void Transform::GetVtkOpenGlMatrix(vtkMatrix4x4* matrix) const
{
vnl_matrix<mitk::ScalarType> vnlRotation
= this->GetVnlRotationMatrix().as_matrix();
// normalize rows of rotation matrix
vnlRotation.normalize_rows();
vnl_matrix<mitk::ScalarType> vnlInverseRotation(3,3);
// invert rotation
vnlInverseRotation = vnl_matrix_inverse<mitk::ScalarType>(vnlRotation);
vnl_vector<mitk::ScalarType> vnlTranslation
= this->GetPosition().GetVnlVector();
// rotate translation vector by inverse rotation P = P'
vnlTranslation = vnlInverseRotation * vnlTranslation;
vnlTranslation *= -1; // save -P'
// set position
mitk::Transform::Pointer tmp = mitk::Transform::New();
tmp->SetTranslation( vnlTranslation );
tmp->SetRotation( vnlRotation );
tmp->GetMatrix(matrix);
}
void mitk::NavigationDataToOpenGLFilter::GenerateData()
{
this->CreateOutputsForAllInputs(); // make sure that we have the same number of outputs as inputs
/* update outputs with tracking data from tools */
unsigned int numberOfOutputs = this->GetNumberOfOutputs();
for (unsigned int i = 0; i < numberOfOutputs ; ++i)
{
mitk::NavigationData* output = this->GetOutput(i);
assert(output);
const mitk::NavigationData* input = this->GetInput(i);
assert(input);
if (input->IsDataValid() == false || !input->GetHasOrientation()
|| !input->GetHasOrientation())
{
MITK_WARN("mitk::NavigationDataToOpenGLFilter::GenerateData()")
<< "Input Navigation Data is either invalid or has no position or "
<< "has no orientation.";
continue;
}
/*
vnl_vector<mitk::ScalarType> vnlTranslation
= input->GetPosition().GetVnlVector();
vnl_matrix<mitk::ScalarType> vnlRotation(
input->GetOrientation().rotation_matrix_transpose());
vnl_matrix_fixed<mitk::ScalarType, 4, 4> m;
m.fill(0);
m(3,3) = 1;
m.update(vnlRotation);
m.set_column(3, vnlTranslation);
MITK_DEBUG << "left handed matrix: " << m;
// switch to right/left handed
m[1][0] = -m[1][0];
m[1][1] = -m[1][1];
m[1][2] = -m[1][2];
m[1][3] = -m[1][3];
m[2][0] = -m[2][0];
m[2][1] = -m[2][1];
m[2][2] = -m[2][2];
m[2][3] = -m[2][3];
MITK_DEBUG << "right handed matrix: " << m;
vnlTranslation = m.get_column(3);
vnlTranslation = vnlTranslation.extract(3);
vnlRotation = m.extract(3, 3);
output->SetPosition( mitk::Point3D( vnlTranslation.data_block() ) );
output->SetOrientation( vnl_quaternion<mitk::ScalarType> ( vnlRotation ) );
*/
output->Graft(input); // First, copy all information from input to output
vnl_matrix<mitk::ScalarType> vnlRotation(
input->GetOrientation().rotation_matrix_transpose());
// normalize rows of rotation matrix
vnlRotation.normalize_rows();
vnl_matrix<mitk::ScalarType> vnlInverseRotation(3,3);
// invert rotation
vnlInverseRotation = vnl_matrix_inverse<mitk::ScalarType>(vnlRotation);
vnl_vector<mitk::ScalarType> vnlTranslation
= input->GetPosition().GetVnlVector();
// rotate translation vector by inverse rotation P = P'
vnlTranslation = vnlInverseRotation * vnlTranslation;
vnlTranslation *= -1; // save -P'
// set new translation and rotation on output navdata objects
mitk::Point3D position;
mitk::FillVector3D(position,
vnlTranslation[0],
vnlTranslation[1],
vnlTranslation[2]);
// set position
output->SetPosition( mitk::Point3D( vnlTranslation.data_block() ) );
output->SetOrientation( mitk::Quaternion( vnlRotation ) );
}
}
