Transform3D IGTLinkConversion::decode(igtl::TransformMessage::Pointer msg)
{
    igtl::Matrix4x4 matrix;
    msg->GetMatrix(matrix);
    Transform3D retval = Transform3D::fromFloatArray(matrix);
    return retval;
}
Beispiel #2
0
void PlusProtocol::translate(const igtl::TransformMessage::Pointer body)
{
    CX_LOG_DEBUG() << "Transform incoming to plusprotocol";
    QString deviceName = body->GetDeviceName();
    this->registerTransformDeviceName(deviceName);

    IGTLinkConversion converter;
    Transform3D matrix = converter.decode(body);

    if(this->isCalibration(deviceName))
    {
        Transform3D s_M_igtltool = matrix;
        Transform3D s_M_custustool = s_M_igtltool * igtltool_M_custustool;
        Transform3D sMt = s_M_custustool;
        QString calibrationBelongsToDeviceName = this->findDeviceForCalibration(deviceName);
        if(calibrationBelongsToDeviceName != "NOT_FOUND")
        {
            emit calibration(calibrationBelongsToDeviceName, sMt);
        }
    }
    else
    {
		IGTLinkConversionBase baseConverter;
		double timestamp_ms = baseConverter.decode_timestamp(body).toMSecsSinceEpoch();
		timestamp_ms = this->getSyncedTimestampForTransformsAndImages(timestamp_ms);
        Transform3D prMs = matrix;
        emit transform(deviceName, prMs, timestamp_ms);
    }
}
Beispiel #3
0
void OpenIGTLinkProtocol::translate(const igtl::TransformMessage::Pointer body)
{
    //CX_LOG_DEBUG() << "Transform incoming to OpenIGTLinkProtocol";
    QString deviceName = body->GetDeviceName();

    IGTLinkConversion converter;
    Transform3D prMs = converter.decode(body);

    IGTLinkConversionBase baseConverter;
    QDateTime timestamp = baseConverter.decode_timestamp(body);

    if (mStreamSynchronizer)
    {
        mStreamSynchronizer->addTimestamp(timestamp);
        timestamp = timestamp.addMSecs(mStreamSynchronizer->getShift());
    }

    emit transform(deviceName, prMs, timestamp.toMSecsSinceEpoch());
}