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Windows 11 家庭中文版Microsoft Visual Studio Community 2019VTK-9.3.0.rc0vtk-example参考代码目的#xff1a;学习与总结 demo解决问题#xff1a;基于标记点#xff0c;两个点集在配准后的平均距离最小#xff0c;要求输入两个点数必须相等
Windows 11 家庭中文版Microsoft Visual Studio Community 2019VTK-9.3.0.rc0vtk-example参考代码目的学习与总结 demo解决问题基于标记点两个点集在配准后的平均距离最小要求输入两个点数必须相等序号一致的点集做线性变换。 关键类vtkTransform、vtkTransformFilter、vtkLandmarkTransform 知识点 1. vtkMath::Add此处仅用于创建两个点集合target、sourse。参考链接 2. ShallowCopyvtk的浅拷贝共享对象。参考链接 3. transform相关的文章两篇重点且未消化参考链接1、参考链接2 4. vtkLandmarkTransform用于粗批准初步对齐 1). AlignFrames(frame2, frame1, transform);//把frame2向frame1靠拢 landmarkTransform-SetSourceLandmarks(sourcePoints);landmarkTransform-SetTargetLandmarks(targetPoints)landmarkTransform-SetModeToRigidBody();landmarkTransform-Update(); 2) 获取变换矩阵后传出给外面的frame2使用 vtkMatrix4x4* M landmarkTransform-GetMatrix();transform-SetMatrix(M);3)通过显示结果或者输出文件观察线形变换后的位姿 void ApplyTransform(vtkTransform* transform, std::string filename){vtkNewvtkPolyData polydata;CreatePolydata(polydata);vtkNewvtkTransformFilter transformFilter;transformFilter-SetInputData(polydata);transformFilter-SetTransform(transform);transformFilter-Update();vtkNewvtkXMLPolyDataWriter writer;writer-SetFileName(filename.c_str());writer-SetInputConnection(transformFilter-GetOutputPort());writer-Write();}#include vtkLandmarkTransform.h
#include vtkMath.h
#include vtkNew.h
#include vtkPoints.h
#include vtkPolyData.h
#include vtkTransform.h
#include vtkTransformFilter.h
#include vtkVertexGlyphFilter.h
#include vtkXMLPolyDataWriter.hnamespace {
struct Frame
{Frame(float o[3], float x[3], float y[3], float z[3]){this-SetOrigin(o);this-SetXDirection(x);this-SetYDirection(y);this-SetZDirection(z);std::cout Origin: this-origin[0] this-origin[1] this-origin[2] std::endl;std::cout xDirection: this-xDirection[0] this-xDirection[1] this-xDirection[2] std::endl;std::cout yDirection: this-yDirection[0] this-yDirection[1] this-yDirection[2] std::endl;std::cout zDirection: this-zDirection[0] this-zDirection[1] this-zDirection[2] std::endl;}void ApplyTransform(vtkTransform* transform, std::string filename){vtkNewvtkPolyData polydata;CreatePolydata(polydata);vtkNewvtkTransformFilter transformFilter;transformFilter-SetInputData(polydata);transformFilter-SetTransform(transform);transformFilter-Update();vtkNewvtkXMLPolyDataWriter writer;writer-SetFileName(filename.c_str());writer-SetInputConnection(transformFilter-GetOutputPort());writer-Write();}void CreatePolydata(vtkPolyData* polydata){/** https://blog.csdn.net/liushao1031177/article/details/120809118static void Add(const float a[3], const float b[3], float c[3]){for (int i 0; i 3; i){c[i] a[i] b[i];}}*/vtkNewvtkPoints points;points-InsertNextPoint(this-origin);float x[3];vtkMath::Add(this-origin, this-xDirection, x);points-InsertNextPoint(x);float y[3];vtkMath::Add(this-origin, this-yDirection, y);points-InsertNextPoint(y);float z[3];vtkMath::Add(this-origin, this-zDirection, z);points-InsertNextPoint(z);polydata-SetPoints(points);vtkNewvtkVertexGlyphFilter vertexGlyphFilter;//单独的点是看不到的需要转换成符号vertexGlyphFilter-AddInputData(polydata);vertexGlyphFilter-Update();//https://zhuanlan.zhihu.com/p/138080564polydata-ShallowCopy(vertexGlyphFilter-GetOutput());}void Write(std::string filename){vtkNewvtkPolyData polydata;CreatePolydata(polydata);vtkNewvtkXMLPolyDataWriter writer;writer-SetFileName(filename.c_str());writer-SetInputData(polydata);writer-Write();}float origin[3];float xDirection[3];float yDirection[3];float zDirection[3];void SetOrigin(float o[3]){this-origin[0] o[0];this-origin[1] o[1];this-origin[2] o[2];}void SetXDirection(float direction[3]){vtkMath::Normalize(direction);this-xDirection[0] direction[0];this-xDirection[1] direction[1];this-xDirection[2] direction[2];}void SetYDirection(float direction[3]){vtkMath::Normalize(direction);this-yDirection[0] direction[0];this-yDirection[1] direction[1];this-yDirection[2] direction[2];}void SetZDirection(float direction[3]){vtkMath::Normalize(direction);this-zDirection[0] direction[0];this-zDirection[1] direction[1];this-zDirection[2] direction[2];}
};void AlignFrames(Frame sourceFrame, Frame destinationFrame,vtkTransform* transform);
} // namespaceint main(int, char*[])
{float frame1origin[3] {0, 0, 0};float frame1XDirection[3] {1, 0, 0};float frame1YDirection[3] {0, 1, 0};std::cout frame1YDirection[0] frame1YDirection[1] frame1YDirection[2] std::endl;float frame1ZDirection[3] {0, 0, 1};Frame frame1(frame1origin, frame1XDirection, frame1YDirection,frame1ZDirection);frame1.Write(frame1.vtp);float frame2origin[3] {0, 0, 0};float frame2XDirection[3] {.707f, .707f, 0};float frame2YDirection[3] {-.707f, .707f, 0};float frame2ZDirection[3] {0, 0, 1};Frame frame2(frame2origin, frame2XDirection, frame2YDirection,frame2ZDirection);frame2.Write(frame2.vtp);vtkNewvtkTransform transform;AlignFrames(frame2, frame1, transform); // Brings frame2 to frame1// std::cout *transform std::endl;frame2.ApplyTransform(transform, transformed.vtp);return EXIT_SUCCESS;
}namespace {
void AlignFrames(Frame sourceFrame, Frame targetFrame, vtkTransform* transform)
{// This function takes two frames and finds the matrix M between them.vtkNewvtkLandmarkTransform landmarkTransform;// Setup source pointsvtkNewvtkPoints sourcePoints;sourcePoints-InsertNextPoint(sourceFrame.origin);float sourceX[3];vtkMath::Add(sourceFrame.origin, sourceFrame.xDirection, sourceX);sourcePoints-InsertNextPoint(sourceX);float sourceY[3];vtkMath::Add(sourceFrame.origin, sourceFrame.yDirection, sourceY);sourcePoints-InsertNextPoint(sourceY);float sourceZ[3];vtkMath::Add(sourceFrame.origin, sourceFrame.zDirection, sourceZ);sourcePoints-InsertNextPoint(sourceZ);// Setup target pointsvtkNewvtkPoints targetPoints;targetPoints-InsertNextPoint(targetFrame.origin);float targetX[3];vtkMath::Add(targetFrame.origin, targetFrame.xDirection, targetX);targetPoints-InsertNextPoint(targetX);float targetY[3];vtkMath::Add(targetFrame.origin, targetFrame.yDirection, targetY);targetPoints-InsertNextPoint(targetY);float targetZ[3];vtkMath::Add(targetFrame.origin, targetFrame.zDirection, targetZ);targetPoints-InsertNextPoint(targetZ);landmarkTransform-SetSourceLandmarks(sourcePoints);landmarkTransform-SetTargetLandmarks(targetPoints);landmarkTransform-SetModeToRigidBody();landmarkTransform-Update();vtkMatrix4x4* M landmarkTransform-GetMatrix();transform-SetMatrix(M);
}
} // namespace
