1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
|
# This is a CamiTK python action
#
# Test frames and transformations
# This action will add, update and remove a transformation between two components.
# For image component you can choose to use the data or main frame.
import camitk
import numpy as np
from scipy.spatial.transform import Rotation
def init(self:camitk.Action):
# open separately
# amos_0336/amos_0336_mesh6.obj
# amos_0336/amos_0336.mhd
return
def process(self:camitk.Action):
# get the first mesh and first image components if any opened
mesh, image = getComponents()
if mesh is not None and image is not None:
print(f"found {mesh.getName()} and {image.getName()}")
# move the mesh to the image data frame
mesh.setFrame(image.getDataFrame())
assert mesh.getFrame() == image.getDataFrame(), f"mesh frame should be equals to image data frame {image.getDataFrame().getName()} not {mesh.getFrame().getName()}"
self.refreshApplication()
# back to the original settings: mesh has its own independent frame
new_frame = camitk.TransformationManager.addFrameOfReference("new mesh frame")
mesh.setFrame(new_frame)
self.refreshApplication()
# add identity transformation from amos_0336_mesh6 to amos_0336 data
tr = camitk.TransformationManager.addTransformation(mesh.getFrame(), image.getDataFrame())
# update transformation using from/to
camitk.TransformationManager.updateTransformation(mesh.getFrame(), image.getDataFrame(), random_homogeneous_transform())
# update transformation using the tr object itself
camitk.TransformationManager.updateTransformation(tr, random_homogeneous_transform())
world = camitk.TransformationManager.getWorldFrame()
print(f"world frame is called {world.getName()}")
# update the transformation, the mesh should be displayed as if it was in the image data frame
camitk.TransformationManager.updateTransformation(tr, np.eye(4))
# remove transformation
camitk.TransformationManager.removeTransformation(mesh.getFrame(), image.getDataFrame())
# or
# camitk.TransformationManager.removeTransformation(tr)
self.refreshApplication()
return True
else:
return False
def targetDefined(self:camitk.Action):
frames = camitk.TransformationManager.getFramesOfReference();
frame_names = [ f.getName() for f in frames ]
self.getProperty("From").setAttribute("enumNames", frame_names)
self.getProperty("To").setAttribute("enumNames", frame_names)
return
def parameterChanged(self:camitk.Action, name:str):
return
def getComponents():
components = camitk.Application.getTopLevelComponents()
mesh = next((c for c in components if isinstance(c, camitk.MeshComponent)), None)
image = next((c for c in components if isinstance(c, camitk.ImageComponent)), None)
return mesh, image
def random_homogeneous_transform():
# Random rotation using scipy
r = Rotation.random()
rotation_matrix = r.as_matrix() # shape (3, 3)
# Random translation vector
translation = np.random.rand(3) # values in [0, 1)
# Build 4x4 transformation matrix
transform = np.eye(4)
transform[:3, :3] = rotation_matrix
transform[:3, 3] = translation
return transform
|
