Hi Keshav,
I’m not sure, if I understand correctly. QuaternionRigidTransform is derived
from Rigid3DTransform. Therefore you should be able to use
transformFilter ->SetRigid3DTransform( myQuaternionTransform)
without the need to calculate or set a 3x3 matrix by hand.
Regards,
Jochen
--------------
MSc. Jochen Neuhaus
Deutsches Krebsforschungszentrum
Div. Medical and Biological Informatics (E130)
Im Neuenheimer Feld 280
D-69120 Heidelberg, Germany
Email: [email protected]
Phone: (+49) 6221/42-3553
Fax: (+49) 6221/42-2345
Von: Keshav Chintamani [mailto:[email protected]]
Gesendet: Montag, 25. Oktober 2010 13:34
An: mitk-users
Betreff: Re: [mitk-users] Problem with mitkNavigationDataTransformFilter
Hi Jochen,
Thanks for the suggestion! I missed noticing that this class inherits from
itk::Rigid3DTransform.
Would it be possible to replace the itk:Rigid3DTransform typdef with
itk::QuaternionRigidTransform in mitkNavigationDataTransformFilter? This way
the constrained tolerance in the Rigid3DTransform::SetMatrix() method would be
eliminated. Could be helpful to users who are not so familiar with ITK with
set methods for both quaternions and matrices.
Best Regards,
-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
________________________________
From: "Neuhaus Jochen" <[email protected]>
To: "Keshav Chintamani" <[email protected]>, "mitk-users"
<[email protected]>
Sent: Monday, 25 October, 2010 1:18:31 PM
Subject: AW: [mitk-users] Problem with mitkNavigationDataTransformFilter
Hi Keshav,
You could try to use an itk::QuaternionRigidTransform
(http://www.itk.org/Doxygen318/html/classitk_1_1QuaternionRigidTransform.html)
instead.
Regards,
Jochen
--------------
MSc. Jochen Neuhaus
Deutsches Krebsforschungszentrum
Div. Medical and Biological Informatics (E130)
Im Neuenheimer Feld 280
D-69120 Heidelberg, Germany
Email: [email protected]
Phone: (+49) 6221/42-3553
Fax: (+49) 6221/42-2345
http://www.dkfz-heidelberg.de/de/mbi/people/Jochen_Neuhaus.html<https://dkfzowa0.dkfz-heidelberg.de/owa/redir.aspx?C=085e0b87b0bc42bfa9851b67b10bdfbe&URL=http%3a%2f%2fwww.dkfz-heidelberg.de%2fde%2fmbi%2fpeople%2fAnja_Groch.html>
Von: Keshav Chintamani [mailto:[email protected]]
Gesendet: Samstag, 23. Oktober 2010 13:49
An: mitk-users
Betreff: [mitk-users] Problem with mitkNavigationDataTransformFilter
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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