Download as
Browse Code »

Commit e35fada3bd304f3187a709dc26180fa9b65b944c

Authored by Renan
1 parent 87bb8b91
Exists in master

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.
Showing 2 changed files with 9 additions and 6 deletions   Show diff stats
invesalius/data/bases.py
  Diff comments   View file @e35fada
@@ -284,8 +284,8 @@ class transform_tracker_to_robot(object): @@ -284,8 +284,8 @@ class transform_tracker_to_robot(object):
284 ) 284 )
285 M_tracker_in_robot = transform_tracker_to_robot.M_tracker_to_robot @ M_tracker 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 return tracker_in_robot 291 return tracker_in_robot
invesalius/data/elfin_processing.py
  Diff comments   View file @e35fada
@@ -20,6 +20,7 @@ import numpy as np @@ -20,6 +20,7 @@ import numpy as np
20 import cv2 20 import cv2
21 from time import time 21 from time import time
22 22
  23 +import invesalius.data.transformations as tr
23 import invesalius.data.coregistration as dcr 24 import invesalius.data.coregistration as dcr
24 import invesalius.data.coordinates as dco 25 import invesalius.data.coordinates as dco
25 import invesalius.constants as const 26 import invesalius.constants as const
@@ -174,9 +175,11 @@ class TrackerProcessing: @@ -174,9 +175,11 @@ class TrackerProcessing:
174 axes='rzyx', 175 axes='rzyx',
175 ) 176 )
176 m_robot_new = M_current_head @ m_change_robot_to_head 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 def estimate_head_center(self, tracker, current_head): 184 def estimate_head_center(self, tracker, current_head):
182 """ 185 """