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#!/usr/bin/env python
## Program: VMTK
## Module: $RCSfile: vmtksurfacereferencesystemtransform.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 math
import sys
import pypes
vmtksurfacereferencesystemtransform = 'vmtkSurfaceReferenceSystemTransform'
class vmtkSurfaceReferenceSystemTransform(pypes.pypeScript):
def __init__(self):
pypes.pypeScript.__init__(self)
self.Surface = None
self.ReferenceSystems = None
self.ReferenceSystemId = -1
self.ReferenceSystemsIdArrayName = ''
self.ReferenceSystemsNormal1ArrayName = ''
self.ReferenceSystemsNormal2ArrayName = ''
self.ReferenceOrigin = [0.0, 0.0, 0.0]
self.ReferenceNormal1 = [0.0, 0.0, 1.0]
self.ReferenceNormal2 = [0.0, 1.0, 0.0]
self.SetScriptName('vmtksurfacereferencesystemtransform')
self.SetScriptDoc('translate and rotate a surface in order to orient its reference system with a target reference system')
self.SetInputMembers([
['Surface','i','vtkPolyData',1,'','the input surface','vmtksurfacereader'],
['ReferenceOrigin','referenceorigin','float',3,'','origin of the target reference system'],
['ReferenceNormal1','referencenormal1','float',3,'','first normal of the target reference system'],
['ReferenceNormal2','referencenormal2','float',3,'','second normal of the target reference system'],
['ReferenceSystems','referencesystems','vtkPolyData',1,'','reference systems of the input surface represented by a set of points with two normals each','vmtksurfacereader'],
['ReferenceSystemId','referencesystemid','int',1,'','id of the reference system to use'],
['ReferenceSystemsIdArrayName','referencesystemidsarray','str',1,'','name of the array where reference system ids are stored'],
['ReferenceSystemsNormal1ArrayName','normal1array','str',1,'','name of the array where the first normals defining the reference systems are stored'],
['ReferenceSystemsNormal2ArrayName','normal2array','str',1,'','name of the array where the second normals defining the reference systems are stored']
])
self.SetOutputMembers([
['Surface','o','vtkPolyData',1,'','the output surface','vmtksurfacewriter']
])
def ComputeAngle(self,in_vector0,in_vector1):
vector0 = [in_vector0[0], in_vector0[1], in_vector0[2]]
vector1 = [in_vector1[0], in_vector1[1], in_vector1[2]]
vtk.vtkMath.Normalize(vector0)
vtk.vtkMath.Normalize(vector1)
sum = [
vector0[0] + vector1[0],
vector0[1] + vector1[1],
vector0[2] + vector1[2]]
difference = [
vector0[0] - vector1[0],
vector0[1] - vector1[1],
vector0[2] - vector1[2]]
sumNorm = vtk.vtkMath.Norm(sum)
differenceNorm = vtk.vtkMath.Norm(difference)
## angle = 2.0 * math.atan2(differenceNorm,sumNorm) + math.pi
angle = 2.0 * math.atan2(differenceNorm,sumNorm)
return angle
def Execute(self):
if self.Surface == None:
self.PrintError('Error: No Surface.')
if self.ReferenceSystems == None:
self.PrintError('Error: No ReferenceSystems.')
referenceSystemsNormal1Array = self.ReferenceSystems.GetPointData().GetArray(self.ReferenceSystemsNormal1ArrayName)
referenceSystemsNormal2Array = self.ReferenceSystems.GetPointData().GetArray(self.ReferenceSystemsNormal2ArrayName)
referenceSystemPointId = 0
if self.ReferenceSystemId != -1:
referenceSystemsIdArray = self.ReferenceSystems.GetPointData().GetArray(self.ReferenceSystemsIdArrayName)
for i in range(self.ReferenceSystems.GetNumberOfPoints()):
referenceSystemId = int(referenceSystemsIdArray.GetTuple1(i))
if referenceSystemId == self.ReferenceSystemId:
referenceSystemPointId = i
break
currentOrigin = self.ReferenceSystems.GetPoint(referenceSystemPointId)
currentNormal1 = referenceSystemsNormal1Array.GetTuple3(referenceSystemPointId)
currentNormal2 = referenceSystemsNormal2Array.GetTuple3(referenceSystemPointId)
transform = vtk.vtkTransform()
transform.PostMultiply()
translation = [0.0, 0.0, 0.0]
translation[0] = self.ReferenceOrigin[0] - currentOrigin[0]
translation[1] = self.ReferenceOrigin[1] - currentOrigin[1]
translation[2] = self.ReferenceOrigin[2] - currentOrigin[2]
transform.Translate(translation)
cross = [0.0,0.0,0.0]
vtk.vtkMath.Cross(currentNormal1,self.ReferenceNormal1,cross)
vtk.vtkMath.Normalize(cross)
angle = self.ComputeAngle(currentNormal1,self.ReferenceNormal1)
angle = angle / (2.0*vtk.vtkMath.Pi()) * 360.0;
transform.RotateWXYZ(angle,cross)
transformedNormal2 = transform.TransformNormal(currentNormal2)
vtk.vtkMath.Cross(transformedNormal2,self.ReferenceNormal2,cross)
vtk.vtkMath.Normalize(cross)
angle = self.ComputeAngle(transformedNormal2,self.ReferenceNormal2)
angle = angle / (2.0*vtk.vtkMath.Pi()) * 360.0;
transform.RotateWXYZ(angle,cross)
transformFilter = vtk.vtkTransformPolyDataFilter()
transformFilter.SetInput(self.Surface)
transformFilter.SetTransform(transform)
transformFilter.Update()
self.Surface = transformFilter.GetOutput()
if self.Surface.GetSource():
self.Surface.GetSource().UnRegisterAllOutputs()
if __name__=='__main__':
main = pypes.pypeMain()
main.Arguments = sys.argv
main.Execute()
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