Commit abb02132c09cb3ecc81834fff976a46c5bcea393
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
| @@ -284,8 +284,8 @@ class transform_tracker_to_robot(object): | @@ -284,8 +284,8 @@ 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 | - _, _, 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 | return tracker_in_robot | 291 | return tracker_in_robot |
invesalius/data/elfin_processing.py
| @@ -175,11 +175,11 @@ class TrackerProcessing: | @@ -175,11 +175,11 @@ 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 | - _, _, 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 | def estimate_head_center(self, tracker, current_head): | 184 | def estimate_head_center(self, tracker, current_head): |
| 185 | """ | 185 | """ |