diff --git a/Modules/IGT/Algorithms/mitkPivotCalibration.cpp b/Modules/IGT/Algorithms/mitkPivotCalibration.cpp
index d1b519d480..97ba4098dc 100644
--- a/Modules/IGT/Algorithms/mitkPivotCalibration.cpp
+++ b/Modules/IGT/Algorithms/mitkPivotCalibration.cpp
@@ -1,114 +1,114 @@
 /*===================================================================
 
 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 "mitkPivotCalibration.h"
 #include "vnl/algo/vnl_svd.h"
 #include "vnl/vnl_matrix.h"
 #include "vnl/vnl_vector.h"
 #include <vtkMatrix4x4.h>
 
-mitk::PivotCalibration::PivotCalibration() : m_NavigationDatas(std::vector<mitk::NavigationData::Pointer>()), m_ResultPivotRotation(mitk::Quaternion(0, 0, 0, 1))
+mitk::PivotCalibration::PivotCalibration() : m_NavigationDatas(std::vector<mitk::NavigationData::Pointer>()), m_ResultPivotPoint(mitk::Point3D(0.0))
 {
 
 
 }
 
 mitk::PivotCalibration::~PivotCalibration()
 {
 
 }
 
 void mitk::PivotCalibration::AddNavigationData(mitk::NavigationData::Pointer data)
 {
   m_NavigationDatas.push_back(data);
 }
 
 bool mitk::PivotCalibration::ComputePivotResult()
 {
   return ComputePivotPoint();
 }
 
 bool mitk::PivotCalibration::ComputePivotPoint()
 {
   double defaultThreshold = 1e-1;
 
   std::vector<mitk::NavigationData::Pointer> _CheckedTransforms;
   for (size_t i = 0; i < m_NavigationDatas.size(); ++i)
   {
     if (!m_NavigationDatas.at(i)->IsDataValid())
     {
       MITK_WARN << "Skipping invalid transform " << i << ".";
       continue;
     }
     _CheckedTransforms.push_back(m_NavigationDatas.at(i));
   }
 
   if (_CheckedTransforms.empty())
   {
     MITK_WARN << "Checked Transforms are empty";
     return false;
   }
 
   unsigned int rows = 3 * _CheckedTransforms.size();
   unsigned int columns = 6;
 
   vnl_matrix< double > A(rows, columns), minusI(3, 3, 0), R(3, 3);
   vnl_vector< double > b(rows), x(columns), t(3);
 
   minusI(0, 0) = -1;
   minusI(1, 1) = -1;
   minusI(2, 2) = -1;
 
   //do the computation and set the internal variables
   unsigned int currentRow = 0;
 
 
   for (size_t i = 0; i < _CheckedTransforms.size(); ++i)
   {
     t = _CheckedTransforms.at(i)->GetPosition().GetVnlVector();// t = the current position of the tracked sensor
     t *= -1;
     b.update(t, currentRow); //b = combines the position for each collected transform in one column vector 
     R = _CheckedTransforms.at(i)->GetOrientation().rotation_matrix_transpose().transpose(); // R = the current rotation of the tracked sensor, *rotation_matrix_transpose().transpose() is used to obtain original matrix
     A.update(R, currentRow, 0); //A = the matrix which stores the rotations for each collected transform and -I
     A.update(minusI, currentRow, 3);
     currentRow += 3;
   }
   vnl_svd<double> svdA(A); //The singular value decomposition of matrix A
   svdA.zero_out_absolute(defaultThreshold);
 
   //there is a solution only if rank(A)=6 (columns are linearly
   //independent)
   if (svdA.rank() < 6)
   {
     MITK_WARN << "svdA.rank() < 6";
     return false;
   }
   else
   {
     x = svdA.solve(b); //x = the resulting pivot point
 
     m_ResultRMSError = (A * x - b).rms();  //the root mean sqaure error of the computation 
 
     //sets the Pivot Point
     m_ResultPivotPoint[0] = x[0];
     m_ResultPivotPoint[1] = x[1];
     m_ResultPivotPoint[2] = x[2];
 
 
   }
   return true;
 
 }
diff --git a/Modules/IGT/Algorithms/mitkPivotCalibration.h b/Modules/IGT/Algorithms/mitkPivotCalibration.h
index 1caabf5358..f4a8675eb7 100644
--- a/Modules/IGT/Algorithms/mitkPivotCalibration.h
+++ b/Modules/IGT/Algorithms/mitkPivotCalibration.h
@@ -1,67 +1,65 @@
 /*===================================================================
 
 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 PIVOTCALIBRATION_H_HEADER_INCLUDED_
 #define PIVOTCALIBRATION_H_HEADER_INCLUDED_
 
 #include "MitkIGTExports.h"
 #include <itkObject.h>
 #include <itkObjectFactory.h>
 #include <mitkCommon.h>
 #include <mitkVector.h>
 #include <mitkNavigationData.h>
 #include <vector>
 
 
 namespace mitk {
     /**Documentation
     * \brief Class for performing a pivot calibration out of a set of navigation datas
     * \ingroup IGT
     */
   class MITKIGT_EXPORT PivotCalibration : public itk::Object
     {
     public:
       mitkClassMacroItkParent(PivotCalibration, itk::Object);
       itkNewMacro(Self);
       void AddNavigationData(mitk::NavigationData::Pointer data);
       /** @brief Computes the pivot point and rotation/axis on the given
         *        navigation datas. You can get the results afterwards.
         * @return Returns true if the computation was successfull, false if not.
         */
       bool ComputePivotResult();
 
       itkGetMacro(ResultPivotPoint,mitk::Point3D);
-      itkGetMacro(ResultPivotRotation,mitk::Quaternion);
       itkGetMacro(ResultRMSError,double);
 
 
     protected:
       PivotCalibration();
       virtual ~PivotCalibration();
 
       std::vector<mitk::NavigationData::Pointer> m_NavigationDatas;
 
       bool ComputePivotPoint();
       bool ComputePivotAxis();
 
       mitk::Point3D m_ResultPivotPoint;
-      mitk::Quaternion m_ResultPivotRotation;
       double m_ResultRMSError;
 
     };
 } // Ende Namespace
 #endif
diff --git a/Plugins/org.mitk.gui.qt.igttracking/src/internal/QmitkIGTNavigationToolCalibration.cpp b/Plugins/org.mitk.gui.qt.igttracking/src/internal/QmitkIGTNavigationToolCalibration.cpp
index f58fe6f3ff..b3669e14d4 100644
--- a/Plugins/org.mitk.gui.qt.igttracking/src/internal/QmitkIGTNavigationToolCalibration.cpp
+++ b/Plugins/org.mitk.gui.qt.igttracking/src/internal/QmitkIGTNavigationToolCalibration.cpp
@@ -1,730 +1,729 @@
 /*===================================================================
 
 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 <numeric>
 
 
 // Blueberry
 #include <berryISelectionService.h>
 #include <berryIWorkbenchWindow.h>
 
 // Qmitk
 #include "QmitkIGTNavigationToolCalibration.h"
 
 // mitk
 #include <mitkNavigationToolWriter.h>
 #include <mitkTrackingDeviceSource.h>
 #include <mitkTrackingDevice.h>
 #include <mitkTrackingTool.h>
 #include <mitkQuaternionAveraging.h>
 #include <mitkPivotCalibration.h>
 #include <mitkNavigationData.h>
 
 // Qt
 #include <QMessageBox>
 #include <qfiledialog.h>
 
 //vtk
 #include <vtkSphereSource.h>
 
 
 
 const std::string QmitkIGTNavigationToolCalibration::VIEW_ID = "org.mitk.views.igtnavigationtoolcalibration";
 
 QmitkIGTNavigationToolCalibration::QmitkIGTNavigationToolCalibration()
 {
   m_ToolTransformationWidget = new QmitkInteractiveTransformationWidget();
 }
 
 QmitkIGTNavigationToolCalibration::~QmitkIGTNavigationToolCalibration()
 {
 //The following code is required due to a bug in the point list widget.
 //If this is removed, MITK crashes when closing the view:
 m_Controls.m_RegistrationLandmarkWidget->SetPointSetNode(nullptr);
 m_Controls.m_CalibrationLandmarkWidget->SetPointSetNode(nullptr);
 
   //clean up data storage
   this->GetDataStorage()->Remove(m_ToolTipPointPreview);
 
 
   delete m_ToolTransformationWidget;
 }
 
 void QmitkIGTNavigationToolCalibration::SetFocus()
 {
 
 }
 
 void QmitkIGTNavigationToolCalibration::OnToolCalibrationMethodChanged(int index)
 {
   //if pivot calibration (3) or manual(0) is chosen only calibration pointer is needed
   if (index == 0 || index == 3) {
 
     if (!CheckInitialization(false)) {
       return;
     }
   }
   else{
     if (!CheckInitialization()) { return; }
   }
 
   UpdateManualToolTipCalibrationView();
   m_Controls.m_CalibrationMethodsWidget->setCurrentIndex(index);
   m_IndexCurrentCalibrationMethod = index;
 }
 
 void QmitkIGTNavigationToolCalibration::CreateQtPartControl(QWidget *parent)
 {
   m_TrackingTimer = new QTimer(this);
 
   // create GUI widgets from the Qt Designer's .ui file
   m_Controls.setupUi(parent);
   connect(m_Controls.m_SetToolToCalibrate, SIGNAL(clicked()), this, SLOT(SetToolToCalibrate()));
   connect(m_Controls.m_SetPointer, SIGNAL(clicked()), this, SLOT(SetCalibrationPointer()));
   connect(m_TrackingTimer, SIGNAL(timeout()), this, SLOT(UpdateTrackingTimer()));
   connect(m_Controls.m_AddLandmark, SIGNAL(clicked()), this, SLOT(AddLandmark()));
   connect(m_Controls.m_SaveCalibratedTool, SIGNAL(clicked()), this, SLOT(SaveCalibratedTool()));
   connect(m_Controls.m_AddPivotPose, SIGNAL(clicked()), this, SLOT(OnAddPivotPose()));
   connect(m_Controls.m_ComputePivot, SIGNAL(clicked()), this, SLOT(OnComputePivot()));
   connect(m_Controls.m_UseComputedPivotPoint, SIGNAL(clicked()), this, SLOT(OnUseComputedPivotPoint()));
   connect(m_Controls.m_StartEditTooltipManually, SIGNAL(clicked()), this, SLOT(OnStartManualToolTipCalibration()));
   connect(m_Controls.m_GetPositions, SIGNAL(clicked()), this, SLOT(OnGetPositions()));
   connect(m_Controls.m_ToolAxis_X, SIGNAL(valueChanged(double)), this, SLOT(OnToolAxisSpinboxChanged()));
   connect(m_Controls.m_ToolAxis_Y, SIGNAL(valueChanged(double)), this, SLOT(OnToolAxisSpinboxChanged()));
   connect(m_Controls.m_ToolAxis_Z, SIGNAL(valueChanged(double)), this, SLOT(OnToolAxisSpinboxChanged()));
   connect(m_Controls.m_CalibrateToolAxis, SIGNAL(clicked()), this, SLOT(OnCalibrateToolAxis()));
   connect((QObject*)(m_ToolTransformationWidget), SIGNAL(EditToolTipFinished(mitk::AffineTransform3D::Pointer)), this,
     SLOT(OnManualEditToolTipFinished(mitk::AffineTransform3D::Pointer)));
   connect(m_Controls.m_CalibrationMethodComboBox, SIGNAL(currentIndexChanged(int)), this, SLOT(OnToolCalibrationMethodChanged(int)));
 
   connect((QObject*)(m_Controls.m_RunCalibrationButton), SIGNAL(clicked()), (QObject*) this, SLOT(OnRunSingleRefToolCalibrationClicked()));
   connect((QObject*)(m_Controls.m_CollectNavigationDataButton), SIGNAL(clicked()), (QObject*) this, SLOT(OnLoginSingleRefToolNavigationDataClicked()));
   connect((QObject*)(m_Controls.m_SetNewToolTipPosButton), SIGNAL(clicked()), (QObject*) this, SLOT(OnSetNewToolTipPosButtonClicked()));
 
   m_IDToolToCalibrate = -1;
   m_IDCalibrationPointer = -1;
   m_IndexCurrentCalibrationMethod = -1;
   m_OnLoginSingleRefToolNavigationDataClicked = false;
   m_NumberOfNavigationDataCounter = 0;
   m_NumberOfNavigationData = -1;
 
   //for pivot calibration
   m_OnAddPivotPoseClicked = false;
   PivotCount = 0;
   m_PivotPoses = std::vector<mitk::NavigationData::Pointer>();
 
   m_CalibrationLandmarks = mitk::PointSet::New();
   m_CalibrationLandmarksNode = mitk::DataNode::New();
   m_CalibrationLandmarksNode->SetData(m_CalibrationLandmarks);
   m_Controls.m_CalibrationLandmarkWidget->SetPointSetNode(m_CalibrationLandmarksNode);
 
   m_RegistrationLandmarks = mitk::PointSet::New();
   m_RegistrationLandmarksNode = mitk::DataNode::New();
   m_RegistrationLandmarksNode->SetData(m_RegistrationLandmarks);
   m_Controls.m_RegistrationLandmarkWidget->SetPointSetNode(m_RegistrationLandmarksNode);
 
   m_ToolSurfaceInToolCoordinatesDataNode = mitk::DataNode::New();
   m_ToolSurfaceInToolCoordinatesDataNode->SetName("ToolSurface(ToolCoordinates)");
 
   m_LoggedNavigationDataDifferences = std::vector< mitk::NavigationData::Pointer >();
 }
 
 
 void QmitkIGTNavigationToolCalibration::OnRunSingleRefToolCalibrationClicked()
 {
   if (!CheckInitialization()) { return; }
 
   mitk::NavigationData::Pointer ToolTipTransform = mitk::NavigationData::New();
 
   if (m_Controls.m_CalibratePosition->isChecked())
   {
     //1: Compute mean translational offset vector
     m_ResultOffsetVector.Fill(0);
     for (std::vector<mitk::Point3D>::iterator vecIter = m_LoggedNavigationDataOffsets.begin(); vecIter != m_LoggedNavigationDataOffsets.end(); vecIter++)
     {
       m_ResultOffsetVector[0] = m_ResultOffsetVector[0] + (*vecIter)[0];
       m_ResultOffsetVector[1] = m_ResultOffsetVector[1] + (*vecIter)[1];
       m_ResultOffsetVector[2] = m_ResultOffsetVector[2] + (*vecIter)[2];
     }
     m_ResultOffsetVector[0] = m_ResultOffsetVector[0] / m_LoggedNavigationDataOffsets.size();
     m_ResultOffsetVector[1] = m_ResultOffsetVector[1] / m_LoggedNavigationDataOffsets.size();
     m_ResultOffsetVector[2] = m_ResultOffsetVector[2] / m_LoggedNavigationDataOffsets.size();
 
     this->m_Controls.m_ResultOfCalibration->setText(
       QString("x: ") + QString(QString::number(m_ResultOffsetVector[0], 103, 3)) +
       QString("; y: ") + (QString::number(m_ResultOffsetVector[1], 103, 3)) +
       QString("; z: ") + (QString::number(m_ResultOffsetVector[2], 103, 3)));
 
     ToolTipTransform->SetPosition(m_ResultOffsetVector);
   }
 
 
   if (m_Controls.m_CalibrateOrientation->isChecked())
   {
     //2: Compute mean orientation
     mitk::Quaternion meanOrientation;
     std::vector <mitk::Quaternion> allOrientations = std::vector <mitk::Quaternion>();
     for (std::size_t i = 0; i < m_LoggedNavigationDataDifferences.size(); i++) { allOrientations.push_back(m_LoggedNavigationDataDifferences.at(i)->GetOrientation()); }
     meanOrientation = mitk::QuaternionAveraging::CalcAverage(allOrientations);
     this->m_Controls.m_ResultOfCalibrationOrientation->setText(
       QString("qx: ") + QString(QString::number(meanOrientation.x(), 103, 3)) +
       QString("; qy: ") + (QString::number(meanOrientation.y(), 103, 3)) +
       QString("; qz: ") + (QString::number(meanOrientation.z(), 103, 3)) +
       QString("; qr: ") + (QString::number(meanOrientation.r(), 103, 3)));
 
     ToolTipTransform->SetOrientation(meanOrientation);
   }
 
   MITK_INFO << "Computed calibration: ";
   MITK_INFO << "Translation Vector: " << ToolTipTransform->GetPosition();
   MITK_INFO << "Quaternion: (" << ToolTipTransform->GetOrientation() << ")";
   MITK_INFO << "Euler Angles [rad]: (" << ToolTipTransform->GetOrientation().rotation_euler_angles() << ")";
   MITK_INFO << "Matrix:";
   vnl_matrix_fixed<double, 3, 3> rotMatrix = ToolTipTransform->GetOrientation().rotation_matrix_transpose();
   MITK_INFO << rotMatrix[0][0] << " " << rotMatrix[0][1] << " " << rotMatrix[0][2] << std::endl;
   MITK_INFO << rotMatrix[1][0] << " " << rotMatrix[1][1] << " " << rotMatrix[1][2] << std::endl;
   MITK_INFO << rotMatrix[2][0] << " " << rotMatrix[2][1] << " " << rotMatrix[2][2] << std::endl;
 
   //3: write everything into the final tool tip transform and save it as member (it will be written to the tool later on)
   mitk::NavigationData::Pointer ToolTipInTrackingCoordinates = mitk::NavigationData::New();
   ToolTipInTrackingCoordinates->Compose(ToolTipTransform);
   ToolTipInTrackingCoordinates->Compose(m_NavigationDataSourceOfToolToCalibrate->GetOutput(m_IDToolToCalibrate));
   ShowToolTipPreview(ToolTipInTrackingCoordinates);
   m_Controls.m_SetNewToolTipPosButton->setEnabled(true);
   m_ComputedToolTipTransformation = ToolTipTransform;
 
 }
 
 void QmitkIGTNavigationToolCalibration::OnLoginSingleRefToolNavigationDataClicked()
 {
 
   if (!CheckInitialization()) { return; }
 
   //reset old data
   m_LoggedNavigationDataOffsets.clear();
   m_LoggedNavigationDataDifferences.clear();
 
   m_OnLoginSingleRefToolNavigationDataClicked = true;
   m_Controls.m_CollectNavigationDataButton->setEnabled(false);
   m_NumberOfNavigationData = m_Controls.m_NumberOfNavigationDataToCollect->value();
   MITK_INFO << "Collecting " << m_NumberOfNavigationData << " NavigationData ... " << endl;
 }
 
 void QmitkIGTNavigationToolCalibration::LoginSingleRefToolNavigationData()
 {
   if (!CheckInitialization()) { return; }
 
   if (m_NumberOfNavigationDataCounter < m_NumberOfNavigationData)
   {
     //update label text
     QString labelText = "Collecting Data: " + QString::number(m_NumberOfNavigationDataCounter);
     m_Controls.m_CollectionStatus->setText(labelText);
 
     mitk::NavigationData::Pointer referenceTool = m_NavigationDataSourceOfCalibrationPointer->GetOutput(m_IDCalibrationPointer);
     mitk::NavigationData::Pointer toolToCalibrate = m_NavigationDataSourceOfToolToCalibrate->GetOutput(m_IDToolToCalibrate);
 
     //compute difference:
     // differenceND = toolToCalibrate^-1 * referenceTool
     mitk::NavigationData::Pointer differenceND = mitk::NavigationData::New();
     differenceND->Compose(referenceTool);
     differenceND->Compose(toolToCalibrate->GetInverse());
 
     //inverse mode...
     if (m_Controls.m_InvertQuaternions->isChecked())
     {
       // negate identity matrix to directly show parameters that will set up in NDI 6D Software Architect
       differenceND = differenceND->GetInverse();
     }
 
     //save difference in member
     m_LoggedNavigationDataOffsets.push_back(differenceND->GetPosition());
     m_LoggedNavigationDataDifferences.push_back(differenceND);
     m_NumberOfNavigationDataCounter++;
   }
 
   if (m_NumberOfNavigationDataCounter == m_NumberOfNavigationData)
   {
     m_NumberOfNavigationDataCounter = 0;
     m_OnLoginSingleRefToolNavigationDataClicked = false;
     m_Controls.m_CollectNavigationDataButton->setEnabled(true);
     m_Controls.m_RunCalibrationButton->setEnabled(true);
     MITK_INFO << "Collecting " << m_NumberOfNavigationData << " NavigationData ... Finished" << endl;
     QString labelText = "Collected " + QString::number(m_NumberOfNavigationData) + " data samples!";
     m_Controls.m_CollectionStatus->setText(labelText);
   }
 }
 
 void QmitkIGTNavigationToolCalibration::OnSetNewToolTipPosButtonClicked()
 {
   ApplyToolTipTransform(m_ComputedToolTipTransformation);
   RemoveToolTipPreview();
 }
 
 void QmitkIGTNavigationToolCalibration::ClearOldPivot()
 {
   mitk::NavigationData::Pointer tempND = mitk::NavigationData::New();
   this->ApplyToolTipTransform(tempND);
   UpdateManualToolTipCalibrationView();
   //m_ManualToolTipEditWidget->hide(); //TODO
   this->GetDataStorage()->Remove(m_ToolSurfaceInToolCoordinatesDataNode);
 }
 void QmitkIGTNavigationToolCalibration::OnAddPivotPose()
 {
   ClearOldPivot();
   //When the collect Poses Button is Clicked
   m_OnAddPivotPoseClicked = true;
   m_NumberOfNavigationData = m_Controls.m_PosesToCollect->value();
 
 }
 
 void QmitkIGTNavigationToolCalibration::AddPivotPose()
 {
   //Save the poses to be used in computation
   if (PivotCount < m_NumberOfNavigationData)
   {
     mitk::NavigationData::Pointer currentPose = mitk::NavigationData::New();
     currentPose->Graft(m_Controls.m_SelectionWidget->GetSelectedNavigationDataSource()->GetOutput(m_IDToolToCalibrate));
     m_PivotPoses.push_back(currentPose);
     m_Controls.m_PoseNumber->setText(QString::number(m_PivotPoses.size()));
     PivotCount++;
   }
   if (PivotCount == m_NumberOfNavigationData)
   {
     m_OnAddPivotPoseClicked = false;
   }
 }
 
 void QmitkIGTNavigationToolCalibration::OnComputePivot()
 {
 
   mitk::PivotCalibration::Pointer myPivotCalibration = mitk::PivotCalibration::New();
   for (std::size_t i = 0; i < this->m_PivotPoses.size(); i++)
   {
     myPivotCalibration->AddNavigationData(m_PivotPoses.at(i));
   }
   QString resultString;
   if (myPivotCalibration->ComputePivotResult())
   {
 
     mitk::NavigationData::Pointer markerTransformationTrackingCoordinates = m_PivotPoses.at(0);
 
     //Get computed pivot transfromation in tool coordinates
 
 
     mitk::NavigationData::Pointer ToolTipToTool = mitk::NavigationData::New();
     ToolTipToTool->SetPosition(myPivotCalibration->GetResultPivotPoint());
-    ToolTipToTool->SetOrientation(myPivotCalibration->GetResultPivotRotation());
+    ToolTipToTool->SetOrientation(mitk::Quaternion(0,0,0,1));
     mitk::NavigationData::Pointer TrackerToTool = mitk::NavigationData::New();
     TrackerToTool->SetOrientation(markerTransformationTrackingCoordinates->GetOrientation());
     TrackerToTool->SetPosition(markerTransformationTrackingCoordinates->GetPosition());
     TrackerToTool->Compose(ToolTipToTool);
 
     // Compute pivot point in relation to marker transformation for preview
     mitk::NavigationData::Pointer ToolTipToTracker = mitk::NavigationData::New();
     ToolTipToTracker->Compose(ToolTipToTool);
     ToolTipToTracker->Compose(markerTransformationTrackingCoordinates);
 
     //add the preview node to the data storage
     ShowToolTipPreview(ToolTipToTracker);
 
     //parse result string
     resultString = QString("Pivot computation succeeded!\n")
       + QString("RMS Error: ") + QString::number(myPivotCalibration->GetResultRMSError()) + QString("\n")
-      + QString("Pivot Point: ") + QString::number(myPivotCalibration->GetResultPivotPoint()[0]) + ";" + QString::number(myPivotCalibration->GetResultPivotPoint()[1]) + ";" + QString::number(myPivotCalibration->GetResultPivotPoint()[2]) + QString("\n")
-      + QString("Pivot Rotation: ") + QString::number(myPivotCalibration->GetResultPivotRotation()[0]) + ";" + QString::number(myPivotCalibration->GetResultPivotRotation()[1]) + ";" + QString::number(myPivotCalibration->GetResultPivotRotation()[2]) + ";" + QString::number(myPivotCalibration->GetResultPivotRotation()[3]) + QString("\n");
+      + QString("Pivot Point: ") + QString::number(myPivotCalibration->GetResultPivotPoint()[0]) + ";" + QString::number(myPivotCalibration->GetResultPivotPoint()[1]) + ";" + QString::number(myPivotCalibration->GetResultPivotPoint()[2]) + QString("\n");
 
     //finally: save results to member variable
     m_ComputedToolTipTransformation = ToolTipToTool;
 
 
     //enable button to use the computed point with the tool
     m_Controls.m_UseComputedPivotPoint->setEnabled(true);
   }
   else
   {
     resultString = "Pivot computation failed!";
   }
   MITK_INFO << resultString.toStdString().c_str();
   m_Controls.m_ResultText->setText(resultString);
 
 }
 void QmitkIGTNavigationToolCalibration::UpdatePivotCount()
 {
   PivotCount = 0;
   while (!m_PivotPoses.empty())
   {
     m_PivotPoses.pop_back();
   }
   m_Controls.m_PoseNumber->setText(QString::number(PivotCount));
 }
 
 void QmitkIGTNavigationToolCalibration::OnUseComputedPivotPoint()
 {
   RemoveToolTipPreview();
   QString resultString = QString("Pivoted tool tip transformation was written to the tool ") + m_ToolToCalibrate->GetToolName().c_str();
   ApplyToolTipTransform(m_ComputedToolTipTransformation, resultString.toStdString());
   m_Controls.m_ResultText->setText(resultString);
   UpdatePivotCount();
 }
 
 void QmitkIGTNavigationToolCalibration::ApplyToolTipTransform(mitk::NavigationData::Pointer ToolTipTransformInToolCoordinates, std::string message)
 {
   if (!CheckInitialization(false)) { return; }
 
   //Update tool in tool storage
   m_ToolToCalibrate->SetToolTipPosition(ToolTipTransformInToolCoordinates->GetPosition());
   m_ToolToCalibrate->SetToolAxisOrientation(ToolTipTransformInToolCoordinates->GetOrientation());
 
   //And also update tracking device, so the transform is directly used
   mitk::TrackingDeviceSource::Pointer trackingDeviceSource;
   try
   {
     trackingDeviceSource = dynamic_cast<mitk::TrackingDeviceSource*>(m_NavigationDataSourceOfToolToCalibrate.GetPointer());
     mitk::TrackingTool::Pointer TrackingToolToCalibrate = trackingDeviceSource->GetTrackingDevice()->GetTool(m_IDToolToCalibrate);
     TrackingToolToCalibrate->SetToolTipPosition(ToolTipTransformInToolCoordinates->GetPosition(), ToolTipTransformInToolCoordinates->GetOrientation());
   }
   catch (std::exception& e)
   {
     MITK_ERROR << "Error while trying to set the tool tip to the running tracking device. Aborting! (" << e.what() << ")";
   }
   MITK_INFO << message;
 }
 
 void QmitkIGTNavigationToolCalibration::ShowToolTipPreview(mitk::NavigationData::Pointer ToolTipInTrackingCoordinates)
 {
   if(m_ToolTipPointPreview.IsNull())
   {
     m_ToolTipPointPreview = mitk::DataNode::New();
     m_ToolTipPointPreview->SetName("Modified Tool Tip Preview");
     mitk::Color blue;
     blue.SetBlue(1);
     m_ToolTipPointPreview->SetColor(blue);
     mitk::Surface::Pointer mySphere = mitk::Surface::New();
     vtkSmartPointer<vtkSphereSource> vtkData = vtkSmartPointer<vtkSphereSource>::New();
     vtkData->SetRadius(3.0f);
     vtkData->SetCenter(0.0, 0.0, 0.0);
     vtkData->Update();
     mySphere->SetVtkPolyData(vtkData->GetOutput());
     m_ToolTipPointPreview->SetData(mySphere);
 
     this->GetDataStorage()->Add(m_ToolTipPointPreview);
   }
   m_ToolTipPointPreview->GetData()->GetGeometry()->SetIndexToWorldTransform(ToolTipInTrackingCoordinates->GetAffineTransform3D());
 }
 
 void QmitkIGTNavigationToolCalibration::RemoveToolTipPreview()
 {
   this->GetDataStorage()->Remove(m_ToolTipPointPreview.GetPointer());
 }
 void QmitkIGTNavigationToolCalibration::UpdateManualToolTipCalibrationView()
 {
   if (m_ToolToCalibrate.IsNull()) { return; }
   //parse human readable transformation data and display it
   std::stringstream translation;
   std::stringstream orientation;
   translation << m_ToolToCalibrate->GetToolTipPosition();
   orientation << "Quaternion: (" << m_ToolToCalibrate->GetToolAxisOrientation() << ")" << std::endl;
   orientation << std::endl;
   orientation << "Euler Angles [rad]: (" << m_ToolToCalibrate->GetToolAxisOrientation().rotation_euler_angles() << ")" << std::endl;
   orientation << std::endl;
   orientation << "Matrix:" << std::endl;
   vnl_matrix_fixed<double, 3, 3> rotMatrix = m_ToolToCalibrate->GetToolAxisOrientation().rotation_matrix_transpose();
   orientation << rotMatrix[0][0] << " " << rotMatrix[0][1] << " " << rotMatrix[0][2] << std::endl;
   orientation << rotMatrix[1][0] << " " << rotMatrix[1][1] << " " << rotMatrix[1][2] << std::endl;
   orientation << rotMatrix[2][0] << " " << rotMatrix[2][1] << " " << rotMatrix[2][2] << std::endl;
   m_Controls.m_ManualCurrentTranslation->setText(translation.str().c_str());
   m_Controls.m_ManualCurrentOrientation->setPlainText(orientation.str().c_str());
 }
 
 void QmitkIGTNavigationToolCalibration::OnStartManualToolTipCalibration()
 {
   if (!CheckInitialization(false)) { return; }
 
   m_ToolTransformationWidget->SetToolToEdit(m_ToolToCalibrate);
   m_ToolTransformationWidget->SetDefaultOffset(m_ToolToCalibrate->GetToolTipPosition());
   m_ToolTransformationWidget->SetDefaultRotation(m_ToolToCalibrate->GetToolAxisOrientation());
 
   m_ToolTransformationWidget->open();
 }
 
 void QmitkIGTNavigationToolCalibration::OnManualEditToolTipFinished(mitk::AffineTransform3D::Pointer toolTip)
 {
   //This function is called, when the toolTipEdit view is closed.
   //if user pressed cancle, nullptr is returned. Do nothing. Else, set values.
   if (toolTip)
   {
     mitk::NavigationData::Pointer tempND = mitk::NavigationData::New(toolTip);//Convert to Navigation data for simple transversion to quaternion
     QString resultString = QString("Manual edited values are written to ") + m_ToolToCalibrate->GetToolName().c_str();
     ApplyToolTipTransform(tempND, resultString.toStdString());
     m_Controls.m_ResultText->setText(resultString);
   }
 
   UpdateManualToolTipCalibrationView();
 }
 
 void QmitkIGTNavigationToolCalibration::OnGetPositions()
 {
   if (!CheckInitialization(true)) { return; }
 
   //Navigation Data from Tool which should be calibrated
   if (!m_AxisCalibration_ToolToCalibrate)
     m_AxisCalibration_ToolToCalibrate = mitk::NavigationData::New();
   m_AxisCalibration_ToolToCalibrate->Graft(m_Controls.m_SelectionWidget->GetSelectedNavigationDataSource()->GetOutput(m_IDToolToCalibrate));
 
   //Navigation Data from calibration pointer tool
   if (!m_AxisCalibration_NavDataCalibratingTool)
     m_AxisCalibration_NavDataCalibratingTool = mitk::NavigationData::New();
   m_AxisCalibration_NavDataCalibratingTool->Graft(m_Controls.m_SelectionWidget->GetSelectedNavigationDataSource()->GetOutput(m_IDCalibrationPointer));
 
   MITK_DEBUG << "Positions for tool axis calibration:";
   MITK_DEBUG << "    ToolTip: " << m_AxisCalibration_ToolToCalibrate->GetPosition() << ",";
   MITK_DEBUG << "    Rotation: \n" << m_AxisCalibration_ToolToCalibrate->GetRotationMatrix();
   MITK_DEBUG << "    End of the tool: " << m_AxisCalibration_NavDataCalibratingTool->GetPosition();
 
   QString _label = "Position recorded: " + QString::number(m_AxisCalibration_NavDataCalibratingTool->GetPosition()[0], 'f', 1) + ", "
     + QString::number(m_AxisCalibration_NavDataCalibratingTool->GetPosition()[1], 'f', 1) + ", "
     + QString::number(m_AxisCalibration_NavDataCalibratingTool->GetPosition()[2], 'f', 1);
   m_Controls.m_ToolAxisPositionLabel->setText(_label);
 }
 
 void QmitkIGTNavigationToolCalibration::OnCalibrateToolAxis()
 {
   if (!m_AxisCalibration_ToolToCalibrate || !m_AxisCalibration_NavDataCalibratingTool)
   {
     MITK_ERROR << "Please record position first.";
     return;
   }
 
   //Calculate the tool tip
   //here is an explanation, what is happening here:
   /*
   The axis is equal to the (tool tip) minus the (end of the tool) in tool coordinates of the tool which should be calibrated.
   The tool tip is defined as the origin of the tool coordinate system.
   The end of the tool is recorded by the calibration pointer's position and is transformed into the coordinate system of the tool to be calibrated
   Normalize it.
   */
   //m_CalibratedToolAxis = -m_AxisCalibration_ToolToCalibrate->TransformPoint(m_AxisCalibration_NavDataCalibratingTool->GetPosition()).GetVectorFromOrigin();
   m_CalibratedToolAxis = -m_AxisCalibration_ToolToCalibrate->GetInverse()->TransformPoint(m_AxisCalibration_NavDataCalibratingTool->GetPosition()).GetVectorFromOrigin();
   MITK_DEBUG << "Tool Endpoint in Tool coordinates: " << m_CalibratedToolAxis;
   m_CalibratedToolAxis.Normalize();
   MITK_DEBUG << "Tool Axis: " << m_CalibratedToolAxis;
 
   m_ToolToCalibrate->SetToolAxis(m_CalibratedToolAxis);
 
   // Update TrackingTool
   m_ComputedToolTipTransformation->SetPosition(m_ToolToCalibrate->GetToolTipPosition());
   m_ComputedToolTipTransformation->SetOrientation(m_ToolToCalibrate->GetToolAxisOrientation());
   ApplyToolTipTransform(m_ComputedToolTipTransformation);
 
   //Update GUI
   QString calibratedToolAxisString = "Tool Axis: " + QString::number(m_CalibratedToolAxis.GetElement(0), 'f', 3) + ", " +
     QString::number(m_CalibratedToolAxis.GetElement(1), 'f', 3) + ", " + QString::number(m_CalibratedToolAxis.GetElement(2), 'f', 3);
   m_Controls.m_ToolAxisCalibrationLabel->setText(calibratedToolAxisString);
 
   //Block QT signals, we don't want to emit SpinboxChanged on the first value to overwrite the next ones
   m_Controls.m_ToolAxis_X->blockSignals(true); m_Controls.m_ToolAxis_Y->blockSignals(true); m_Controls.m_ToolAxis_Z->blockSignals(true);
   m_Controls.m_ToolAxis_X->setValue(m_CalibratedToolAxis[0]);
   m_Controls.m_ToolAxis_Y->setValue(m_CalibratedToolAxis[1]);
   m_Controls.m_ToolAxis_Z->setValue(m_CalibratedToolAxis[2]);
   m_Controls.m_ToolAxis_X->blockSignals(false); m_Controls.m_ToolAxis_Y->blockSignals(false); m_Controls.m_ToolAxis_Z->blockSignals(false);
 }
 
 void QmitkIGTNavigationToolCalibration::OnToolAxisSpinboxChanged()
 {
   m_CalibratedToolAxis.SetElement(0, m_Controls.m_ToolAxis_X->value());
   m_CalibratedToolAxis.SetElement(1, m_Controls.m_ToolAxis_Y->value());
   m_CalibratedToolAxis.SetElement(2, m_Controls.m_ToolAxis_Z->value());
   m_ToolToCalibrate->SetToolAxis(m_CalibratedToolAxis);
   MITK_INFO << "Tool axis changed to " << m_CalibratedToolAxis;
 }
 
 void QmitkIGTNavigationToolCalibration::SetToolToCalibrate()
 {
   m_IDToolToCalibrate = m_Controls.m_SelectionWidget->GetSelectedToolID();
   if (m_IDToolToCalibrate == -1) //no valid tool to calibrate
   {
     m_Controls.m_CalToolLabel->setText("<none>");
     m_Controls.m_StatusWidgetToolToCalibrate->RemoveStatusLabels();
     m_TrackingTimer->stop();
   }
   else
   {
     m_ToolToCalibrate = m_Controls.m_SelectionWidget->GetSelectedNavigationTool();
     m_NavigationDataSourceOfToolToCalibrate = m_Controls.m_SelectionWidget->GetSelectedNavigationDataSource();
     m_Controls.m_CalToolLabel->setText(m_NavigationDataSourceOfToolToCalibrate->GetOutput(m_IDToolToCalibrate)->GetName());
     //initialize widget
     m_Controls.m_StatusWidgetToolToCalibrate->RemoveStatusLabels();
     m_Controls.m_StatusWidgetToolToCalibrate->SetShowPositions(true);
     m_Controls.m_StatusWidgetToolToCalibrate->SetTextAlignment(Qt::AlignLeft);
     m_Controls.m_StatusWidgetToolToCalibrate->AddNavigationData(m_NavigationDataSourceOfToolToCalibrate->GetOutput(m_IDToolToCalibrate));
     m_Controls.m_StatusWidgetToolToCalibrate->ShowStatusLabels();
     //initialize manual tool tip calibration view
     UpdateManualToolTipCalibrationView();
     //save tool surface in tool coordinates for further editing
     mitk::Surface::Pointer ToolSurface = dynamic_cast<mitk::Surface*>(m_ToolToCalibrate->GetDataNode()->GetData())->Clone();
     m_ToolSurfaceInToolCoordinatesDataNode->SetData(ToolSurface);
     m_ToolSurfaceInToolCoordinatesDataNode->GetData()->GetGeometry()->SetIdentity();
 
     UpdateManualToolTipCalibrationView();
 
     //start updating timer for status widgets, etc.
     if (!m_TrackingTimer->isActive()) m_TrackingTimer->start(100);
   }
 }
 
 void QmitkIGTNavigationToolCalibration::SetCalibrationPointer()
 {
   m_IDCalibrationPointer = m_Controls.m_SelectionWidget->GetSelectedToolID();
   if (m_IDCalibrationPointer == -1)
   {
     m_Controls.m_PointerLabel->setText("<none>");
     m_Controls.m_StatusWidgetCalibrationPointer->RemoveStatusLabels();
     m_TrackingTimer->stop();
   }
   else
   {
     m_NavigationDataSourceOfCalibrationPointer = m_Controls.m_SelectionWidget->GetSelectedNavigationDataSource();
     m_Controls.m_PointerLabel->setText(m_NavigationDataSourceOfCalibrationPointer->GetOutput(m_IDCalibrationPointer)->GetName());
     //initialize widget
     m_Controls.m_StatusWidgetCalibrationPointer->RemoveStatusLabels();
     m_Controls.m_StatusWidgetCalibrationPointer->SetShowPositions(true);
     m_Controls.m_StatusWidgetCalibrationPointer->SetTextAlignment(Qt::AlignLeft);
     m_Controls.m_StatusWidgetCalibrationPointer->AddNavigationData(m_NavigationDataSourceOfCalibrationPointer->GetOutput(m_IDCalibrationPointer));
     m_Controls.m_StatusWidgetCalibrationPointer->ShowStatusLabels();
     if (!m_TrackingTimer->isActive()) m_TrackingTimer->start(100);
   }
 }
 
 void QmitkIGTNavigationToolCalibration::UpdateOffsetCoordinates()
 {
   if (m_NavigationDataSourceOfCalibrationPointer.IsNull() || m_NavigationDataSourceOfToolToCalibrate.IsNull())
   {
     return;
   }
 
   mitk::NavigationData::Pointer referenceToolND = m_NavigationDataSourceOfCalibrationPointer->GetOutput(m_IDCalibrationPointer);
   mitk::NavigationData::Pointer toolToCalibrateND = m_NavigationDataSourceOfToolToCalibrate->GetOutput(m_IDToolToCalibrate);
 
   if (referenceToolND->IsDataValid() && toolToCalibrateND->IsDataValid())
   {
     //computation: difference between both tools (in tool coordinates)
     //differenceND = toolToCalibrateND^-1 * referenceToolND
     mitk::NavigationData::Pointer differenceND = mitk::NavigationData::New();
     differenceND->Compose(referenceToolND);
     differenceND->Compose(toolToCalibrateND->GetInverse());
 
     //display this orientation in the UI
     m_Controls.m_OffsetCoordinates->setText(
       QString("x: ") + QString(QString::number(differenceND->GetPosition()[0], 103, 3)) +
       QString("; y: ") + (QString::number(differenceND->GetPosition()[1], 103, 3)) +
       QString("; z: ") + (QString::number(differenceND->GetPosition()[2], 103, 3)));
 
     m_Controls.m_OrientationOffsetCoordinates->setText(
       QString("qx: ") + QString(QString::number(differenceND->GetOrientation().x(), 103, 3)) +
       QString("; qy: ") + (QString::number(differenceND->GetOrientation().y(), 103, 3)) +
       QString("; qz: ") + (QString::number(differenceND->GetOrientation().z(), 103, 3)) +
       QString("; qr: ") + (QString::number(differenceND->GetOrientation().r(), 103, 3)));
 
     //also update preview if active
     if (m_ToolTipPointPreview.IsNotNull()) //NOT WORKING! TODO: fix or remove!
     {
       mitk::NavigationData::Pointer ToolTipTransform = mitk::NavigationData::New();
       ToolTipTransform->SetPosition(m_ResultOffsetVector);
       mitk::NavigationData::Pointer ToolTipInTrackingCoordinates = mitk::NavigationData::New(); //maybe store as for better peformance...
       ToolTipInTrackingCoordinates->Compose(m_NavigationDataSourceOfToolToCalibrate->GetOutput(m_IDToolToCalibrate));
       ToolTipInTrackingCoordinates->Compose(ToolTipTransform);
       m_ToolTipPointPreview->GetData()->GetGeometry()->SetIndexToWorldTransform(ToolTipInTrackingCoordinates->GetAffineTransform3D());
     }
   }
 }
 
 void QmitkIGTNavigationToolCalibration::UpdateTrackingTimer()
 {
   m_Controls.m_StatusWidgetToolToCalibrate->Refresh();
   m_Controls.m_StatusWidgetCalibrationPointer->Refresh();
 
   if (m_OnLoginSingleRefToolNavigationDataClicked) LoginSingleRefToolNavigationData();
 
   if (m_OnAddPivotPoseClicked) AddPivotPose();
 
   // 1 == Single Reference Calibration Method
   if (m_IndexCurrentCalibrationMethod == 1) UpdateOffsetCoordinates();
 
 }
 
 void QmitkIGTNavigationToolCalibration::AddLandmark()
 {
   if (!CheckInitialization()) { return; }
   mitk::NavigationData::Pointer navDataTool = m_NavigationDataSourceOfToolToCalibrate->GetOutput(m_IDToolToCalibrate);
   mitk::Point3D landmark = m_NavigationDataSourceOfCalibrationPointer->GetOutput(m_IDCalibrationPointer)->GetPosition();
 
   //convert to itk transform
   itk::Vector<double, 3> translation;
   for (int k = 0; k < 3; k++) translation[k] = navDataTool->GetPosition()[k];
   itk::Matrix<double, 3, 3> rotation;
   for (int k = 0; k < 3; k++) for (int l = 0; l < 3; l++) rotation[k][l] = navDataTool->GetOrientation().rotation_matrix_transpose()[k][l];
   rotation = rotation.GetTranspose();
   itk::Vector<double> landmarkItk;
   landmarkItk[0] = landmark[0];
   landmarkItk[1] = landmark[1];
   landmarkItk[2] = landmark[2];
 
   //compute landmark in tool coordinates
   itk::Matrix<double, 3, 3> rotationInverse;
   for (int k = 0; k < 3; k++) for (int l = 0; l < 3; l++) rotationInverse[k][l] = rotation.GetInverse()[k][l];
   landmarkItk = rotationInverse * (landmarkItk - translation);
 
   //convert back and add landmark to pointset
   landmark[0] = landmarkItk[0];
   landmark[1] = landmarkItk[1];
   landmark[2] = landmarkItk[2];
   m_RegistrationLandmarks->InsertPoint(m_RegistrationLandmarks->GetSize(), landmark);
 }
 
 void QmitkIGTNavigationToolCalibration::SaveCalibratedTool()
 {
   if (m_ToolToCalibrate.IsNotNull())
   {
     mitk::NavigationTool::Pointer calibratedTool = m_ToolToCalibrate;
     calibratedTool->SetToolControlPoints(this->m_CalibrationLandmarks);
     calibratedTool->SetToolLandmarks(this->m_RegistrationLandmarks);
     mitk::NavigationToolWriter::Pointer myWriter = mitk::NavigationToolWriter::New();
     std::string filename = QFileDialog::getSaveFileName(nullptr,tr("Save Navigation Tool"), "/", "*.IGTTool").toUtf8().data();
     if (filename == "") return;
     if (myWriter->DoWrite(filename, calibratedTool)) MITK_INFO << "Saved calibrated tool to file " << filename;
     else MITK_WARN << "Can't write tool to file " << filename;
   }
   else
   {
     MITK_ERROR << "Did not find navigation tool storage of calibrated tool, aborting!";
   }
 }
 
 bool QmitkIGTNavigationToolCalibration::CheckInitialization(bool CalibrationPointerRequired)
 {
   if ((m_IDToolToCalibrate == -1) ||
     ((CalibrationPointerRequired) &&
     (m_IDCalibrationPointer == -1)
     )
     )
   {
     QMessageBox msgBox;
     msgBox.setText("Tool to calibrate and/or calibration pointer not initialized, cannot proceed!");
     msgBox.exec();
     return false;
   }
   else { return true; }
 }