Commit 749d25d2ce29b847936837c4cc2ebf6c56d5816d
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abb02132
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Cleaning the comments
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invesalius/data/bases.py
| @@ -284,7 +284,6 @@ class transform_tracker_to_robot(object): | @@ -284,7 +284,6 @@ class transform_tracker_to_robot(object): | ||
| 284 | ) | 284 | ) |
| 285 | M_tracker_in_robot = transform_tracker_to_robot.M_tracker_to_robot @ M_tracker | 285 | M_tracker_in_robot = transform_tracker_to_robot.M_tracker_to_robot @ M_tracker |
| 286 | 286 | ||
| 287 | - # TODO: check this with robot | ||
| 288 | translation, angles_as_deg = dco.transformation_matrix_to_coordinates(M_tracker_in_robot, axes='rzyx') | 287 | translation, angles_as_deg = dco.transformation_matrix_to_coordinates(M_tracker_in_robot, axes='rzyx') |
| 289 | tracker_in_robot = list(translation) + list(angles_as_deg) | 288 | tracker_in_robot = list(translation) + list(angles_as_deg) |
| 290 | 289 |
invesalius/data/elfin_processing.py
| @@ -175,7 +175,7 @@ class TrackerProcessing: | @@ -175,7 +175,7 @@ class TrackerProcessing: | ||
| 175 | axes='rzyx', | 175 | axes='rzyx', |
| 176 | ) | 176 | ) |
| 177 | m_robot_new = M_current_head @ m_change_robot_to_head | 177 | m_robot_new = M_current_head @ m_change_robot_to_head |
| 178 | - #TODO: check this with robot | 178 | + |
| 179 | translation, angles_as_deg = dco.transformation_matrix_to_coordinates(m_robot_new, axes='sxyz') | 179 | translation, angles_as_deg = dco.transformation_matrix_to_coordinates(m_robot_new, axes='sxyz') |
| 180 | new_robot_position = list(translation) + list(angles_as_deg) | 180 | new_robot_position = list(translation) + list(angles_as_deg) |
| 181 | 181 |