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| − | <div class="floatright">[[File:VTK_Examples_Baseline_Filtering_TestIterativeClosestPointsTransform.png|300px]]</div>
| + | = '''See [https://lorensen.github.io/VTKExamples/site/Cxx/Filtering/IterativeClosestPointsTransform IterativeClosestPointsTransform] on the new [https://lorensen.github.io/VTKExamples/site/ VTKExamples website].''' = |
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| − | This demo produces target points (green) which are at the origin and unit length along each axis. It then perturbs the points and shifts each of them .3 in +y direction -
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| − | the resulting points are the "source" points (red). It then attempts to move the source points as close as possible to the target points. The resulting points are shown in blue. The noise is added to make the example more realistic. Also, the noise ensures nothing was done wrong (i.e. accidentally using the target points as the result and claiming it worked perfectly when in fact nothing happened!)
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| − | | |
| − | ==IterativeClosestPointsTransform.cxx==
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| − | <source lang="cpp">
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| − | #include <vtkVersion.h>
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| − | #include <vtkSmartPointer.h>
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| − | #include <vtkTransform.h>
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| − | #include <vtkVertexGlyphFilter.h>
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| − | #include <vtkPoints.h>
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| − | #include <vtkPolyData.h>
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| − | #include <vtkCellArray.h>
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| − | #include <vtkIterativeClosestPointTransform.h>
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| − | #include <vtkTransformPolyDataFilter.h>
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| − | #include <vtkLandmarkTransform.h>
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| − | #include <vtkMath.h>
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| − | #include <vtkMatrix4x4.h>
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| − | #include <vtkXMLPolyDataWriter.h>
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| − | #include <vtkPolyDataMapper.h>
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| − | #include <vtkActor.h>
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| − | #include <vtkRenderWindow.h>
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| − | #include <vtkRenderer.h>
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| − | #include <vtkRenderWindowInteractor.h>
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| − | #include <vtkXMLPolyDataReader.h>
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| − | #include <vtkProperty.h>
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| − | | |
| − | namespace
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| − | {
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| − | void CreatePolyData(vtkSmartPointer<vtkPolyData> polydata);
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| − | void PerturbPolyData(vtkSmartPointer<vtkPolyData> polydata);
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| − | void TranslatePolyData(vtkSmartPointer<vtkPolyData> polydata);
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| − | }
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| − | | |
| − | int main(int argc, char *argv[])
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| − | {
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| − | vtkSmartPointer<vtkPolyData> source =
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| − | vtkSmartPointer<vtkPolyData>::New();
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| − | vtkSmartPointer<vtkPolyData> target =
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| − | vtkSmartPointer<vtkPolyData>::New();
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| − |
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| − | if(argc == 3)
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| − | {
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| − | std::cout << "Reading data..." << std::endl;
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| − | std::string strSource = argv[1];
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| − | std::string strTarget = argv[2];
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| − | vtkSmartPointer<vtkXMLPolyDataReader> sourceReader =
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| − | vtkSmartPointer<vtkXMLPolyDataReader>::New();
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| − | sourceReader->SetFileName(strSource.c_str());
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| − | sourceReader->Update();
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| − | source->ShallowCopy(sourceReader->GetOutput());
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| − | | |
| − | vtkSmartPointer<vtkXMLPolyDataReader> targetReader =
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| − | vtkSmartPointer<vtkXMLPolyDataReader>::New();
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| − | targetReader->SetFileName(strTarget.c_str());
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| − | targetReader->Update();
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| − | target->ShallowCopy(targetReader->GetOutput());
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| − | }
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| − | else
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| − | {
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| − | std::cout << "Creating data..." << std::endl;
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| − | CreatePolyData(source);
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| − | target->ShallowCopy(source);
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| − | TranslatePolyData(target);
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| − | PerturbPolyData(target);
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| − | }
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| − |
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| − | // Setup ICP transform
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| − | vtkSmartPointer<vtkIterativeClosestPointTransform> icp =
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| − | vtkSmartPointer<vtkIterativeClosestPointTransform>::New();
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| − | icp->SetSource(source);
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| − | icp->SetTarget(target);
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| − | icp->GetLandmarkTransform()->SetModeToRigidBody();
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| − | icp->SetMaximumNumberOfIterations(20);
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| − | //icp->StartByMatchingCentroidsOn();
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| − | icp->Modified();
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| − | icp->Update();
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| − |
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| − | // Get the resulting transformation matrix (this matrix takes the source points to the target points)
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| − | vtkSmartPointer<vtkMatrix4x4> m = icp->GetMatrix();
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| − | std::cout << "The resulting matrix is: " << *m << std::endl;
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| − |
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| − | // Transform the source points by the ICP solution
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| − | vtkSmartPointer<vtkTransformPolyDataFilter> icpTransformFilter =
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| − | vtkSmartPointer<vtkTransformPolyDataFilter>::New();
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| − | #if VTK_MAJOR_VERSION <= 5
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| − | icpTransformFilter->SetInput(source);
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| − | #else
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| − | icpTransformFilter->SetInputData(source);
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| − | #endif
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| − | icpTransformFilter->SetTransform(icp);
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| − | icpTransformFilter->Update();
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| − | | |
| − | /*
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| − | // If you need to take the target points to the source points, the matrix is:
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| − | icp->Inverse();
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| − | vtkSmartPointer<vtkMatrix4x4> minv = icp->GetMatrix();
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| − | std::cout << "The resulting inverse matrix is: " << *minv << std::cout;
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| − | */
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| − |
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| − | // Visualize
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| − | vtkSmartPointer<vtkPolyDataMapper> sourceMapper =
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| − | vtkSmartPointer<vtkPolyDataMapper>::New();
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| − | #if VTK_MAJOR_VERSION <= 5
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| − | sourceMapper->SetInputConnection(source->GetProducerPort());
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| − | #else
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| − | sourceMapper->SetInputData(source);
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| − | #endif
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| − | | |
| − | vtkSmartPointer<vtkActor> sourceActor =
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| − | vtkSmartPointer<vtkActor>::New();
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| − | sourceActor->SetMapper(sourceMapper);
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| − | sourceActor->GetProperty()->SetColor(1,0,0);
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| − | sourceActor->GetProperty()->SetPointSize(4);
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| − | | |
| − | vtkSmartPointer<vtkPolyDataMapper> targetMapper =
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| − | vtkSmartPointer<vtkPolyDataMapper>::New();
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| − | #if VTK_MAJOR_VERSION <= 5
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| − | targetMapper->SetInputConnection(target->GetProducerPort());
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| − | #else
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| − | targetMapper->SetInputData(target);
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| − | #endif
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| − |
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| − | vtkSmartPointer<vtkActor> targetActor =
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| − | vtkSmartPointer<vtkActor>::New();
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| − | targetActor->SetMapper(targetMapper);
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| − | targetActor->GetProperty()->SetColor(0,1,0);
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| − | targetActor->GetProperty()->SetPointSize(4);
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| − |
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| − | vtkSmartPointer<vtkPolyDataMapper> solutionMapper =
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| − | vtkSmartPointer<vtkPolyDataMapper>::New();
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| − | solutionMapper->SetInputConnection(icpTransformFilter->GetOutputPort());
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| − | | |
| − | vtkSmartPointer<vtkActor> solutionActor =
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| − | vtkSmartPointer<vtkActor>::New();
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| − | solutionActor->SetMapper(solutionMapper);
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| − | solutionActor->GetProperty()->SetColor(0,0,1);
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| − | solutionActor->GetProperty()->SetPointSize(3);
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| − |
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| − | // Create a renderer, render window, and interactor
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| − | vtkSmartPointer<vtkRenderer> renderer =
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| − | vtkSmartPointer<vtkRenderer>::New();
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| − | vtkSmartPointer<vtkRenderWindow> renderWindow =
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| − | vtkSmartPointer<vtkRenderWindow>::New();
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| − | renderWindow->AddRenderer(renderer);
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| − | vtkSmartPointer<vtkRenderWindowInteractor> renderWindowInteractor =
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| − | vtkSmartPointer<vtkRenderWindowInteractor>::New();
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| − | renderWindowInteractor->SetRenderWindow(renderWindow);
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| − | | |
| − | // Add the actor to the scene
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| − | renderer->AddActor(sourceActor);
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| − | renderer->AddActor(targetActor);
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| − | renderer->AddActor(solutionActor);
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| − | renderer->SetBackground(.3, .6, .3); // Background color green
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| − | | |
| − | // Render and interact
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| − | renderWindow->Render();
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| − | renderWindowInteractor->Start();
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| − |
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| − | return EXIT_SUCCESS;
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| − | }
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| − | | |
| − | namespace // anonymous
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| − | {
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| − | | |
| − | void CreatePolyData(vtkSmartPointer<vtkPolyData> polydata)
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| − | {
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| − | // This function creates a set of 4 points (the origin and a point unit distance along each axis)
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| − |
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| − | vtkSmartPointer<vtkPoints> points =
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| − | vtkSmartPointer<vtkPoints>::New();
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| − |
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| − | // Create points
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| − | double origin[3] = {0.0, 0.0, 0.0};
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| − | points->InsertNextPoint(origin);
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| − | double p1[3] = {1.0, 0.0, 0.0};
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| − | points->InsertNextPoint(p1);
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| − | double p2[3] = {0.0, 1.0, 0.0};
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| − | points->InsertNextPoint(p2);
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| − | double p3[3] = {0.0, 0.0, 1.0};
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| − | points->InsertNextPoint(p3);
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| − |
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| − | vtkSmartPointer<vtkPolyData> temp =
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| − | vtkSmartPointer<vtkPolyData>::New();
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| − | temp->SetPoints(points);
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| − |
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| − | vtkSmartPointer<vtkVertexGlyphFilter> vertexFilter =
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| − | vtkSmartPointer<vtkVertexGlyphFilter>::New();
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| − | #if VTK_MAJOR_VERSION <= 5
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| − | vertexFilter->SetInputConnection(temp->GetProducerPort());
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| − | #else
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| − | vertexFilter->SetInputData(temp);
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| − | #endif
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| − | vertexFilter->Update();
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| − | | |
| − | polydata->ShallowCopy(vertexFilter->GetOutput());
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| − | }
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| − | | |
| − | void PerturbPolyData(vtkSmartPointer<vtkPolyData> polydata)
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| − | {
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| − | vtkSmartPointer<vtkPoints> points =
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| − | vtkSmartPointer<vtkPoints>::New();
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| − | points->ShallowCopy(polydata->GetPoints());
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| − | | |
| − | for(vtkIdType i = 0; i < points->GetNumberOfPoints(); i++)
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| − | {
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| − | double p[3];
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| − | points->GetPoint(i, p);
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| − | double perturb[3];
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| − | if(i%3 == 0)
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| − | {
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| − | perturb[0] = .1; perturb[1] = 0; perturb[2] = 0;
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| − | }
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| − | else if(i%3 == 1)
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| − | {
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| − | perturb[0] = 0; perturb[1] = .1; perturb[2] = 0;
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| − | }
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| − | else
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| − | {
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| − | perturb[0] = 0; perturb[1] = 0; perturb[2] = .1;
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| − | }
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| − |
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| − | for(unsigned int j = 0; j < 3; j++)
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| − | {
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| − | p[j] += perturb[j];
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| − | }
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| − | points->SetPoint(i, p);
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| − | }
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| − | | |
| − | polydata->SetPoints(points);
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| − | | |
| − | }
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| − | | |
| − | void TranslatePolyData(vtkSmartPointer<vtkPolyData> polydata)
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| − | {
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| − | vtkSmartPointer<vtkTransform> transform =
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| − | vtkSmartPointer<vtkTransform>::New();
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| − | transform->Translate(0,.3,0);
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| − | | |
| − | vtkSmartPointer<vtkTransformPolyDataFilter> transformFilter =
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| − | vtkSmartPointer<vtkTransformPolyDataFilter>::New();
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| − | #if VTK_MAJOR_VERSION <= 5
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| − | transformFilter->SetInputConnection(polydata->GetProducerPort());
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| − | #else
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| − | transformFilter->SetInputData(polydata);
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| − | #endif
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| − | transformFilter->SetTransform(transform);
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| − | transformFilter->Update();
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| − |
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| − | polydata->ShallowCopy(transformFilter->GetOutput());
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| − | }
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| − | | |
| − | } // end anonymous namespace
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| − | </source>
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| − | | |
| − | {{VTKCMakeLists|{{SUBPAGENAME}}}}
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