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#!/usr/bin/env python
## Program: VMTK
## Module: $RCSfile: vmtkicpregistration.py,v $
## Language: Python
## Date: $Date: 2005/09/14 09:49:59 $
## Version: $Revision: 1.7 $
## Copyright (c) Luca Antiga, David Steinman. All rights reserved.
## See LICENCE file for details.
## This software is distributed WITHOUT ANY WARRANTY; without even
## the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
## PURPOSE. See the above copyright notices for more information.
import vtk
import vtkvmtk
import sys
import pypes
vmtkicpregistration = 'vmtkICPRegistration'
class vmtkICPRegistration(pypes.pypeScript):
def __init__(self):
pypes.pypeScript.__init__(self)
self.ReferenceSurface = None
self.Surface = None
self.DistanceArrayName = ''
self.SignedDistanceArrayName = ''
self.FarThreshold = 0.0
self.Level = 0.0
self.MaximumMeanDistance = 1E-2
self.MaximumNumberOfLandmarks = 1000
self.MaximumNumberOfIterations = 100
self.Matrix4x4 = None
self.MatrixCoefficients = None
self.FlipNormals = 0
self.SetScriptName('vmtkicpregistration')
self.SetScriptDoc('register a surface to a reference surface using the ICP algorithm')
self.SetInputMembers([
['Surface','i','vtkPolyData',1,'','the input surface','vmtksurfacereader'],
['ReferenceSurface','r','vtkPolyData',1,'','the reference surface','vmtksurfacereader'],
['DistanceArrayName','distancearray','str',1,'','name of the array where the distance of the input surface to the reference surface has to be stored'],
['SignedDistanceArrayName','signeddistancearray','str',1,'','name of the array where the signed distance of the input surface to the reference surface is stored; distance is positive if distance vector and normal to the reference surface have negative dot product, i.e. if the input surface is outer with respect to the reference surface'],
['FarThreshold','farthreshold','float',1,'','threshold distance beyond which points are discarded during optimization'],
['FlipNormals','flipnormals','bool',1,'','flip normals to the reference surface after computing them'],
['MaximumNumberOfLandmarks','landmarks','int',1,'','maximum number of landmarks sampled from the two surfaces for evaluation of the registration metric'],
['MaximumNumberOfIterations','iterations','int',1,'','maximum number of iterations for the optimization problems'],
['MaximumMeanDistance','maxmeandistance','float',1,'','convergence threshold based on the maximum mean distance between the two surfaces']
])
self.SetOutputMembers([
['Surface','o','vtkPolyData',1,'','the output surface','vmtksurfacewriter'],
['MatrixCoefficients','omatrixcoefficients','float',16,'','the output transform matrix coefficients'],
['Matrix4x4','omatrix4x4','vtkMatrix4x4',1,'','the output transform matrix']
])
def Execute(self):
if self.Surface == None:
self.PrintError('Error: No Surface.')
if self.ReferenceSurface == None:
self.PrintError('Error: No ReferenceSurface.')
## if (self.SignedDistanceArrayName != '') & (self.ReferenceSurface.GetPointData().GetNormals() == None):
if (self.SignedDistanceArrayName != ''):
normalsFilter = vtk.vtkPolyDataNormals()
normalsFilter.SetInput(self.ReferenceSurface)
normalsFilter.AutoOrientNormalsOn()
normalsFilter.ConsistencyOn()
normalsFilter.SplittingOff()
normalsFilter.SetFlipNormals(self.FlipNormals)
normalsFilter.Update()
self.ReferenceSurface.GetPointData().SetNormals(normalsFilter.GetOutput().GetPointData().GetNormals())
self.PrintLog('Computing ICP transform.')
icpTransform = vtkvmtk.vtkvmtkIterativeClosestPointTransform()
icpTransform.SetSource(self.Surface)
icpTransform.SetTarget(self.ReferenceSurface)
icpTransform.GetLandmarkTransform().SetModeToRigidBody()
icpTransform.StartByMatchingCentroidsOn()
icpTransform.CheckMeanDistanceOn()
icpTransform.SetMaximumNumberOfLandmarks(self.MaximumNumberOfLandmarks)
icpTransform.SetMaximumNumberOfIterations(self.MaximumNumberOfIterations)
icpTransform.SetMaximumMeanDistance(self.MaximumMeanDistance)
if self.FarThreshold > 0.0:
icpTransform.UseFarThresholdOn()
icpTransform.SetFarThreshold(self.FarThreshold)
else:
icpTransform.UseFarThresholdOff()
transformFilter = vtk.vtkTransformPolyDataFilter()
transformFilter.SetInput(self.Surface)
transformFilter.SetTransform(icpTransform)
transformFilter.Update()
self.PrintLog('Mean distance: '+str(icpTransform.GetMeanDistance()))
self.Surface = transformFilter.GetOutput()
self.Matrix4x4 = icpTransform.GetMatrix()
matrix = self.Matrix4x4
self.MatrixCoefficients = [
matrix.GetElement(0,0), matrix.GetElement(0,1), matrix.GetElement(0,2), matrix.GetElement(0,3),
matrix.GetElement(1,0), matrix.GetElement(1,1), matrix.GetElement(1,2), matrix.GetElement(1,3),
matrix.GetElement(2,0), matrix.GetElement(2,1), matrix.GetElement(2,2), matrix.GetElement(2,3),
matrix.GetElement(3,0), matrix.GetElement(3,1), matrix.GetElement(3,2), matrix.GetElement(3,3)]
self.PrintLog('Transform matrix:\n %f %f %f %f\n %f %f %f %f\n %f %f %f %f\n %f %f %f %f' % tuple(self.MatrixCoefficients))
if (self.DistanceArrayName != '') | (self.SignedDistanceArrayName != ''):
self.PrintLog('Computing distance.')
surfaceDistance = vtkvmtk.vtkvmtkSurfaceDistance()
surfaceDistance.SetInput(self.Surface)
surfaceDistance.SetReferenceSurface(self.ReferenceSurface)
if (self.DistanceArrayName != ''):
surfaceDistance.SetDistanceArrayName(self.DistanceArrayName)
if (self.SignedDistanceArrayName != ''):
surfaceDistance.SetSignedDistanceArrayName(self.SignedDistanceArrayName)
surfaceDistance.Update()
self.Surface = surfaceDistance.GetOutput()
if __name__=='__main__':
main = pypes.pypeMain()
main.Arguments = sys.argv
main.Execute()
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