# Plus : using the transform embedded in OpenIGTLink "IMAGE" messages

**URL:** <https://discourse.slicer.org/t/plus-using-the-transform-embedded-in-openigtlink-image-messages/4952>\
**Category:** Support\
**Tags:** plus\
**Created:** [December 4, 2018, 1:19pm UTC](https://discourse.slicer.org/t/plus-using-the-transform-embedded-in-openigtlink-image-messages/4952 "2018-12-04T13:19:18Z")\
**Posts on this page:** 4\
**Page:** 1

<div class="post-metadata">

**Author:** ![Tiffas](https://avatars.discourse-cdn.com/v4/letter/t/ba9def/32.png) [@Tiffas](https://discourse.slicer.org/u/Tiffas)\
**Post date:** [December 4, 2018, 1:19pm UTC](https://discourse.slicer.org/t/plus-using-the-transform-embedded-in-openigtlink-image-messages/4952/1 "2018-12-04T13:19:18Z")

</div>

Hi,

I am trying to use the transform embedded in OpenIGTLink “IMAGE” messages. In the Plus documentation about OpenIGTLink devices, it is specified about the **ImageMessageEmbeddedTransformName** attribute that :  
_ **ImageMessageEmbeddedTransformName** If IMAGE message is received and this attribute is defined then the transform embedded in the message will be recorded as a transform, with the specified name (e.g., “ImageToReference”)._

So I tried the following xml file:

```
<DataCollection StartupDelaySec="1.0" >

	<DeviceSet 
		Name="PlusServer: Verasonics image sending"
		Description="Broadcasting acquired ultrasound video acquired on the Verasonics system through OpenIGTLink" />

		<Device
			Id="Verasonics"
			Type="OpenIGTLinkVideo"        
			MessageType="IMAGE"
			ServerAddress="172.31.1.2"
			ServerPort="18944"
			IgtlMessageCrcCheckEnabled="false"
			ReconnectOnReceiveTimeout="false"
			UseReceivedTimestamps="false"
			AcquisitionRate="40"
			ReceiveTimeoutSec="30"
			SendTimeoutSec="30"
			ImageMessageEmbeddedTransformName="ImageToReference">
			<DataSources>
				<DataSource Type="Video" Id="Video" PortUsImageOrientation="MF" />
			</DataSources>
			<OutputChannels>
				<OutputChannel Id="VideoStream" VideoDataSourceId="Video" />
			</OutputChannels>
		</Device> 

</DataCollection>

<PlusOpenIGTLinkServer 
	MaxNumberOfIgtlMessagesToSend="1" 
	MaxTimeSpentWithProcessingMs="50" 
	ListeningPort="18944" 
	SendValidTransformsOnly="true" 
	OutputChannelId="VideoStream" > 
	<DefaultClientInfo> 
		<MessageTypes> 
			<Message Type="IMAGE" />
		</MessageTypes>
		<ImageNames>
			<Image Name="Image" EmbeddedTransformToFrame="Reference" />
		</ImageNames>
	</DefaultClientInfo>
</PlusOpenIGTLinkServer>

```

With this setup file I have the following error :

|ERROR|075.812595| Unable to get custom transform status from name: ImageToReferenceTransformStatus| in /home/ldaunizeau/Devel/PlusServer/PlusBuild/PlusLib/src/PlusCommon/PlusTrackedFrame.cxx(488)

I don’t know what transform status are and I found no clue in the Plus documentation.  
Thanks for your help !

---

<div class="post-metadata">

**Author:** ![lassoan](https://sea2.discourse-cdn.com/flex002/user_avatar/discourse.slicer.org/lassoan/32/13_2.png) [@lassoan](https://discourse.slicer.org/u/lassoan)\
**Post date:** [December 4, 2018, 1:47pm UTC](https://discourse.slicer.org/t/plus-using-the-transform-embedded-in-openigtlink-image-messages/4952/2 "2018-12-04T13:47:53Z")

</div>

Please submit this question to the [Plus issue tracker](https://github.com/PlusToolkit/PlusLib/issues/new). Attach the complete error log, because the root cause of the error might be shown in the few lines preceding the final error message that you included.

---

<div class="post-metadata">

**Author:** ![Tiffas](https://avatars.discourse-cdn.com/v4/letter/t/ba9def/32.png) [@Tiffas](https://discourse.slicer.org/u/Tiffas)\
**Post date:** [February 25, 2019, 6:04pm UTC](https://discourse.slicer.org/t/plus-using-the-transform-embedded-in-openigtlink-image-messages/4952/3 "2019-02-25T18:04:32Z")

</div>

Hi, I have no news from Github, can you help ? Thanks a lot !

---

<div class="post-metadata">

**Author:** ![Tiffas](https://avatars.discourse-cdn.com/v4/letter/t/ba9def/32.png) [@Tiffas](https://discourse.slicer.org/u/Tiffas)\
**Post date:** [March 8, 2019, 1:20pm UTC](https://discourse.slicer.org/t/plus-using-the-transform-embedded-in-openigtlink-image-messages/4952/4 "2019-03-08T13:20:03Z")

</div>

Related to: [https://github.com/PlusToolkit/PlusLib/issues/504](https://github.com/PlusToolkit/PlusLib/issues/504) and [https://github.com/PlusToolkit/PlusLib/issues/459](https://github.com/PlusToolkit/PlusLib/issues/459). Plus perform some checks on the “transformStatus” field which appeared with OpenIGTLink version 3 and does not exist in previous version of OpenIGTLink.