void Xform3D::getShiftVector(double* s)
{
double ss[3] = {0};
Xform3D_ShiftGet(this->m_handle, ss);
for(int i=0; i<3; i++)
s[i] = ss[i];
}
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::GetPosition(claronToolHandle c)
{
std::vector<double> returnValue;
double Position[3];
MTC( Marker_Marker2CameraXfGet (c, CurrCamera, PoseXf, &IdentifyingCamera) );
MTC( Xform3D_ShiftGet(PoseXf, 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;
}
double Xform3D::getShift(int index)
{
double s[3] = {0};
Xform3D_ShiftGet(this->m_handle, s );
return s[index];
}
