def _calibrateTechnicalSegment(self,aquiStatic, segName, dictRef,frameInit,frameEnd, options=None):
segPicked=self.getSegment(segName)
for tfName in dictRef[segName]: # TF name
pt1=aquiStatic.GetPoint(str(dictRef[segName][tfName]['labels'][0])).GetValues()[frameInit:frameEnd,:].mean(axis=0)
pt2=aquiStatic.GetPoint(str(dictRef[segName][tfName]['labels'][1])).GetValues()[frameInit:frameEnd,:].mean(axis=0)
pt3=aquiStatic.GetPoint(str(dictRef[segName][tfName]['labels'][2])).GetValues()[frameInit:frameEnd,:].mean(axis=0)
ptOrigin=aquiStatic.GetPoint(str(dictRef[segName][tfName]['labels'][3])).GetValues()[frameInit:frameEnd,:].mean(axis=0)
a1=(pt2-pt1)
a1=np.divide(a1,np.linalg.norm(a1))
v=(pt3-pt1)
v=np.divide(v,np.linalg.norm(v))
a2=np.cross(a1,v)
a2=np.divide(a2,np.linalg.norm(a2))
x,y,z,R=frame.setFrameData(a1,a2,dictRef[segName][tfName]['sequence'])
segPicked.referentials[-1].static.m_axisX=x # work on the last TF in the list : thus index -1
segPicked.referentials[-1].static.m_axisY=y
segPicked.referentials[-1].static.m_axisZ=z
segPicked.referentials[-1].static.setRotation(R)
segPicked.referentials[-1].static.setTranslation(ptOrigin)
# - add Nodes in segmental static(technical)Frame -
for label in segPicked.m_markerLabels:
globalPosition=aquiStatic.GetPoint(str(label)).GetValues()[frameInit:frameEnd,:].mean(axis=0)
segPicked.referentials[-1].static.addNode(label,globalPosition,positionType="Global")
def _calibrateAnatomicalSegment(self,
aquiStatic,
segName,
dictAnatomic,
frameInit,
frameEnd,
options=None):
# calibration of technical Frames
for segName in dictAnatomic:
segPicked = self.getSegment(segName)
tf = segPicked.getReferential("TF")
nd1 = str(dictAnatomic[segName]['labels'][0])
pt1 = tf.static.getNode_byLabel(nd1).m_global
nd2 = str(dictAnatomic[segName]['labels'][1])
pt2 = tf.static.getNode_byLabel(nd2).m_global
nd3 = str(dictAnatomic[segName]['labels'][2])
pt3 = tf.static.getNode_byLabel(nd3).m_global
ndO = str(dictAnatomic[segName]['labels'][3])
ptO = tf.static.getNode_byLabel(ndO).m_global
a1 = (pt2 - pt1)
a1 = np.divide(a1, np.linalg.norm(a1))
v = (pt3 - pt1)
v = np.divide(v, np.linalg.norm(v))
a2 = np.cross(a1, v)
a2 = np.divide(a2, np.linalg.norm(a2))
x, y, z, R = frame.setFrameData(a1, a2,
dictAnatomic[segName]['sequence'])
segPicked.anatomicalFrame.static.m_axisX = x # work on the last TF in the list : thus index -1
segPicked.anatomicalFrame.static.m_axisY = y
segPicked.anatomicalFrame.static.m_axisZ = z
segPicked.anatomicalFrame.static.setRotation(R)
segPicked.anatomicalFrame.static.setTranslation(ptO)
# --- relative rotation Technical Anatomical
tf.setRelativeMatrixAnatomic(
np.dot(tf.static.getRotation().T,
segPicked.anatomicalFrame.static.getRotation()))
# add tracking markers as node
for label in segPicked.m_markerLabels:
globalPosition = aquiStatic.GetPoint(
str(label)).GetValues()[frameInit:frameEnd, :].mean(axis=0)
segPicked.anatomicalFrame.static.addNode(label,
globalPosition,
positionType="Global")