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Commit e33eeb5d940f5a5b98b7a4d02e29cc2b74621440

Authored by Renan
1 parent 3b9c6b57
Exists in master

ENH: changed the robot target computation to marker creation

Showing 2 changed files with 7 additions and 5 deletions   Show diff stats
invesalius/data/bases.py
  Diff comments   View file @e33eeb5
... ... @@ -245,13 +245,14 @@ def object_registration(fiducials, orients, coord_raw, m_change):
245 245  
246 246 return t_obj_raw, s0_raw, r_s0_raw, s0_dyn, m_obj_raw, r_obj_img
247 247  
248   -def compute_robot_target_matrix(head, robot):
  248 +def compute_robot_target_matrix(raw_target_robot):
249 249 """
250 250 :param head: nx6 array of head coordinates from tracking device in robot space
251 251 :param robot: nx6 array of robot coordinates
252 252  
253 253 :return: target_robot_matrix: 3x3 array representing change of basis from robot to head in robot system
254 254 """
  255 + head, robot = raw_target_robot
255 256 # compute head target matrix
256 257 m_head_target = dco.coordinates_to_transformation_matrix(
257 258 position=head[:3],
... ...
invesalius/gui/task_navigator.py
  Diff comments   View file @e33eeb5
... ... @@ -1237,6 +1237,7 @@ class MarkersPanel(wx.Panel):
1237 1237 self.markers = []
1238 1238 self.robot_markers = []
1239 1239 self.nav_status = False
  1240 + self.raw_target_robot = None, None
1240 1241  
1241 1242 self.marker_colour = const.MARKER_COLOUR
1242 1243 self.marker_size = const.MARKER_SIZE
... ... @@ -1412,9 +1413,7 @@ class MarkersPanel(wx.Panel):
1412 1413 self.current_seed = coord_offset
1413 1414  
1414 1415 def UpdateRobotCoordinates(self, coordinates_raw, markers_flag):
1415   - head = coordinates_raw[1]
1416   - robot = coordinates_raw[2]
1417   - self.current_robot_target_matrix = db.compute_robot_target_matrix(head, robot)
  1416 + self.raw_target_robot = coordinates_raw[1], coordinates_raw[2]
1418 1417  
1419 1418 def OnMouseRightDown(self, evt):
1420 1419 # TODO: Enable the "Set as target" only when target is created with registered object
... ... @@ -1641,7 +1640,9 @@ class MarkersPanel(wx.Panel):
1641 1640 new_marker.seed = seed or self.current_seed
1642 1641 new_marker.session_id = session_id or self.current_session
1643 1642  
1644   - if not self.tracker.tracker_id == const.ROBOT or not self.nav_status:
  1643 + if self.tracker.tracker_id == const.ROBOT and self.nav_status:
  1644 + self.current_robot_target_matrix = db.compute_robot_target_matrix(self.raw_target_robot)
  1645 + else:
1645 1646 self.current_robot_target_matrix = [None] * 9
1646 1647  
1647 1648 new_robot_marker = self.Robot_Marker()
... ...