
--------------|---------------|-------------------------------------------------
| |
or
Data | Type | Description
--------------|---------------|-------------------------------------------------
RESOL | uint64 | Minimum interval between message (ns)*
See [Time Stamp](timestamp.md)
STP_POLYDATA
-------------------
Data | Type | Description
--------------|---------------|-------------------------------------------------
| |
RTS_POLYDATA
-------------------
Data | Type | Description
--------------|---------------|-------------------------------------------------
STATUS | uint8 | 0: Success; 1: Error
Implementations
===================
* [igtlPolyDataMessage.h](/Source/igtlPolyDataMessage.h)
* [igtlPolyDataMessage.cxx](/Source/igtlPolyDataMessage.cxx)
|
