FIX: Bug in object registration, causing navigation to not work (#349)

* Due to a previous clean-up, r_s0_raw was not computed anymore in object_registration function. However, it is needed as one of the return values of the function, therefore add it back.

FIX: Bug in object registration, causing navigation to not work (#349)
* Due to a previous clean-up, r_s0_raw was not computed anymore in object_registration function. However, it is needed as one of the return values of the function, therefore add it back.
okahilak · GitHub
1 parent bcc1eb4e
Showing 1 changed file with 7 additions and 0 deletions Show diff stats
invesalius/data/bases.py
@@ -188,6 +188,13 @@ def object_registration(fiducials, orients, coord_raw, m_change):
         fids_raw[ic, :] = dco.dynamic_reference_m2(coords[ic, :], coords[3, :])[:3]
  
     # compute initial alignment of probe fixed in the object in source frame
+
+    # XXX: Some duplicate processing is done here: the Euler angles are calculated once by
+    #      the lines below, and then again in dco.coordinates_to_transformation_matrix.
+    #
+    a, b, g = np.radians(coords[3, 3:])
+    r_s0_raw = tr.euler_matrix(a, b, g, axes='rzyx')
+
     s0_raw = dco.coordinates_to_transformation_matrix(
         position=coords[3, :3],
         orientation=coords[3, 3:],
...	...	@@ -188,6 +188,13 @@ def object_registration(fiducials, orients, coord_raw, m_change):
188	188	fids_raw[ic, :] = dco.dynamic_reference_m2(coords[ic, :], coords[3, :])[:3]
189	189
190	190	# compute initial alignment of probe fixed in the object in source frame
	191	+
	192	+ # XXX: Some duplicate processing is done here: the Euler angles are calculated once by
	193	+ # the lines below, and then again in dco.coordinates_to_transformation_matrix.
	194	+ #
	195	+ a, b, g = np.radians(coords[3, 3:])
	196	+ r_s0_raw = tr.euler_matrix(a, b, g, axes='rzyx')
	197	+
191	198	s0_raw = dco.coordinates_to_transformation_matrix(
192	199	position=coords[3, :3],
193	200	orientation=coords[3, 3:],
...	...