From e33eeb5d940f5a5b98b7a4d02e29cc2b74621440 Mon Sep 17 00:00:00 2001
From: Renan <renan_hiroshi@hotmail.com>
Date: Tue, 12 Oct 2021 13:31:55 +0300
Subject: [PATCH] ENH: changed the robot target computation to marker creation

---
 invesalius/data/bases.py         |  3 ++-
 invesalius/gui/task_navigator.py |  9 +++++----
 2 files changed, 7 insertions(+), 5 deletions(-)

diff --git a/invesalius/data/bases.py b/invesalius/data/bases.py
index 6ccc021..91e8f4a 100644
--- a/invesalius/data/bases.py
+++ b/invesalius/data/bases.py
@@ -245,13 +245,14 @@ def object_registration(fiducials, orients, coord_raw, m_change):
 
     return t_obj_raw, s0_raw, r_s0_raw, s0_dyn, m_obj_raw, r_obj_img
 
-def compute_robot_target_matrix(head, robot):
+def compute_robot_target_matrix(raw_target_robot):
     """
     :param head: nx6 array of head coordinates from tracking device in robot space
     :param robot: nx6 array of robot coordinates
 
     :return: target_robot_matrix: 3x3 array representing change of basis from robot to head in robot system
     """
+    head, robot = raw_target_robot
     # compute head target matrix
     m_head_target = dco.coordinates_to_transformation_matrix(
         position=head[:3],
diff --git a/invesalius/gui/task_navigator.py b/invesalius/gui/task_navigator.py
index 0f78c68..0ac13a3 100644
--- a/invesalius/gui/task_navigator.py
+++ b/invesalius/gui/task_navigator.py
@@ -1237,6 +1237,7 @@ class MarkersPanel(wx.Panel):
         self.markers = []
         self.robot_markers = []
         self.nav_status = False
+        self.raw_target_robot = None, None
 
         self.marker_colour = const.MARKER_COLOUR
         self.marker_size = const.MARKER_SIZE
@@ -1412,9 +1413,7 @@ class MarkersPanel(wx.Panel):
         self.current_seed = coord_offset
 
     def UpdateRobotCoordinates(self, coordinates_raw, markers_flag):
-        head = coordinates_raw[1]
-        robot = coordinates_raw[2]
-        self.current_robot_target_matrix = db.compute_robot_target_matrix(head, robot)
+        self.raw_target_robot = coordinates_raw[1], coordinates_raw[2]
 
     def OnMouseRightDown(self, evt):
         # TODO: Enable the "Set as target" only when target is created with registered object
@@ -1641,7 +1640,9 @@ class MarkersPanel(wx.Panel):
         new_marker.seed = seed or self.current_seed
         new_marker.session_id = session_id or self.current_session
 
-        if not self.tracker.tracker_id == const.ROBOT or not self.nav_status:
+        if self.tracker.tracker_id == const.ROBOT and self.nav_status:
+            self.current_robot_target_matrix = db.compute_robot_target_matrix(self.raw_target_robot)
+        else:
             self.current_robot_target_matrix = [None] * 9
 
         new_robot_marker = self.Robot_Marker()
--
libgit2 0.21.2