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Commit 49a3bef897cf60284ade0064acf4fb47ebdcab55

Authored by Renan Matsuda
1 parent 2f872421
Exists in master

calculate_fre working

Showing 2 changed files with 21 additions and 29 deletions   Show diff stats
invesalius/data/bases.py
  Diff comments   View file @49a3bef
1 1 import numpy as np
2 2 import invesalius.data.coordinates as dco
3 3 import invesalius.data.transformations as tr
4   -
  4 +import invesalius.data.coregistration as dcr
5 5  
6 6 def angle_calculation(ap_axis, coil_axis):
7 7 """
... ... @@ -175,37 +175,18 @@ def calculate_fre_m(fiducials):
175 175  
176 176 return float(np.sqrt(np.sum(dist ** 2) / 3))
177 177  
178   -def calculate_fre_matrix(fiducials, m_change):
  178 +def calculate_fre(fiducials_raw, fiducials, ref_mode_id, m_change):
179 179  
180 180 dist = np.zeros([3, 1])
181 181  
182   - p1 = np.hstack((fiducials[3, :], 1)).reshape(4, 1)
183   - p2 = np.hstack((fiducials[4, :], 1)).reshape(4, 1)
184   - p3 = np.hstack((fiducials[5, :], 1)).reshape(4, 1)
185   -
186   - print(p1)
187   -
188   - p1 = flip_x_m([p1[0,0],p1[1,0],p1[2,0]])
189   - p2 = flip_x_m([p2[0,0],p2[1,0],p2[2,0]])
190   - p3 = flip_x_m([p3[0,0],p3[1,0],p3[2,0]])
191   - print(p1)
192   -
193   - p1 = np.hstack([np.identity(3), p1[:3]])
194   - p2 = np.hstack([np.identity(3), p2[:3]])
195   - p3 = np.hstack([np.identity(3), p3[:3]])
196   -
197   - p1 = np.vstack([p1,[0,0,0,1]])
198   - p2 = np.vstack([p2,[0,0,0,1]])
199   - p3 = np.vstack([p3,[0,0,0,1]])
200   - print(p1)
201   -
202   - p1_m = m_change @ p1
203   - p2_m = m_change @ p2
204   - p3_m = m_change @ p3
  182 + p1 = np.vstack([fiducials_raw[0, :], fiducials_raw[1, :]])
  183 + p2 = np.vstack([fiducials_raw[2, :], fiducials_raw[3, :]])
  184 + p3 = np.vstack([fiducials_raw[4, :], fiducials_raw[5, :]])
205 185  
206   - #p1_m = flip_x_m([p1_m[0,0],p1_m[1,0],p1_m[2,0]])
207   - #p2_m = flip_x_m([p2_m[0,0],p2_m[1,0],p2_m[2,0]])
208   - #p3_m = flip_x_m([p3_m[0,0],p3_m[1,0],p3_m[2,0]])
  186 + coreg_data = (m_change, 0)
  187 + p1_m, m_img = dcr.corregistrate_dynamic(coreg_data, p1, ref_mode_id, [None, None])
  188 + p2_m, m_img = dcr.corregistrate_dynamic(coreg_data, p2, ref_mode_id, [None, None])
  189 + p3_m, m_img = dcr.corregistrate_dynamic(coreg_data, p3, ref_mode_id, [None, None])
209 190  
210 191 print(p1_m)
211 192 print(fiducials[0, :])
... ...
invesalius/gui/task_navigator.py
  Diff comments   View file @49a3bef
... ... @@ -299,6 +299,7 @@ class NeuronavigationPanel(wx.Panel):
299 299  
300 300 # Initialize global variables
301 301 self.fiducials = np.full([6, 3], np.nan)
  302 + self.fiducials_raw = np.zeros((6, 6))
302 303 self.correg = None
303 304 self.current_coord = 0, 0, 0
304 305 self.trk_init = None
... ... @@ -661,6 +662,16 @@ class NeuronavigationPanel(wx.Panel):
661 662 # Update number controls with tracker coordinates
662 663 if coord is not None:
663 664 self.fiducials[btn_id, :] = coord[0:3]
  665 + if btn_id == 3:
  666 + self.fiducials_raw[0, :] = coord_raw[0, :]
  667 + self.fiducials_raw[1, :] = coord_raw[1, :]
  668 + elif btn_id == 4:
  669 + self.fiducials_raw[2, :] = coord_raw[0, :]
  670 + self.fiducials_raw[3, :] = coord_raw[1, :]
  671 + else:
  672 + self.fiducials_raw[4, :] = coord_raw[0, :]
  673 + self.fiducials_raw[5, :] = coord_raw[1, :]
  674 +
664 675 for n in [0, 1, 2]:
665 676 self.numctrls_coord[btn_id][n].SetValue(float(coord[n]))
666 677  
... ... @@ -779,7 +790,7 @@ class NeuronavigationPanel(wx.Panel):
779 790 # fre = db.calculate_fre(self.fiducials, minv, n, q1, q2)
780 791 fre = db.calculate_fre_m(self.fiducials)
781 792 self.UpdateFRE(fre)
782   - print(db.calculate_fre_matrix(self.fiducials, m_change))
  793 + print(db.calculate_fre(self.fiducials_raw, self.fiducials, self.ref_mode_id, m_change))
783 794  
784 795 if self.track_obj:
785 796 # if object tracking is selected
... ...