diff --git a/Modules/CameraCalibration/mitkTransform.cpp b/Modules/CameraCalibration/mitkTransform.cpp
index 937e85407a..e63bda6567 100644
--- a/Modules/CameraCalibration/mitkTransform.cpp
+++ b/Modules/CameraCalibration/mitkTransform.cpp
@@ -1,749 +1,794 @@
 /*===================================================================
 
 The Medical Imaging Interaction Toolkit (MITK)
 
 Copyright (c) German Cancer Research Center,
 Division of Medical and Biological Informatics.
 All rights reserved.
 
 This software is distributed WITHOUT ANY WARRANTY; without
 even the implied warranty of MERCHANTABILITY or FITNESS FOR
 A PARTICULAR PURPOSE.
 
 See LICENSE.txt or http://www.mitk.org for details.
 
 ===================================================================*/
 #include "mitkTransform.h"
 #include <fstream>
 #include <vnl/vnl_inverse.h>
 #include <mitkVnlVectorFixedCaster.h>
 #include <mitkVnlVectorFromCvMat.h>
 #include <mitkVnlMatrixFromCvMat.h>
 #include <mitkCvMatFromVnlVector.h>
 namespace mitk
 {
   // DO NOT CHANGE THE VALUES OF THESE CONSTANTS!!
   const std::string Transform::UNKNOWN_TYPE = "Unknown type";
   const std::string Transform::ENDOSCOPE_SCOPE_TOOL = "Endoscope scope tool";
   const std::string Transform::ENDOSCOPE_CAM_TOOL = "Endoscope camera tool";
   const std::string Transform::CHESSBOARD_TOOL = "Chessboard tool";
   const std::string Transform::POINTER_TOOL = "Pointer tool";
   const std::string Transform::POINTER_TO_CHESSBOARD_ORIGIN = "Pointer to chessboard origin";
   const std::string Transform::POINTER_TO_CHESSBOARD_X_SUPPORT_POINT = "Pointer to chessboard X support origin";
   const std::string Transform::POINTER_TO_CHESSBOARD_Y_SUPPORT_POINT = "Pointer to chessboard Y support origin";
   const std::string Transform::BOARD_TO_BOARD_TOOL = "Board to board tool";
   const std::string Transform::REFERENCE_CAMERA_TRANSFORM = "Reference camera transform";
   const std::string Transform::REFERENCE_SCOPE_TRANSFORM = "Reference scope transform";
   const std::string Transform::EYE_TO_HAND_TRANSFORM = "Eye to hand transform";
   const std::string Transform::CAMERA_EXTRINSICS = "Camera extrinsics";
 
   Transform::Transform()
     : m_NavData(mitk::NavigationData::New()), m_Type( UNKNOWN_TYPE )
   {
     vnl_matrix_fixed<mitk::ScalarType, 3, 3> rot;
     rot.set_identity();
     this->SetRotation( rot );
   }
 
   Transform::Transform(const mitk::NavigationData* nd)
     : m_NavData(mitk::NavigationData::New()), m_Type( UNKNOWN_TYPE )
   {
         m_NavData->Graft(nd);
   }
 
+  Transform::Transform(const mitk::AffineTransform3D* transform)
+    : m_NavData(mitk::NavigationData::New()), m_Type( UNKNOWN_TYPE )
+  {
+    vnl_matrix_fixed<float,3,3> rotation = vnl_matrix_fixed<float,3,3>();
+    rotation[0][0] = transform->GetMatrix().GetVnlMatrix()[0][0];
+    rotation[0][1] = transform->GetMatrix().GetVnlMatrix()[0][1];
+    rotation[0][2] = transform->GetMatrix().GetVnlMatrix()[0][2];
+    rotation[1][0] = transform->GetMatrix().GetVnlMatrix()[1][0];
+    rotation[1][1] = transform->GetMatrix().GetVnlMatrix()[1][1];
+    rotation[1][2] = transform->GetMatrix().GetVnlMatrix()[1][2];
+    rotation[2][0] = transform->GetMatrix().GetVnlMatrix()[2][0];
+    rotation[2][1] = transform->GetMatrix().GetVnlMatrix()[2][1];
+    rotation[2][2] = transform->GetMatrix().GetVnlMatrix()[2][2];
+    rotation.transpose();
+    this->SetRotation(rotation);
+    mitk::Point3D translation;
+    translation[0] = transform->GetOffset()[0];
+    translation[1] = transform->GetOffset()[1];
+    translation[2] = transform->GetOffset()[2];
+    this->SetPosition(translation);
+  }
+
+
   Transform::Transform(const std::string& s)
     : m_NavData(mitk::NavigationData::New()), m_Type( s )
   {
     vnl_matrix_fixed<mitk::ScalarType, 3, 3> rot;
     rot.set_identity();
     this->SetRotation( rot );
   }
 
   void Transform::Copy(const mitk::NavigationData* nd)
   {
     (const_cast<mitk::NavigationData*>(m_NavData.GetPointer()))->Graft(nd);
   }
 
   void Transform::Concatenate( mitk::Transform* transform )
   {
     vnl_matrix_fixed<mitk::ScalarType, 4, 4> mat = transform->GetMatrix();
     mat = mat * this->GetMatrix(); //
     this->SetMatrix( mat );
 
   }
 
   void Transform::Concatenate( const vnl_matrix_fixed<mitk::ScalarType, 4, 4>&
                                transform )
   {
     Transform::Pointer t = Transform::New();
     t->SetMatrix( transform );
     this->Concatenate( t );
   }
 
   void Transform::Concatenate( const vtkMatrix4x4* transform )
   {
     Transform::Pointer t = Transform::New();
     t->SetMatrix( transform );
     this->Concatenate( t );
   }
 
   void Transform::Reset()
   {
     mitk::NavigationData::Pointer nd
       = NavigationData::New();
     this->Copy( nd );
   }
   void  Transform::SetOrientation(
       const vnl_quaternion<mitk::ScalarType>& orientation)
   {
     m_NavData->SetOrientation(orientation);
     this->Modified();
   }
 
   void Transform::SetTranslation( const vnl_vector_fixed<mitk::ScalarType, 3>&
                                   transl)
   {
     mitk::Point3D p;
     for(unsigned int i=0; i<3; ++i)
       p[i] = transl[i];
 
     m_NavData->SetPosition(p);
     this->Modified();
   }
 
   void Transform::SetTranslation( float* array )
   {
     vnl_vector_fixed<mitk::ScalarType, 3> vec;
     for(unsigned int i=0; i<vec.size(); i++)
       vec(i) = array[i];
     this->SetTranslation( vec );
   }
 
   void Transform::SetRotation( float* array )
   {
     vnl_matrix_fixed<mitk::ScalarType, 3, 3> mat;
 
     unsigned int row = 0;
     unsigned int col = 0;
     for(unsigned int i=0; i<mat.rows()*mat.cols(); i++)
     {
       if( i > 0 && i % 3 == 0 )
       {
         ++row;
         col = 0;
       }
 
       mat(row,col) = array[i];
       ++col;
     }
 
     this->SetRotation( mat );
   }
 
   void Transform::SetOrientation( const vnl_quaternion<double>& orientation)
   {
     vnl_vector_fixed<mitk::ScalarType, 4> qvec;
     VnlVectorFixedCaster<double, mitk::ScalarType, 4> caster( &orientation, &qvec );
     caster.Update();
 
     mitk::Quaternion p( qvec );
 
     this->SetOrientation( p );
   }
 
   vnl_vector_fixed<double, 3> Transform::GetVnlDoubleTranslation() const
   {
     vnl_vector_fixed<mitk::ScalarType, 3> vecFloat = this->GetVnlTranslation();
     vnl_vector_fixed<double, 3> vecDouble;
     VnlVectorFixedCaster<mitk::ScalarType, double, 3> caster( &vecFloat, &vecDouble );
     caster.Update();
 
     return vecDouble;
   }
 
   void Transform::SetTranslation( const vnl_vector<double>& transl)
   {
     vnl_vector_fixed<double, 3> dTransl(transl);
     vnl_vector_fixed<mitk::ScalarType, 3> fTransl;
     VnlVectorFixedCaster<double, mitk::ScalarType, 3> caster( &dTransl, &fTransl );
     caster.Update();
 
     this->SetTranslation( fTransl );
   }
 
   vnl_quaternion<double> Transform::GetVnlDoubleQuaternion() const
   {
     mitk::Quaternion fOrientation = this->GetOrientation();
     vnl_quaternion<double> dOrientation;
     VnlVectorFixedCaster<mitk::ScalarType, double, 4> caster( &fOrientation, &dOrientation );
     caster.Update();
 
     return dOrientation;
   }
 
   void Transform::FromCSVFile(const std::string& file)
   {
     std::ifstream csvFile (file.c_str());
     endoAssert ( csvFile.fail() == false );
 
     mitk::Transform::Pointer transform = mitk::Transform::New();
     vnl_matrix_fixed<mitk::ScalarType, 4, 4> mat;
     std::string line;
     mitk::ScalarType d = 0.0f;
     int row=0,column = 0;
 
     while (std::getline (csvFile, line))
     {
       std::istringstream linestream(line);
       std::string item;
       column = 0;
       while (std::getline (linestream, item, ','))
       {
         std::istringstream number;
         number.str(item);
         number >> d;
         mat(row, column) = d;
         ++column;
       }
       ++row;
     }
     endoAssert( row == 4 && column == 4 );
     transform->SetMatrix( mat );
 
     this->SetNavigationData( transform->GetNavigationData() );
     // modified is called in SetNavigationData
   }
 
   std::string Transform::ToCSVString() const
   {
     std::ostringstream s; s.precision(12);
 
     vnl_matrix_fixed<mitk::ScalarType, 4, 4> mat
       = this->GetMatrix();
 
     for( unsigned int j=0; j<mat.rows(); ++j )
     {
       for( unsigned int k=0; k<mat.cols(); ++k )
       {
         s << mat(j,k);
         if(k+1<mat.cols())
           s  << ",";
       }
       if(j+1<mat.rows())
         s << std::endl;
     }
 
     return s.str();
 
   }
 
   std::string Transform::ToMatlabString(const std::string& varname
                                         , bool printLastRow) const
   {
     std::ostringstream s; s.precision(12);
 
     vnl_matrix_fixed<mitk::ScalarType, 4, 4> mat
       = this->GetMatrix();
 
     s << varname << " = [";
     for( unsigned int j=0; j<mat.rows(); ++j )
     {
       if( !printLastRow && j+1 == mat.rows() )
         break;
       for( unsigned int k=0; k<mat.cols(); ++k )
       {
         s << mat(j,k) << " ";
       }
       s << ";";
     }
     s << "];" << std::endl;
 
     return s.str();
   }
 
   void Transform::Copy( const mitk::Transform* transform )
   {
     m_NavData->Graft(transform->GetNavigationData());
     m_Type = transform->GetType();
   }
 
   mitk::Transform::Pointer Transform::Clone() const
   {
     Transform::Pointer copy = Transform::New();
     copy->Copy( this );
     return copy;
   }
 
   void Transform::SetMatrix( const vtkMatrix4x4* mat)
   {
     vnl_matrix_fixed<mitk::ScalarType, 4, 4> vnlMat;
     for(unsigned int i=0; i<4; ++i)
       for(unsigned int j=0; j<4; ++j)
         vnlMat(i,j) = mat->GetElement(i, j);
 
     this->SetMatrix( vnlMat );
   }
 
   void Transform::ToCSVFile(const std::string& file) const
   {
     std::ofstream csvFile;
     csvFile.open(file.c_str());
     endoAssert ( csvFile.fail() == false );
     csvFile << this->ToCSVString();
     csvFile.close();
   }
 
   void Transform::ToMatlabFile(const std::string& file
                                , const std::string& varname) const
   {
     std::ofstream csvFile;
     csvFile.open(file.c_str());
     endoAssert ( csvFile.fail() == false );
     csvFile << this->ToMatlabString(varname);
     csvFile.close();
   }
 
   void Transform::SetNavigationData( const mitk::NavigationData* naviData )
   {
     endoAssert( naviData != 0 );
     m_NavData->Graft( naviData );
     this->Modified();
   }
 
   void Transform::SetRotation( vnl_matrix_fixed<mitk::ScalarType, 3, 3>& mat)
   {
     this->m_NavData->SetOrientation( mitk::Quaternion(mat) );
     this->Modified();
   }
 
   void Transform::SetRotation( vnl_matrix<mitk::ScalarType>& mat)
   {
     vnl_matrix_fixed<mitk::ScalarType, 3, 3> tmp(mat);
     this->SetRotation( tmp );
   }
 
   void Transform::SetPosition( const mitk::Point3D& transl)
   {
     this->SetTranslation( transl.GetVnlVector() );
   }
 
   void Transform::SetTranslation( double array[3] )
   {
     mitk::Point3D p;
     for(unsigned int i = 0; i < 3; ++i)
       p.SetElement(i, array[i]);
     this->SetTranslation( p.GetVnlVector() );
   }
 
 
   void Transform::SetRotation( double array[3][3] )
   {
     vnl_matrix_fixed<mitk::ScalarType, 3, 3> mat;
 
     for(unsigned int i = 0; i < 3; ++i)
       for(unsigned int j = 0; j < 3; ++j)
         mat(i, j) = array[i][j];
     this->SetRotation( mat );
   }
 
   void Transform::Invert()
   {
     vnl_matrix_fixed<mitk::ScalarType, 4, 4> tmp(this->GetMatrix());
     this->SetMatrix( vnl_inverse( tmp ) );
   }
 
   void Transform::SetMatrix(
      const vnl_matrix_fixed<mitk::ScalarType, 4, 4>& mat)
   {
     // set translation first
     vnl_vector<mitk::ScalarType> transl = mat.get_column(3);
     mitk::Point3D p;
     for(unsigned int i=0; i<3; ++i)
       p[i] = transl[i];
 
     m_NavData->SetPosition(p);
 
     // set rotation
     vnl_matrix_fixed<mitk::ScalarType, 3, 3> rotMatFixed(
       mat.extract(3,3));
     this->SetRotation(rotMatFixed);
   }
 
   bool Transform::IsValid() const
   {
     return m_NavData->IsDataValid();
   }
 
   void Transform::SetTranslation( const cv::Mat& transl)
   {
     vnl_vector<mitk::ScalarType> vec(3);
     VnlVectorFromCvMat<mitk::ScalarType> _VnlVectorFromCvMat( &transl, &vec );
     _VnlVectorFromCvMat.Update();
     this->SetTranslation( vnl_vector_fixed<mitk::ScalarType, 3>( vec ) );
   }
 
   void Transform::SetRotation( const cv::Mat& mat )
   {
     vnl_matrix<mitk::ScalarType> vnlMat(3, 3);
     VnlMatrixFromCvMat<mitk::ScalarType> _VnlMatrixFromCvMat( &mat, &vnlMat );
     _VnlMatrixFromCvMat.Update();
     vnl_matrix_fixed<mitk::ScalarType, 3, 3> vnlMatFixed(vnlMat);
 
     this->SetRotation(vnlMatFixed);
   }
 
   void Transform::SetRotationVector( const cv::Mat& rotVec )
   {
     cv::Mat rotMat;
     cv::Rodrigues( rotVec, rotMat );
 
     vnl_matrix<mitk::ScalarType> vnlMat(3, 3);
     VnlMatrixFromCvMat<mitk::ScalarType> _VnlMatrixFromCvMat( &rotMat, &vnlMat );
     _VnlMatrixFromCvMat.Update();
 
 
     vnl_matrix_fixed<mitk::ScalarType, 3, 3> vnlMatFixed(vnlMat);
 
     this->SetRotation( vnlMatFixed );
   }
 
   //# getter
   mitk::NavigationData::Pointer Transform::GetNavigationData() const
   {
     return m_NavData;
   }
 
+  mitk::AffineTransform3D::Pointer Transform::GetAffineTransform3D()
+  {
+    mitk::AffineTransform3D::Pointer returnValue = mitk::AffineTransform3D::New();
+    itk::Matrix<float,3,3> rotation = itk::Matrix<float,3,3>();
+    rotation[0][0] = m_NavData->GetOrientation().rotation_matrix_transpose()[0][0];
+    rotation[0][1] = m_NavData->GetOrientation().rotation_matrix_transpose()[0][1];
+    rotation[0][2] = m_NavData->GetOrientation().rotation_matrix_transpose()[0][2];
+    rotation[1][0] = m_NavData->GetOrientation().rotation_matrix_transpose()[1][0];
+    rotation[1][1] = m_NavData->GetOrientation().rotation_matrix_transpose()[1][1];
+    rotation[1][2] = m_NavData->GetOrientation().rotation_matrix_transpose()[1][2];
+    rotation[2][0] = m_NavData->GetOrientation().rotation_matrix_transpose()[2][0];
+    rotation[2][1] = m_NavData->GetOrientation().rotation_matrix_transpose()[2][1];
+    rotation[2][2] = m_NavData->GetOrientation().rotation_matrix_transpose()[2][2];
+    itk::Vector<float,3> translation = itk::Vector<float,3>();
+    translation[0] = m_NavData->GetPosition()[0];
+    translation[1] = m_NavData->GetPosition()[1];
+    translation[2] = m_NavData->GetPosition()[2];
+    returnValue->SetMatrix(rotation);
+    returnValue->SetOffset(translation);
+    return returnValue;
+  }
+
   mitk::Point3D Transform::GetTranslation() const
   {
     return m_NavData->GetPosition();
   }
 
   mitk::Point3D Transform::GetPosition() const
   {
     return m_NavData->GetPosition();
   }
 
   mitk::Quaternion Transform::GetOrientation() const
   {
     return m_NavData->GetOrientation();
   }
 
   void Transform::GetMatrix(vtkMatrix4x4* matrix) const
   {
     vnl_matrix_fixed<mitk::ScalarType, 4, 4> vnlMat = this->GetMatrix();
     for(unsigned int i=0; i<vnlMat.rows(); ++i)
       for(unsigned int j=0; j<vnlMat.cols(); ++j)
         matrix->SetElement(i,j, vnlMat(i,j));
   }
 
   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);
   }
 
   mitk::Point3D Transform::TransformPoint(mitk::Point3D point) const
   {
       itk::Matrix<mitk::ScalarType,3,3> R(GetVnlRotationMatrix());
       itk::Point<mitk::ScalarType,3> pointR = (R * point);
       mitk::Point3D retPoint = pointR;
       retPoint[0] = pointR[0] + GetPosition()[0];
       retPoint[1] = pointR[1] + GetPosition()[1];
       retPoint[2] = pointR[2] + GetPosition()[2];
       return retPoint;
   }
 
   //# cv getter
   cv::Mat Transform::GetCvTranslation() const
   {
     cv::Mat mat;
     vnl_vector<mitk::ScalarType> vec = this->GetVnlTranslation().as_vector();
     endodebugvar( vec )
     CvMatFromVnlVector<mitk::ScalarType> _CvMatFromVnlVector(&vec, &mat);
     _CvMatFromVnlVector.Update();
     return mat;
   }
 
   cv::Mat Transform::GetCvRotationMatrix() const
   {
     cv::Mat mat;
     vnl_matrix<mitk::ScalarType> vec = this->GetVnlRotationMatrix().as_matrix();
     endodebugvar( vec )
     CvMatFromVnlMatrix<mitk::ScalarType> _CvMatFromVnlMatrix(&vec, &mat);
     _CvMatFromVnlMatrix.Update();
     return mat;
   }
 
   cv::Mat Transform::GetCvMatrix() const
   {
     cv::Mat mat;
     vnl_matrix<mitk::ScalarType> vec = this->GetMatrix().as_matrix();
     CvMatFromVnlMatrix<mitk::ScalarType> _CvMatFromVnlMatrix(&vec, &mat);
     _CvMatFromVnlMatrix.Update();
     return mat;
   }
 
   cv::Mat Transform::GetCvRotationVector() const
   {
     cv::Mat rotVec(3,1,cv::DataType<mitk::ScalarType>::type);
     cv::Rodrigues( this->GetCvRotationMatrix(), rotVec );
     return rotVec;
   }
 
   //# vnl getter
   vnl_vector_fixed<mitk::ScalarType, 3> Transform::GetVnlTranslation() const
   {
     vnl_vector_fixed<mitk::ScalarType, 3> vec(m_NavData->GetPosition()
                                               .GetVnlVector());
     return vec;
   }
 
   vnl_matrix_fixed<mitk::ScalarType, 3, 3> Transform::GetVnlRotationMatrix() const
   {
     return m_NavData->GetOrientation().rotation_matrix_transpose();
   }
 
   vnl_matrix_fixed<double, 4, 4> Transform::GetVnlDoubleMatrix() const
   {
     vnl_matrix_fixed<mitk::ScalarType, 4, 4> mat = this->GetMatrix();
 
     vnl_matrix_fixed<double, 4, 4> doubleMat;
 
     for(unsigned int i=0; i<mat.rows(); ++i)
       for(unsigned int j=0; j<mat.cols(); ++j)
         doubleMat(i,j) = static_cast<double>( mat(i,j) );
 
     return doubleMat;
   }
 
   vnl_matrix_fixed<mitk::ScalarType, 4, 4> Transform::GetMatrix()
       const
   {
     vnl_vector_fixed<mitk::ScalarType, 3> transl = this->GetVnlTranslation();
     vnl_matrix_fixed<mitk::ScalarType, 3, 3> rot = this->GetVnlRotationMatrix();
 
     vnl_matrix_fixed<mitk::ScalarType, 4, 4> homMat;
     homMat.set_identity();
     //std::cout << homMat << std::endl;
     for(unsigned int i=0; i<rot.rows(); ++i)
       for(unsigned int j=0; j<rot.cols(); ++j)
         homMat(i,j) = rot(i,j);
     for(unsigned int i=0; i<transl.size(); ++i)
       homMat(i,3) = transl[i];
 
     return homMat;
   }
 
   void Transform::TransposeRotation()
   {
     vnl_matrix_fixed<mitk::ScalarType, 3, 3> rotMat = this->GetVnlRotationMatrix().transpose();
     this->SetRotation( rotMat );
   }
 
   void Transform::SetValid( bool valid )
   {
     if( m_NavData->IsDataValid() == valid )
       return;
 
     m_NavData->SetDataValid( valid );
     this->Modified();
   }
 
   std::string mitk::Transform::ToString() const
   {
     std::ostringstream s; s.precision(12);
 
     mitk::NavigationData::PositionType position;
     position.Fill(0.0);
     position = m_NavData->GetPosition();
 
     mitk::NavigationData::OrientationType orientation(0.0, 0.0, 0.0, 0.0);
     orientation = m_NavData->GetOrientation();
 
     s << "Translation: [" << position[0] << ", " << position[1] << ", "
         << position[2] << "]";
     s << ", orientation: [" << orientation[0] << ", " << orientation[1] << ", "
         << orientation[2] << ", " << orientation[3] << "]";
     s << ", valid: [" << (this->IsValid()? "true": "false") << "]";
 
     return s.str();
   }
 
   void mitk::Transform::ToXML(TiXmlElement* elem) const
   {
     std::string value = elem->ValueStr();
     if(value.empty())
       elem->SetValue(this->GetNameOfClass());
 
     mitk::NavigationData::PositionType position;
     position.Fill(0.0);
     position = m_NavData->GetPosition();
 
     mitk::NavigationData::OrientationType orientation(0.0, 0.0, 0.0, 0.0);
     orientation = m_NavData->GetOrientation();
 
     mitk::NavigationData::CovarianceMatrixType matrix;
     matrix.SetIdentity();
     matrix = m_NavData->GetCovErrorMatrix();
 
     bool hasPosition = true;
     hasPosition = m_NavData->GetHasPosition();
     bool hasOrientation = true;
     hasOrientation = m_NavData->GetHasOrientation();
     bool dataValid = false;
     dataValid = m_NavData->IsDataValid();
     mitk::NavigationData::TimeStampType timestamp=0.0;
 
     elem->SetAttribute("Type", m_Type);
     elem->SetDoubleAttribute("Time", timestamp);
     elem->SetDoubleAttribute("X", position[0]);
     elem->SetDoubleAttribute("Y", position[1]);
     elem->SetDoubleAttribute("Z", position[2]);
 
     elem->SetDoubleAttribute("QX", orientation[0]);
     elem->SetDoubleAttribute("QY", orientation[1]);
     elem->SetDoubleAttribute("QZ", orientation[2]);
     elem->SetDoubleAttribute("QR", orientation[3]);
 
     elem->SetDoubleAttribute("C00", matrix[0][0]);
     elem->SetDoubleAttribute("C01", matrix[0][1]);
     elem->SetDoubleAttribute("C02", matrix[0][2]);
     elem->SetDoubleAttribute("C03", matrix[0][3]);
     elem->SetDoubleAttribute("C04", matrix[0][4]);
     elem->SetDoubleAttribute("C05", matrix[0][5]);
     elem->SetDoubleAttribute("C10", matrix[1][0]);
     elem->SetDoubleAttribute("C11", matrix[1][1]);
     elem->SetDoubleAttribute("C12", matrix[1][2]);
     elem->SetDoubleAttribute("C13", matrix[1][3]);
     elem->SetDoubleAttribute("C14", matrix[1][4]);
     elem->SetDoubleAttribute("C15", matrix[1][5]);
 
     if (dataValid)
       elem->SetAttribute("Valid",1);
     else
       elem->SetAttribute("Valid",0);
 
     if (hasOrientation)
       elem->SetAttribute("hO",1);
     else
       elem->SetAttribute("hO",0);
 
     if (hasPosition)
       elem->SetAttribute("hP",1);
     else
       elem->SetAttribute("hP",0);
   }
 
   void mitk::Transform::FromXML(TiXmlElement* elem)
   {
     assert(elem);
 
     mitk::NavigationData::Pointer nd = mitk::NavigationData::New();
     mitk::NavigationData::PositionType position;
     mitk::NavigationData::OrientationType orientation(0.0,0.0,0.0,0.0);
     mitk::NavigationData::TimeStampType timestamp = -1;
     mitk::NavigationData::CovarianceMatrixType matrix;
 
     bool hasPosition = true;
     bool hasOrientation = true;
     bool dataValid = false;
 
     position.Fill(0.0);
     matrix.SetIdentity();
 
     std::string type = Transform::UNKNOWN_TYPE;
     elem->QueryStringAttribute("Type", &type);
     elem->QueryDoubleAttribute("Time",&timestamp);
 
     // position and orientation is mandatory!
     if(elem->QueryFloatAttribute("X", &position[0]) != TIXML_SUCCESS)
       throw std::invalid_argument("No X position found in xml");
     if(elem->QueryFloatAttribute("Y", &position[1]) != TIXML_SUCCESS)
       throw std::invalid_argument("No Y position found in xml");
     if(elem->QueryFloatAttribute("Z", &position[2]) != TIXML_SUCCESS)
       throw std::invalid_argument("No Z position found in xml");
 
     if(elem->QueryFloatAttribute("QX", &orientation[0]) != TIXML_SUCCESS)
       throw std::invalid_argument("No QX orientation found in xml");
     if(elem->QueryFloatAttribute("QY", &orientation[1]) != TIXML_SUCCESS)
       throw std::invalid_argument("No QY orientation found in xml");
     if(elem->QueryFloatAttribute("QZ", &orientation[2]) != TIXML_SUCCESS)
       throw std::invalid_argument("No QZ orientation found in xml");
     if(elem->QueryFloatAttribute("QR", &orientation[3]) != TIXML_SUCCESS)
       throw std::invalid_argument("No QR orientation found in xml");
 
     elem->QueryFloatAttribute("C00", &matrix[0][0]);
     elem->QueryFloatAttribute("C01", &matrix[0][1]);
     elem->QueryFloatAttribute("C02", &matrix[0][2]);
     elem->QueryFloatAttribute("C03", &matrix[0][3]);
     elem->QueryFloatAttribute("C04", &matrix[0][4]);
     elem->QueryFloatAttribute("C05", &matrix[0][5]);
     elem->QueryFloatAttribute("C10", &matrix[1][0]);
     elem->QueryFloatAttribute("C11", &matrix[1][1]);
     elem->QueryFloatAttribute("C12", &matrix[1][2]);
     elem->QueryFloatAttribute("C13", &matrix[1][3]);
     elem->QueryFloatAttribute("C14", &matrix[1][4]);
     elem->QueryFloatAttribute("C15", &matrix[1][5]);
 
     int tmpval = 0;
     elem->QueryIntAttribute("Valid", &tmpval);
     if (tmpval == 0)
       dataValid = false;
     else
       dataValid = true;
 
     tmpval = 0;
     elem->QueryIntAttribute("hO", &tmpval);
     if (tmpval == 0)
       hasOrientation = false;
     else
       hasOrientation = true;
 
     tmpval = 0;
     elem->QueryIntAttribute("hP", &tmpval);
     if (tmpval == 0)
       hasPosition = false;
     else
       hasPosition = true;
 
     nd->SetTimeStamp(timestamp);
     nd->SetPosition(position);
     nd->SetOrientation(orientation);
     nd->SetCovErrorMatrix(matrix);
     nd->SetDataValid(dataValid);
     nd->SetHasOrientation(hasOrientation);
     nd->SetHasPosition(hasPosition);
 
     m_NavData = nd;
     m_Type = type;
 
     this->Modified();
   }
 
 } // namespace mitk
 
 std::ostream& operator<< (std::ostream& os, mitk::Transform::Pointer p)
 {
   os << p->ToString();
   return os;
 }
diff --git a/Modules/CameraCalibration/mitkTransform.h b/Modules/CameraCalibration/mitkTransform.h
index 60829e106d..a9fea24c94 100644
--- a/Modules/CameraCalibration/mitkTransform.h
+++ b/Modules/CameraCalibration/mitkTransform.h
@@ -1,305 +1,311 @@
 /*===================================================================
 
 The Medical Imaging Interaction Toolkit (MITK)
 
 Copyright (c) German Cancer Research Center,
 Division of Medical and Biological Informatics.
 All rights reserved.
 
 This software is distributed WITHOUT ANY WARRANTY; without
 even the implied warranty of MERCHANTABILITY or FITNESS FOR
 A PARTICULAR PURPOSE.
 
 See LICENSE.txt or http://www.mitk.org for details.
 
 ===================================================================*/
 #ifndef MITKTRANSFORM_H
 #define MITKTRANSFORM_H
 
 #include <itkObject.h>
 #include <cv.h>
 #include <mitkCommon.h>
 #include <mitkVector.h>
 #include <mitkNavigationData.h>
 #include <tinyxml.h>
 #include <sstream>
 #include <vtkMatrix4x4.h>
 #include <mitkXMLSerializable.h>
 #include <mitkCameraCalibrationExports.h>
 
 namespace mitk {
 
   ///
   /// \brief class representing a transfrom in 3D
   ///
   /// internally it stores a mitk navigation data. this is more
   /// or less a wrapper for navigation data for easy casting
   /// between opencv/vnl/mitk/xml representations of transform
   /// data
   ///
   class mitkCameraCalibration_EXPORT Transform: public itk::Object,
     public XMLSerializable
   {
   public:
     mitkClassMacro(Transform, itk::Object);
     itkFactorylessNewMacro(Transform);
     mitkNewMacro1Param(Transform, const mitk::NavigationData*);
+    mitkNewMacro1Param(Transform, const mitk::AffineTransform3D*);
     mitkNewMacro1Param(Transform, const std::string&);
 
     ///
     /// constants describing the type of transform
     /// represented here
     ///
     static const std::string UNKNOWN_TYPE;
     static const std::string ENDOSCOPE_SCOPE_TOOL;
     static const std::string ENDOSCOPE_CAM_TOOL;
     static const std::string CHESSBOARD_TOOL;
     static const std::string POINTER_TOOL;
     static const std::string POINTER_TO_CHESSBOARD_ORIGIN;
     static const std::string POINTER_TO_CHESSBOARD_X_SUPPORT_POINT;
     static const std::string POINTER_TO_CHESSBOARD_Y_SUPPORT_POINT;
     static const std::string BOARD_TO_BOARD_TOOL;
     static const std::string REFERENCE_CAMERA_TRANSFORM;
     static const std::string REFERENCE_SCOPE_TRANSFORM;
     static const std::string EYE_TO_HAND_TRANSFORM;
     static const std::string CAMERA_EXTRINSICS;
 
     itkGetConstMacro(Type, std::string);
     itkSetMacro(Type, std::string&);
     ///
     /// Copies the content of transform to this
     /// instance
     ///
     void Copy( const mitk::Transform* transform );
 
     ///
     /// Copies the content of transform to this
     /// instance
     ///
     void Copy( const mitk::NavigationData* transform );
 
     ///
     /// Inverts the rotation of this transform
     /// (Polaris navigation Data have inverted rotation
     /// so you may want to call this function when using
     /// polaris data)
     ///
     void TransposeRotation();
 
     ///
     /// get a copy of this transform
     ///
     mitk::Transform::Pointer Clone() const;
 
     ///
     /// concatenate this transform with the given one,
     /// i.e. this transform is done first, then transform
     /// ( if x is this transform, y is transform, then this will be y*x)
     /// post multiply semantics!
     /// \see vtkTransform
     ///
     void Concatenate( mitk::Transform* transform );
     ///
     /// same as above with vnl mat argument
     ///
     void Concatenate( const vnl_matrix_fixed<mitk::ScalarType, 4, 4>& transform );
 
     ///
     /// same as above with vtk mat argument
     ///
     void Concatenate( const vtkMatrix4x4* transform );
 
     ///
     /// invert this transform
     ///
     void Invert();
     ///
     /// resets the internal variables except type
     ///
     void Reset();
 
     ///
     /// read from xml
     ///
     void FromXML(TiXmlElement* elem);
     ///
     /// read csv file
     ///
     void FromCSVFile(const std::string& file);
     ///
     /// grafts the data from naviData to this transform
     ///
     void SetNavigationData( const mitk::NavigationData* naviData );
     ///
     /// method to set orientation quat
     ///
     void SetOrientation( const vnl_quaternion<mitk::ScalarType>& orientation);
     ///
     /// method to set double valued orientation quat
     ///
     void SetOrientation( const vnl_quaternion<double>& orientation);
     ///
     /// method to set translation
     ///
     void SetTranslation( const vnl_vector_fixed<mitk::ScalarType, 3>& transl);
     ///
     /// method to set a vector of doubles as translation
     ///
     void SetTranslation( const vnl_vector<double>& transl);
     ///
     /// method to set a mitk::Point3D as position
     ///
     void SetPosition( const mitk::Point3D& transl);
     ///
     /// sets rotation with a rotation matrix
     ///
     void SetRotation( vnl_matrix_fixed<mitk::ScalarType, 3, 3>& mat);
     ///
     /// sets rotation with a non fixed rotation matrix
     ///
     void SetRotation( vnl_matrix<mitk::ScalarType>& mat);
     ///
     /// sets rotation and translation with a transformation matrix
     ///
     void SetMatrix( const vnl_matrix_fixed<mitk::ScalarType, 4, 4>& mat);
     ///
     /// sets rotation and translation with a vtk transformation matrix
     ///
     void SetMatrix( const vtkMatrix4x4* mat);
     ///
     /// sets translation from a POD vector
     ///
     void SetTranslation( float* array );
     ///
     /// sets translation from a POD vector. this must be a
     /// 3x3=9 sized vector in row major format (first row = first
     /// three elements)
     ///
     void SetRotation( float* array );
     ///
     /// sets translation from a POD vector
     ///
     void SetTranslation( double array[3] );
     ///
     /// sets translation from a POD vector
     ///
     void SetRotation( double array[3][3] );
 
     ///
     /// method to set translation by cv vector
     ///
     void SetTranslation( const cv::Mat& transl);
     ///
     /// sets rotation with a rotation matrix
     ///
     void SetRotation( const cv::Mat& mat );
     ///
     /// sets rotation with a rodrigues rotation vector
     ///
     void SetRotationVector( const cv::Mat& rotVec);
 
     ///
     /// \return the navigation data that stores all information
     ///
     mitk::NavigationData::Pointer GetNavigationData() const;
+
+    /** @return Returns the transform as affine transform 3D object.*/
+    mitk::AffineTransform3D::Pointer GetAffineTransform3D();
+
     ///
     /// calls navigationdata::GetPosition()
     ///
     mitk::Point3D GetPosition() const;
     ///
     /// same as GetPosition
     ///
     mitk::Point3D GetTranslation() const;
     ///
     /// calls navigationdata::IsValid()
     ///
     bool IsValid() const;
     ///
     /// calls navigationdata::SetValid()
     ///
     void SetValid(bool valid);
 
     ///
     /// calls navigationdata::GetOrientation()
     ///
     mitk::Quaternion GetOrientation() const;
 
     ///
     /// \return the homogeneous matrix representing this transform
     ///
     vnl_matrix_fixed<mitk::ScalarType, 4, 4> GetMatrix() const;
     ///
     /// \return the homogeneous vtk matrix representing this transform
     ///
     void GetMatrix(vtkMatrix4x4* matrix) const;
     ///
     /// \return the homogeneous vtk matrix representing this transform
     /// in !OpenGL! left handed coordinate system
     ///
     void GetVtkOpenGlMatrix(vtkMatrix4x4* matrix) const;
 
     mitk::Point3D TransformPoint(mitk::Point3D point) const;
 
     ///
     /// create xml representation
     ///
     void ToXML(TiXmlElement* elem) const;
     ///
     /// create string representation
     ///
     std::string ToString() const;
     ///
     /// create string csv representation (only the transformation values!!!!)
     ///
     std::string ToCSVString() const;
     ///
     /// create matlab representation
     ///
     std::string ToMatlabString(const std::string& varname="transform",
                                bool printLastRow=true) const;
     ///
     /// write csv representation to file (only the transformation values!!!!)
     ///
     void ToCSVFile(const std::string& file) const;
     ///
     /// write matlab representation to file
     ///
     void ToMatlabFile(const std::string& file
                       , const std::string& varname="transform") const;
     ///
     /// conversion to cv types
     ///
     cv::Mat GetCvTranslation() const;
     cv::Mat GetCvRotationVector() const;
     cv::Mat GetCvRotationMatrix() const;
     cv::Mat GetCvMatrix() const;
 
     ///
     /// conversion to vnl types
     ///
     vnl_vector_fixed<mitk::ScalarType, 3> GetVnlTranslation() const;
     vnl_vector_fixed<double, 3> GetVnlDoubleTranslation() const;
     vnl_quaternion<double> GetVnlDoubleQuaternion() const;
     vnl_matrix_fixed<mitk::ScalarType, 3, 3> GetVnlRotationMatrix() const;
     vnl_matrix_fixed<double, 4, 4> GetVnlDoubleMatrix() const;
 
   protected:
     Transform();
     Transform(const mitk::NavigationData* nd);
+    Transform(const mitk::AffineTransform3D* nd);
     Transform(const std::string& s);
 
     // everything is stored here
     mitk::NavigationData::Pointer m_NavData;
 
     ///
     /// saves the type of the transform (Default is UNKNOWN_TYPE)
     ///
     std::string m_Type;
 };
 
 } // namespace mitk
 
 mitkCameraCalibration_EXPORT std::ostream& operator<<
     (std::ostream& os, mitk::Transform::Pointer p);
 
 #endif // MITKTRANSFORM_H