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Commit dc258558c12e170898169d8216709df8d9076893

Authored by Victor Hugo Souza
Committed by GitHub
2 parents c3a918a1 b8ba360e
Exists in master

Merge pull request #397 from rmatsuda/change-decompose-robot-matrix-method 

Change decompose robot matrix method
Showing 2 changed files with 6 additions and 8 deletions   Show diff stats
invesalius/data/bases.py
  Diff comments   View file @dc25855
... ... @@ -284,8 +284,7 @@ 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 + translation, angles_as_deg = dco.transformation_matrix_to_coordinates(M_tracker_in_robot, axes='rzyx')
  288 + tracker_in_robot = list(translation) + list(angles_as_deg)
290 289  
291 290 return tracker_in_robot
... ...
invesalius/data/elfin_processing.py
  Diff comments   View file @dc25855
... ... @@ -20,7 +20,6 @@ import numpy as np
20 20 import cv2
21 21 from time import time
22 22  
23   -import invesalius.data.transformations as tr
24 23 import invesalius.data.coregistration as dcr
25 24 import invesalius.data.coordinates as dco
26 25 import invesalius.constants as const
... ... @@ -175,11 +174,11 @@ class TrackerProcessing:
175 174 axes='rzyx',
176 175 )
177 176 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)
180 177  
181   - return m_robot_new[0, -1], m_robot_new[1, -1], m_robot_new[2, -1], angles[0], angles[1], \
182   - angles[2]
  178 + translation, angles_as_deg = dco.transformation_matrix_to_coordinates(m_robot_new, axes='sxyz')
  179 + new_robot_position = list(translation) + list(angles_as_deg)
  180 +
  181 + return new_robot_position
183 182  
184 183 def estimate_head_center(self, tracker, current_head):
185 184 """
... ...