Download as
Browse Code »

Commit 9f54b6b7b05f7df7f11121b6b19786b0d5bc7804

Authored by okahilak
Committed by GitHub
1 parent ff04a14f
Exists in master

CLP: Be explicit about the order of axes when computing Euler angles (#346) 

- The angles returned by translations.decompose_matrix use the
  axe order 'sxyz'. It is also the default for translations.euler_from_matrix,
  although that function allows changing the order.

  Therefore, change to using euler_from_matrix, and instead of defaulting to the
  axe order 'sxyz', be explicit about it to make it easier to notice any bugs.
Showing 1 changed file with 12 additions and 4 deletions   Show diff stats
invesalius/data/coregistration.py
  Diff comments   View file @9f54b6b
@@ -108,20 +108,25 @@ def corregistrate_object_dynamic(inp, coord_raw, ref_mode_id, icp): @@ -108,20 +108,25 @@ def corregistrate_object_dynamic(inp, coord_raw, ref_mode_id, icp):
108 108
109 # transform raw marker coordinate to object center 109 # transform raw marker coordinate to object center
110 m_probe = object_marker_to_center(coord_raw, obj_ref_mode, t_obj_raw, s0_raw, r_s0_raw) 110 m_probe = object_marker_to_center(coord_raw, obj_ref_mode, t_obj_raw, s0_raw, r_s0_raw)
  111 +
111 # transform object center to reference marker if specified as dynamic reference 112 # transform object center to reference marker if specified as dynamic reference
112 if ref_mode_id: 113 if ref_mode_id:
113 m_probe_ref = object_to_reference(coord_raw, m_probe) 114 m_probe_ref = object_to_reference(coord_raw, m_probe)
114 else: 115 else:
115 m_probe_ref = m_probe 116 m_probe_ref = m_probe
  117 +
116 # invert y coordinate 118 # invert y coordinate
117 m_probe_ref[2, -1] = -m_probe_ref[2, -1] 119 m_probe_ref[2, -1] = -m_probe_ref[2, -1]
  120 +
118 # corregistrate from tracker to image space 121 # corregistrate from tracker to image space
119 m_img = tracker_to_image(m_change, m_probe_ref, r_obj_img, m_obj_raw, s0_dyn) 122 m_img = tracker_to_image(m_change, m_probe_ref, r_obj_img, m_obj_raw, s0_dyn)
120 if icp[0]: 123 if icp[0]:
121 m_img = bases.transform_icp(m_img, icp[1]) 124 m_img = bases.transform_icp(m_img, icp[1])
  125 +
122 # compute rotation angles 126 # compute rotation angles
123 - _, _, angles, _, _ = tr.decompose_matrix(m_img)  
124 - # create output coordiante list 127 + angles = tr.euler_from_matrix(m_img, axes='sxyz')
  128 +
  129 + # create output coordinate list
125 coord = m_img[0, -1], m_img[1, -1], m_img[2, -1], \ 130 coord = m_img[0, -1], m_img[1, -1], m_img[2, -1], \
126 np.degrees(angles[0]), np.degrees(angles[1]), np.degrees(angles[2]) 131 np.degrees(angles[0]), np.degrees(angles[1]), np.degrees(angles[2])
127 132
@@ -146,6 +151,7 @@ def corregistrate_dynamic(inp, coord_raw, ref_mode_id, icp): @@ -146,6 +151,7 @@ def corregistrate_dynamic(inp, coord_raw, ref_mode_id, icp):
146 151
147 # transform raw marker coordinate to object center 152 # transform raw marker coordinate to object center
148 m_probe = compute_marker_transformation(coord_raw, obj_ref_mode) 153 m_probe = compute_marker_transformation(coord_raw, obj_ref_mode)
  154 +
149 # transform object center to reference marker if specified as dynamic reference 155 # transform object center to reference marker if specified as dynamic reference
150 if ref_mode_id: 156 if ref_mode_id:
151 m_ref = compute_marker_transformation(coord_raw, 1) 157 m_ref = compute_marker_transformation(coord_raw, 1)
@@ -155,6 +161,7 @@ def corregistrate_dynamic(inp, coord_raw, ref_mode_id, icp): @@ -155,6 +161,7 @@ def corregistrate_dynamic(inp, coord_raw, ref_mode_id, icp):
155 161
156 # invert y coordinate 162 # invert y coordinate
157 m_probe_ref[2, -1] = -m_probe_ref[2, -1] 163 m_probe_ref[2, -1] = -m_probe_ref[2, -1]
  164 +
158 # corregistrate from tracker to image space 165 # corregistrate from tracker to image space
159 m_img = m_change @ m_probe_ref 166 m_img = m_change @ m_probe_ref
160 167
@@ -162,8 +169,9 @@ def corregistrate_dynamic(inp, coord_raw, ref_mode_id, icp): @@ -162,8 +169,9 @@ def corregistrate_dynamic(inp, coord_raw, ref_mode_id, icp):
162 m_img = bases.transform_icp(m_img, icp[1]) 169 m_img = bases.transform_icp(m_img, icp[1])
163 170
164 # compute rotation angles 171 # compute rotation angles
165 - _, _, angles, _, _ = tr.decompose_matrix(m_img)  
166 - # create output coordiante list 172 + angles = tr.euler_from_matrix(m_img, axes='sxyz')
  173 +
  174 + # create output coordinate list
167 coord = m_img[0, -1], m_img[1, -1], m_img[2, -1],\ 175 coord = m_img[0, -1], m_img[1, -1], m_img[2, -1],\
168 np.degrees(angles[0]), np.degrees(angles[1]), np.degrees(angles[2]) 176 np.degrees(angles[0]), np.degrees(angles[1]), np.degrees(angles[2])
169 177