vtk Registration (一) 常用算法 vtkLandmarkTransform

VTK Registration

点云配准分为两步，先做粗配准，再做精配准：

    粗配准（Coarse Global Registeration）：基于局部几何特征
    精配准（Fine Local Registeration）：需要初始位姿（initial alignment）

  这里讲一下 VTK 的 vtkLandmarkTransform 可用于精配准；

精配准 见 vtkIterativeClosestPointTransform

 vtkLandmarkTransform

vtkLandmarkTransform是一种比较经典的匹配算法，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。它常用于粗略匹配，效率高。
 

源点

  vtkNew<vtkPoints> sourcePoints;
  double sourcePoint1[3] = {1.0, 0.0, 0.0};
  sourcePoints->InsertNextPoint(sourcePoint1);
  double sourcePoint2[3] = {0.0, 1.0, 0.0};
  sourcePoints->InsertNextPoint(sourcePoint2);
  double sourcePoint3[3] = {0.0, 0.0, 1.0};
  sourcePoints->InsertNextPoint(sourcePoint3);

目标点

  vtkNew<vtkPoints> targetPoints;
  double targetPoint1[3] = {0.0, 0.0, 1.1};
  targetPoints->InsertNextPoint(targetPoint1);
  double targetPoint2[3] = {0.0, 1.02, 0.0};
  targetPoints->InsertNextPoint(targetPoint2);
  double targetPoint3[3] = {-1.11, 0.0, 0.0};
  targetPoints->InsertNextPoint(targetPoint3);

获取转换矩阵--变换矩阵

 // Setup the transform
  vtkNew<vtkLandmarkTransform> landmarkTransform;
  landmarkTransform->SetSourceLandmarks(sourcePoints);
  landmarkTransform->SetTargetLandmarks(targetPoints);
  landmarkTransform->SetModeToRigidBody();
  landmarkTransform->Update(); // should this be here?

    // Display the transformation matrix that was computed
  vtkMatrix4x4* mat = landmarkTransform->GetMatrix();
  std::cout << "Matrix: " << *mat << std::endl;