Issue #68 change order of return array from get_smooth_frame to match…

… nditracker
SciKit-Surgery · Oct 5, 2023 · 706a423 · 706a423
1 parent 0d1a0a4
commit 706a423
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Showing 2 changed files with 14 additions and 14 deletions.
diff --git a/sksurgerycore/baseclasses/tracker.py b/sksurgerycore/baseclasses/tracker.py
@@ -75,9 +75,9 @@ def get_smooth_frame(self, port_handles):
                 smth_qual.append(self.qualities[my_index].getmean()[0])
 
                 if self.use_quaternions:
-                    output_matrix = np.full((7,1), np.nan)
-                    output_matrix[0:4,0] = mean_quat
-                    output_matrix[4:7,0] = mean_tvec
+                    output_matrix = np.full((1,7), np.nan)
+                    output_matrix[0,0:4] = mean_quat
+                    output_matrix[0,4:7] = mean_tvec
                     smth_tracking.append(output_matrix)
 
                 else:

diff --git a/tests/baseclasses/test_tracker.py b/tests/baseclasses/test_tracker.py
@@ -208,10 +208,10 @@ def test_tracker_quaternions():
     test_index = port_handles_out.index("test rb")
     assert time_stamps[test_index] == 1.3
     assert frame_numbers[test_index] == 0
-    transform = np.full((7,1), np.nan)
+    transform = np.full((1,7), np.nan)
     rotation = _rvec_to_quaternion([1.0, 0.0, 0.0])
-    transform[0:4,0] = rotation
-    transform[4:7,0] = [0.0, 100.0, 200.0]
+    transform[0,0:4] = rotation
+    transform[0,4:7] = [0.0, 100.0, 200.0]
     assert np.allclose(tracking[test_index], transform)
     assert tracking_quality[test_index] == 0.5
 
@@ -244,8 +244,8 @@ def test_tracker_quaternions():
     assert frame_numbers[test_index] == 1
 
     rotation = _rvec_to_quaternion([0.6, 0.0, 0.0])
-    transform[0:4,0] = rotation
-    transform[4:7,0] = [5.0, 75.0, 200.0]
+    transform[0,0:4] = rotation
+    transform[0,4:7] = [5.0, 75.0, 200.0]
     assert np.allclose(tracking[test_index], transform)
     assert tracking_quality[test_index] == 0.65
 
@@ -254,8 +254,8 @@ def test_tracker_quaternions():
     assert frame_numbers[test_index] == 0
 
     rotation = _rvec_to_quaternion([0.0, 0.0, 0.0])
-    transform[0:4,0] = rotation
-    transform[4:7,0] = [50.0, -100.0, 70.0]
+    transform[0,0:4] = rotation
+    transform[0,4:7] = [50.0, -100.0, 70.0]
     assert np.allclose(tracking[test_index], transform)
     assert tracking_quality[test_index] == 1.0
 
@@ -284,8 +284,8 @@ def test_tracker_quaternions():
     assert time_stamps[test_index] == 1.4
     assert frame_numbers[test_index] == 2
     rotation = _rvec_to_quaternion([0.0, 0.45, 0.0])
-    transform[4:7,0] = [50.0, -100.0, 70.0]
-    transform[0:4,0] = rotation
+    transform[0,4:7] = [50.0, -100.0, 70.0]
+    transform[0,0:4] = rotation
     assert np.allclose(tracking[test_index], transform)
     assert tracking_quality[test_index] == 1.0
 
@@ -300,7 +300,7 @@ def test_tracker_quaternions():
     assert math.isclose(time_stamps[test_index],1.4)
     assert frame_numbers[test_index] == 2
     rotation = _rvec_to_quaternion([0.6, 0.00, 0.0])
-    transform[0:4,0] = rotation
-    transform[4:7,0] = [3.333333, 83.33333, 166.666667]
+    transform[0,0:4] = rotation
+    transform[0,4:7] = [3.333333, 83.33333, 166.666667]
     assert np.allclose(tracking[test_index], transform)
     assert tracking_quality[test_index] == 0.6