std::vector<double> mitk::ClaronInterface::GetTipPosition(mitk::claronToolHandle c) { std::vector<double> returnValue; double Position[3]; mtHandle t2m = Xform3D_New(); // tooltip to marker xform handle mtHandle t2c = Xform3D_New(); // tooltip to camera xform handle mtHandle m2c = Xform3D_New(); // marker to camera xform handle //Get m2c MTC( Marker_Marker2CameraXfGet (c, CurrCamera, m2c, &IdentifyingCamera) ); //Get t2m MTC( Marker_Tooltip2MarkerXfGet (c, t2m )); //Transform both to t2c MTC(Xform3D_Concatenate(t2m,m2c,t2c)); //Get position MTC( Xform3D_ShiftGet(t2c, Position) ); // Here we have to negate the X- and Y-coordinates because of a bug of the // MTC-library. returnValue.push_back(-Position[0]); returnValue.push_back(-Position[1]); returnValue.push_back(Position[2]); return returnValue; }
std::vector<double> mitk::ClaronInterface::GetTipQuaternions(claronToolHandle c) { std::vector<double> returnValue; mtHandle t2m = Xform3D_New(); // tooltip to marker xform handle mtHandle t2c = Xform3D_New(); // tooltip to camera xform handle mtHandle m2c = Xform3D_New(); // marker to camera xform handle //Get m2c MTC( Marker_Marker2CameraXfGet (c, CurrCamera, m2c, &IdentifyingCamera) ); //Get t2m MTC( Marker_Tooltip2MarkerXfGet (c, t2m )); //Transform both to t2c MTC(Xform3D_Concatenate(t2m,m2c,t2c)); //get the Claron-Quaternion double Quarternions[4]; MTC( Xform3D_RotQuaternionsGet(t2c, Quarternions) ); mitk::Quaternion claronQuaternion; //note: claron quarternion has different order than the mitk quarternion claronQuaternion[3] = Quarternions[0]; claronQuaternion[0] = Quarternions[1]; claronQuaternion[1] = Quarternions[2]; claronQuaternion[2] = Quarternions[3]; // Here we have to make a -90�-turn around the Y-axis because of a bug of the // MTC-library. mitk::Quaternion minusNinetyDegreeY; minusNinetyDegreeY[3] = sqrt(2.0)/2.0; minusNinetyDegreeY[0] = 0; minusNinetyDegreeY[1] = -1.0/(sqrt(2.0)); minusNinetyDegreeY[2] = 0; //calculate the result... mitk::Quaternion erg = (minusNinetyDegreeY*claronQuaternion); returnValue.push_back(erg[3]); returnValue.push_back(erg[0]); returnValue.push_back(erg[1]); returnValue.push_back(erg[2]); return returnValue; }
Xform3D* Xform3D::concatenate(Xform3D* subsequentXform) { Xform3D* concatXf = new Xform3D; Xform3D_Concatenate(this->m_handle, subsequentXform->getHandle(), concatXf->getHandle()); return concatXf; }