FIX: transformation_matrix_to_coordinates replaced by tr.decompose_matrix

-dco.transformation_matrix_to_coordinates was not working. I tried 'sxyz', 'szyx', 'rxyz', 'rzyx'. All are returning the same values.

FIX: transformation_matrix_to_coordinates replaced by tr.decompose_matrix
-dco.transformation_matrix_to_coordinates was not working. I tried 'sxyz', 'szyx', 'rxyz', 'rzyx'. All are returning the same values.
Renan
1 parent 87bb8b91
Showing 2 changed files with 9 additions and 6 deletions Show diff stats
invesalius/data/bases.py
invesalius/data/elfin_processing.py
@@ -284,8 +284,8 @@ class transform_tracker_to_robot(object):
         )
         M_tracker_in_robot = transform_tracker_to_robot.M_tracker_to_robot @ M_tracker
  
-        angles_as_deg, translate = dco.transformation_matrix_to_coordinates(M_tracker_in_robot, axes='rxyz')
-        #TODO: check this with robot
-        tracker_in_robot = list(translate) + list(angles_as_deg)
+        _, _, angles, translate, _ = tr.decompose_matrix(M_tracker_in_robot)
+        tracker_in_robot = [translate[0], translate[1], translate[2], \
+                            np.degrees(angles[2]), np.degrees(angles[1]), np.degrees(angles[0])]
  
         return tracker_in_robot
@@ -20,6 +20,7 @@ import numpy as np
 import cv2
 from time import time
  
+import invesalius.data.transformations as tr
 import invesalius.data.coregistration as dcr
 import invesalius.data.coordinates as dco
 import invesalius.constants as const
@@ -174,9 +175,11 @@ class TrackerProcessing:
             axes='rzyx',
         )
         m_robot_new = M_current_head @ m_change_robot_to_head
-        angles_as_deg, translate = dco.transformation_matrix_to_coordinates(m_robot_new, axes='rzyx')
-        #TODO: check this with robot
-        return list(translate) + list(angles_as_deg)
+        _, _, angles, translate, _ = tr.decompose_matrix(m_robot_new)
+        angles = np.degrees(angles)
+
+        return m_robot_new[0, -1], m_robot_new[1, -1], m_robot_new[2, -1], angles[0], angles[1], \
+                    angles[2]
  
     def estimate_head_center(self, tracker, current_head):
         """
...	...	@@ -284,8 +284,8 @@ 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_as_deg, translate = dco.transformation_matrix_to_coordinates(M_tracker_in_robot, axes='rxyz')
288		- #TODO: check this with robot
289		- tracker_in_robot = list(translate) + list(angles_as_deg)
	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])]
290	290
291	291	return tracker_in_robot
...	...
...	...	@@ -20,6 +20,7 @@ import numpy as np
20	20	import cv2
21	21	from time import time
22	22
	23	+import invesalius.data.transformations as tr
23	24	import invesalius.data.coregistration as dcr
24	25	import invesalius.data.coordinates as dco
25	26	import invesalius.constants as const
...	...	@@ -174,9 +175,11 @@ class TrackerProcessing:
174	175	axes='rzyx',
175	176	)
176	177	m_robot_new = M_current_head @ m_change_robot_to_head
177		- angles_as_deg, translate = dco.transformation_matrix_to_coordinates(m_robot_new, axes='rzyx')
178		- #TODO: check this with robot
179		- return list(translate) + list(angles_as_deg)
	178	+ _, _, angles, translate, _ = tr.decompose_matrix(m_robot_new)
	179	+ angles = np.degrees(angles)
	180	+
	181	+ return m_robot_new[0, -1], m_robot_new[1, -1], m_robot_new[2, -1], angles[0], angles[1], \
	182	+ angles[2]
180	183
181	184	def estimate_head_center(self, tracker, current_head):
182	185	"""
...	...