Hello,
I am using the mitkIGT module and am having some trouble using the
mitkNavigationDataTransformFilter.
I calculated the rotation matrix (3x3) between two NavigationData objects from
their quaternions using vnl and tried to set the matrix using the following
method:
typedef itk::Rigid3DTransform<float> itkRigid3DTransformType;
itkRigid3DTransformType::Pointer
itkRigidTransformTest=itkRigid3DTransformType::New();
itk::Matrix<mitk::ScalarType,3,3> testRigidMatrix;
for(unsigned int i=0;i<3;i++)
{
for(unsigned int j=0; j<3; j++)
{
testRigidMatrix[i][j]=vM3.get(i,j); //Copying values from vnl matrix (float) to
itk matrix (float) (temporary fix)
}
}
itkRigidTransformTest->SetIdentity();
itkRigidTransformTest->SetRotationMatrix(testRigidMatrix); // Exception is
caught here
itkRigidTransformTest->Modified();
mitk::NavigationDataTransformFilter::Pointer
transformFilter=mitk::mitk::NavigationDataTransformFilter::New();
transformFilter ->SetRigid3DTransform( itkRigidTransformTest )
The problem is that my rotation matrix is orthogonal with a tolerance of 1e-4
but the itk::Rigid3DTransform class has a hard coded error tolerance
requirement of 1e-10 in the SetMatrix() function:
// Directly set the rotation matrix
template<class TScalarType>
void
Rigid3DTransform<TScalarType>
::SetMatri const MatrixType & matrix )
{
const double tolerance = 1e-10;
if( !this->MatrixIsOrthogonal( matrix, tolerance ) )
{
itkExceptionMacro( << "Attempting to set a non-orthogonal rotation matrix" );
}
this->Superclass::SetMatri matrix );
}
------------------------------------------------------------------------------
Any suggestions are greatly appreciated!
-Keshav
Keshav Chintamani,
Systems Engineer
Space Applications Services NV
Leuvensesteenweg 325
1932 Zaventem
Belgium
Tel: +32 2 721 54 84 Fax: +32 2 721 54 44
URL: http://www.spaceapplications.com
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