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Commit abb02132c09cb3ecc81834fff976a46c5bcea393

Authored by Renan
1 parent d450b91b
Exists in master

ENH: changed decompose matrix to dco.transformation_matrix_to_coordinates

Showing 2 changed files with 7 additions and 7 deletions   Show diff stats
invesalius/data/bases.py
  Diff comments   View file @abb0213
... ... @@ -284,8 +284,8 @@ class transform_tracker_to_robot(object):
284 284 )
285 285 M_tracker_in_robot = transform_tracker_to_robot.M_tracker_to_robot @ M_tracker
286 286  
287   - _, _, angles, translate, _ = tr.decompose_matrix(M_tracker_in_robot)
288   - tracker_in_robot = [translate[0], translate[1], translate[2], \
289   - np.degrees(angles[2]), np.degrees(angles[1]), np.degrees(angles[0])]
  287 + # TODO: check this with robot
  288 + 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)
290 290  
291 291 return tracker_in_robot
... ...
invesalius/data/elfin_processing.py
  Diff comments   View file @abb0213
... ... @@ -175,11 +175,11 @@ class TrackerProcessing:
175 175 axes='rzyx',
176 176 )
177 177 m_robot_new = M_current_head @ m_change_robot_to_head
178   - _, _, angles, translate, _ = tr.decompose_matrix(m_robot_new)
179   - angles = np.degrees(angles)
  178 + #TODO: check this with robot
  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)
180 181  
181   - return m_robot_new[0, -1], m_robot_new[1, -1], m_robot_new[2, -1], angles[0], angles[1], \
182   - angles[2]
  182 + return new_robot_position
183 183  
184 184 def estimate_head_center(self, tracker, current_head):
185 185 """
... ...