C++ (Cpp) Pointer::GetOrientation Examples

Example #1

File: QmitkIGTTrackingLabView.cpp Project: beneon/MITK

mitk::PointSet::Pointer QmitkIGTTrackingLabView::GetVirtualPointSetFromPosition(mitk::NavigationData::Pointer navigationData)
{
  typedef itk::QuaternionRigidTransform<double> QuaternionTransformType;

  mitk::NavigationData::PositionType pointA;
  mitk::NavigationData::PositionType pointB;
  mitk::NavigationData::PositionType pointC;

  //initializing three points with position(0|0|0)
  pointA.Fill(0);
  pointB.Fill(0);
  pointC.Fill(0);

  // changing position off all points in order to make them orthogonal
  pointA[0] = 1;
  pointB[1] = 1;
  pointC[2] = 1;

  QuaternionTransformType::Pointer quatTransform = QuaternionTransformType::New();

  // orientation of NavigationData from parameter
  mitk::NavigationData::OrientationType quatIn = navigationData->GetOrientation();

  // set orientation to quaternion transform
  vnl_quaternion<double> const vnlQuatIn(quatIn.x(), quatIn.y(), quatIn.z(), quatIn.r());
  quatTransform->SetRotation(vnlQuatIn);

  // transform each point
  pointA = quatTransform->TransformPoint(pointA);
  pointB = quatTransform->TransformPoint(pointB);
  pointC = quatTransform->TransformPoint(pointC);

  // add position data from NavigationData parameter to each point
  pointA[0] += navigationData->GetPosition()[0];
  pointA[1] += navigationData->GetPosition()[1];
  pointA[2] += navigationData->GetPosition()[2];

  pointB[0] += navigationData->GetPosition()[0];
  pointB[1] += navigationData->GetPosition()[1];
  pointB[2] += navigationData->GetPosition()[2];

  pointC[0] += navigationData->GetPosition()[0];
  pointC[1] += navigationData->GetPosition()[1];
  pointC[2] += navigationData->GetPosition()[2];

  // insert points in source points pointset for the permanent registration landmark transform
  m_PermanentRegistrationSourcePoints->InsertPoint(0,pointA);
  m_PermanentRegistrationSourcePoints->InsertPoint(1,pointB);
  m_PermanentRegistrationSourcePoints->InsertPoint(2,pointC);


  return m_PermanentRegistrationSourcePoints;
}