Download as
Browse Code »

Commit ebbfd3c08535a7ba221663d42665f3d144663d18

Authored by okahilak
Committed by GitHub
1 parent 09ea10ae
Exists in master

MOD: Take median over multiple samples when setting tracker fiducials (#336)

Showing 2 changed files with 23 additions and 8 deletions   Show diff stats
invesalius/constants.py
  Diff comments   View file @ebbfd3c
@@ -659,6 +659,8 @@ BOOLEAN_XOR = 4 @@ -659,6 +659,8 @@ BOOLEAN_XOR = 4
659 659
660 MARKER_COLOUR = (1.0, 1.0, 0.) 660 MARKER_COLOUR = (1.0, 1.0, 0.)
661 MARKER_SIZE = 2 661 MARKER_SIZE = 2
  662 +
  663 +FIDUCIAL_REGISTRATION_TRACKER_SAMPLES = 10
662 FIDUCIAL_REGISTRATION_ERROR_THRESHOLD = 3.0 664 FIDUCIAL_REGISTRATION_ERROR_THRESHOLD = 3.0
663 665
664 SELECT = 0 666 SELECT = 0
invesalius/gui/task_navigator.py
  Diff comments   View file @ebbfd3c
@@ -566,16 +566,29 @@ class Tracker(): @@ -566,16 +566,29 @@ class Tracker():
566 def AreTrackerFiducialsSet(self): 566 def AreTrackerFiducialsSet(self):
567 return not np.isnan(self.tracker_fiducials).any() 567 return not np.isnan(self.tracker_fiducials).any()
568 568
569 - def SetTrackerFiducial(self, fiducial_index):  
570 - coord = None 569 + def GetTrackerCoordinates(self, n_samples=1):
  570 + coord_raw_samples = {}
  571 + coord_samples = {}
571 572
572 - coord_raw = dco.GetCoordinates(self.trk_init, self.tracker_id, self.ref_mode_id) 573 + for i in range(n_samples):
  574 + coord_raw = dco.GetCoordinates(self.trk_init, self.tracker_id, self.ref_mode_id)
573 575
574 - if self.ref_mode_id:  
575 - coord = dco.dynamic_reference_m(coord_raw[0, :], coord_raw[1, :])  
576 - else:  
577 - coord = coord_raw[0, :]  
578 - coord[2] = -coord[2] 576 + if self.ref_mode_id:
  577 + coord = dco.dynamic_reference_m(coord_raw[0, :], coord_raw[1, :])
  578 + else:
  579 + coord = coord_raw[0, :]
  580 + coord[2] = -coord[2]
  581 +
  582 + coord_raw_samples[i] = coord_raw
  583 + coord_samples[i] = coord
  584 +
  585 + coord_raw_avg = np.median(list(coord_raw_samples.values()), axis=0)
  586 + coord_avg = np.median(list(coord_samples.values()), axis=0)
  587 +
  588 + return coord_avg, coord_raw_avg
  589 +
  590 + def SetTrackerFiducial(self, fiducial_index):
  591 + coord, coord_raw = self.GetTrackerCoordinates(n_samples=const.FIDUCIAL_REGISTRATION_TRACKER_SAMPLES)
579 592
580 # Update tracker fiducial with tracker coordinates 593 # Update tracker fiducial with tracker coordinates
581 self.tracker_fiducials[fiducial_index, :] = coord[0:3] 594 self.tracker_fiducials[fiducial_index, :] = coord[0:3]