From 4e997fd40e551e00b4cc2b857a83491959c9ad97 Mon Sep 17 00:00:00 2001
From: rmatsuda <renan_hiroshi@hotmail.com>
Date: Thu, 12 Nov 2020 13:58:18 -0300
Subject: [PATCH] testing icp FRE...

---
 invesalius/data/bases.py         |  5 ++++-
 invesalius/gui/task_navigator.py | 11 ++++++-----
 2 files changed, 10 insertions(+), 6 deletions(-)

diff --git a/invesalius/data/bases.py b/invesalius/data/bases.py
index 2e0c720..0d038fc 100644
--- a/invesalius/data/bases.py
+++ b/invesalius/data/bases.py
@@ -175,7 +175,7 @@ def calculate_fre_m(fiducials):
 
     return float(np.sqrt(np.sum(dist ** 2) / 3))
 
-def calculate_fre(fiducials_raw, fiducials, ref_mode_id, m_change):
+def calculate_fre(fiducials_raw, fiducials, ref_mode_id, m_change, m_icp=None):
 
     dist = np.zeros([3, 1])
 
@@ -188,6 +188,9 @@ def calculate_fre(fiducials_raw, fiducials, ref_mode_id, m_change):
     p2_m, m_img = dcr.corregistrate_dynamic(coreg_data, p2, ref_mode_id, [None, None])
     p3_m, m_img = dcr.corregistrate_dynamic(coreg_data, p3, ref_mode_id, [None, None])
 
+    if m_icp:
+        m_img = transform_icp(m_img, m_icp)
+
     print(p1_m)
     print(fiducials[0, :])
 
diff --git a/invesalius/gui/task_navigator.py b/invesalius/gui/task_navigator.py
index d8b118e..7f01815 100644
--- a/invesalius/gui/task_navigator.py
+++ b/invesalius/gui/task_navigator.py
@@ -689,6 +689,8 @@ class NeuronavigationPanel(wx.Panel):
         else:
             self.m_icp = None
 
+        return self.m_icp
+
     def Oncheckicp(self, evt, ctrl):
         if ctrl.GetValue() and evt and (self.m_icp is not None):
             self.icp = True
@@ -786,11 +788,8 @@ class NeuronavigationPanel(wx.Panel):
                 tracker_mode = self.trk_init, self.tracker_id, self.ref_mode_id
 
                 # compute fiducial registration error (FRE)
-                # this is the old way to compute the fre, left here to recheck if new works fine.
-                # fre = db.calculate_fre(self.fiducials, minv, n, q1, q2)
-                fre = db.calculate_fre_m(self.fiducials)
+                fre = db.calculate_fre(self.fiducials_raw, self.fiducials, self.ref_mode_id, m_change)
                 self.UpdateFRE(fre)
-                print(db.calculate_fre(self.fiducials_raw, self.fiducials, self.ref_mode_id, m_change))
 
                 if self.track_obj:
                     # if object tracking is selected
@@ -851,7 +850,9 @@ class NeuronavigationPanel(wx.Panel):
                         # del jobs
 
                     if dlg.ICPcorregistration(fre):
-                        self.OnICP()
+                        m_icp = self.OnICP()
+                        fre = db.calculate_fre(self.fiducials_raw, self.fiducials, self.ref_mode_id, m_change, m_icp)
+                        self.UpdateFRE(fre)
 
     def ResetImageFiducials(self):
         for m in range(0, 3):
--
libgit2 0.21.2