VTK系列62_VTK几何体点云配准

实例62：点云配准

#include <vtkAutoInit.h>
VTK_MODULE_INIT(vtkRenderingOpenGL2);
VTK_MODULE_INIT(vtkRenderingFreeType);
VTK_MODULE_INIT(vtkInteractionStyle);

#include <vtkPoints.h>
#include <vtkSmartPointer.h>
#include <vtkLandmarkTransform.h>
#include <vtkMatrix4x4.h>
#include <vtkPolyDataMapper.h>
#include <vtkActor.h>
#include <vtkRenderWindow.h>
#include <vtkRenderer.h>
#include <vtkRenderWindowInteractor.h>
#include <vtkProperty.h>
#include <vtkTransformPolyDataFilter.h>
#include <vtkVertexGlyphFilter.h>
#include <vtkAxesActor.h>

int main(int, char *[])
{
	vtkSmartPointer<vtkPoints> sourcePoints =
		vtkSmartPointer<vtkPoints>::New();
	double sourcePoint1[3] = {0.5, 0.0, 0.0};
	sourcePoints->InsertNextPoint(sourcePoint1);
	double sourcePoint2[3] = {0.0, 0.5, 0.0};
	sourcePoints->InsertNextPoint(sourcePoint2);
	double sourcePoint3[3] = {0.0, 0.0, 0.5};
	sourcePoints->InsertNextPoint(sourcePoint3);

	vtkSmartPointer<vtkPoints> targetPoints =
		vtkSmartPointer<vtkPoints>::New();
	double targetPoint1[3] = {0.0, 0.0, 0.55};
	targetPoints->InsertNextPoint(targetPoint1);
	double targetPoint2[3] = {0.0, 0.55, 0.0};
	targetPoints->InsertNextPoint(targetPoint2);
	double targetPoint3[3] = {-0.55, 0.0, 0.0};
	targetPoints->InsertNextPoint(targetPoint3);

	vtkSmartPointer<vtkLandmarkTransform> landmarkTransform = 
		vtkSmartPointer<vtkLandmarkTransform>::New();
	landmarkTransform->SetSourceLandmarks(sourcePoints);
	landmarkTransform->SetTargetLandmarks(targetPoints);
	landmarkTransform->SetModeToRigidBody();
	landmarkTransform->Update(); 

	vtkSmartPointer<vtkPolyData> source =
		vtkSmartPointer<vtkPolyData>::New();
	source->SetPoints(sourcePoints);

	vtkSmartPointer<vtkPolyData> target =
		vtkSmartPointer<vtkPolyData>::New();
	target->SetPoints(targetPoints);

	vtkSmartPointer<vtkVertexGlyphFilter> sourceGlyphFilter =
		vtkSmartPointer<vtkVertexGlyphFilter>::New();
	sourceGlyphFilter->SetInputData(source);
	sourceGlyphFilter->Update();

	vtkSmartPointer<vtkVertexGlyphFilter> targetGlyphFilter =
		vtkSmartPointer<vtkVertexGlyphFilter>::New();
	targetGlyphFilter->SetInputData(target);
	targetGlyphFilter->Update();

	vtkSmartPointer<vtkTransformPolyDataFilter> transformFilter =
		vtkSmartPointer<vtkTransformPolyDataFilter>::New();
	transformFilter->SetInputData(sourceGlyphFilter->GetOutput());
	transformFilter->SetTransform(landmarkTransform);
	transformFilter->Update();

	vtkSmartPointer<vtkPolyDataMapper> sourceMapper =
		vtkSmartPointer<vtkPolyDataMapper>::New();
	sourceMapper->SetInputConnection(sourceGlyphFilter->GetOutputPort());

	vtkSmartPointer<vtkActor> sourceActor =
		vtkSmartPointer<vtkActor>::New();
	sourceActor->SetMapper(sourceMapper);
	sourceActor->GetProperty()->SetColor(1,1,0);
	sourceActor->GetProperty()->SetPointSize(5);

	vtkSmartPointer<vtkPolyDataMapper> targetMapper =
		vtkSmartPointer<vtkPolyDataMapper>::New();
	targetMapper->SetInputConnection(targetGlyphFilter->GetOutputPort());

	vtkSmartPointer<vtkActor> targetActor =
		vtkSmartPointer<vtkActor>::New();
	targetActor->SetMapper(targetMapper);
	targetActor->GetProperty()->SetColor(1,0,0);
	targetActor->GetProperty()->SetPointSize(5);

	vtkSmartPointer<vtkPolyDataMapper> solutionMapper =
		vtkSmartPointer<vtkPolyDataMapper>::New();
	solutionMapper->SetInputConnection(transformFilter->GetOutputPort());

	vtkSmartPointer<vtkActor> solutionActor =
		vtkSmartPointer<vtkActor>::New();
	solutionActor->SetMapper(solutionMapper);
	solutionActor->GetProperty()->SetColor(0,0,1);
	solutionActor->GetProperty()->SetPointSize(5);

	vtkSmartPointer<vtkRenderer> renderer =
		vtkSmartPointer<vtkRenderer>::New();

	vtkSmartPointer<vtkRenderWindow> renderWindow =
		vtkSmartPointer<vtkRenderWindow>::New();
	renderWindow->AddRenderer(renderer);
	renderer->AddActor(sourceActor);
	renderer->AddActor(targetActor);
	renderer->AddActor(solutionActor);

	vtkSmartPointer<vtkAxesActor> axes =
		vtkSmartPointer<vtkAxesActor>::New();
	axes->SetScale(30);
	renderer->AddActor(axes);
	renderer->SetBackground(.3, .6, .3);

	vtkSmartPointer<vtkRenderWindowInteractor> renderWindowInteractor =
		vtkSmartPointer<vtkRenderWindowInteractor>::New();
	renderWindowInteractor->SetRenderWindow(renderWindow);

	renderWindow->SetSize(640, 480);
	renderWindow->Render();
	renderWindow->SetWindowName("PolyDataLandmarkReg");
	renderWindow->Render();
	renderWindowInteractor->Start();

	return EXIT_SUCCESS;
}

#include <vtkAutoInit.h>
VTK_MODULE_INIT(vtkRenderingOpenGL2);
VTK_MODULE_INIT(vtkRenderingFreeType);
VTK_MODULE_INIT(vtkInteractionStyle);

#include <vtkPoints.h>
#include <vtkSmartPointer.h>
#include <vtkLandmarkTransform.h>
#include <vtkMatrix4x4.h>
#include <vtkPolyDataMapper.h>
#include <vtkActor.h>
#include <vtkRenderWindow.h>
#include <vtkRenderer.h>
#include <vtkRenderWindowInteractor.h>
#include <vtkProperty.h>
#include <vtkTransformPolyDataFilter.h>
#include <vtkVertexGlyphFilter.h>
#include <vtkIterativeClosestPointTransform.h>
#include <vtkPolyDataReader.h>
#include <vtkTransform.h>

//测试文件：../data/fran_cut.vtk
int main(int argc, char * argv[])
{
	vtkSmartPointer<vtkPolyDataReader> reader = 
		vtkSmartPointer<vtkPolyDataReader>::New();
	reader->SetFileName("C:\\Users\\Administrator\\Desktop\\VTK2\\hellovtk\\vtk_图像处理学习\\第六章_图像处理\\data\\fran_cut.vtk");
	reader->Update();
	vtkSmartPointer<vtkPolyData> original  =  reader->GetOutput();

	vtkSmartPointer<vtkTransform> translation =
		vtkSmartPointer<vtkTransform>::New();
	translation->Translate(0.2, 0.0, 0.0);
	translation->RotateX(30);

	vtkSmartPointer<vtkTransformPolyDataFilter> transformFilter1 =
		vtkSmartPointer<vtkTransformPolyDataFilter>::New();
	transformFilter1->SetInputData(reader->GetOutput());
	transformFilter1->SetTransform(translation);
	transformFilter1->Update();

	vtkSmartPointer<vtkPolyData> source =
		vtkSmartPointer<vtkPolyData>::New();
	source->SetPoints(original->GetPoints());

	vtkSmartPointer<vtkPolyData> target =
		vtkSmartPointer<vtkPolyData>::New();
	target->SetPoints(transformFilter1->GetOutput()->GetPoints());

	vtkSmartPointer<vtkVertexGlyphFilter> sourceGlyphFilter =
		vtkSmartPointer<vtkVertexGlyphFilter>::New();
	sourceGlyphFilter->SetInputData(source);
	sourceGlyphFilter->Update();

	vtkSmartPointer<vtkVertexGlyphFilter> targetGlyphFilter =
		vtkSmartPointer<vtkVertexGlyphFilter>::New();
	targetGlyphFilter->SetInputData(target);
	targetGlyphFilter->Update();

	vtkSmartPointer<vtkIterativeClosestPointTransform> icpTransform = 
		vtkSmartPointer<vtkIterativeClosestPointTransform>::New();
	icpTransform->SetSource(sourceGlyphFilter->GetOutput());
	icpTransform->SetTarget(targetGlyphFilter->GetOutput());
	icpTransform->GetLandmarkTransform()->SetModeToRigidBody();
	icpTransform->SetMaximumNumberOfIterations(20);
	icpTransform->StartByMatchingCentroidsOn();
	icpTransform->Modified();
	icpTransform->Update();

	vtkSmartPointer<vtkTransformPolyDataFilter> transformFilter2 =
		vtkSmartPointer<vtkTransformPolyDataFilter>::New();
	transformFilter2->SetInputData(sourceGlyphFilter->GetOutput());
	transformFilter2->SetTransform(icpTransform);
	transformFilter2->Update();

	vtkSmartPointer<vtkPolyDataMapper> sourceMapper =
		vtkSmartPointer<vtkPolyDataMapper>::New();
	sourceMapper->SetInputConnection(sourceGlyphFilter->GetOutputPort());

	vtkSmartPointer<vtkActor> sourceActor =
		vtkSmartPointer<vtkActor>::New();
	sourceActor->SetMapper(sourceMapper);
	sourceActor->GetProperty()->SetColor(0,1,0);
	sourceActor->GetProperty()->SetPointSize(3);

	vtkSmartPointer<vtkPolyDataMapper> targetMapper =
		vtkSmartPointer<vtkPolyDataMapper>::New();
	targetMapper->SetInputConnection(targetGlyphFilter->GetOutputPort());

	vtkSmartPointer<vtkActor> targetActor =
		vtkSmartPointer<vtkActor>::New();
	targetActor->SetMapper(targetMapper);
	targetActor->GetProperty()->SetColor(1,0,0);
	targetActor->GetProperty()->SetPointSize(3);

	vtkSmartPointer<vtkPolyDataMapper> solutionMapper =
		vtkSmartPointer<vtkPolyDataMapper>::New();
	solutionMapper->SetInputConnection(transformFilter2->GetOutputPort());

	vtkSmartPointer<vtkActor> solutionActor =
		vtkSmartPointer<vtkActor>::New();
	solutionActor->SetMapper(solutionMapper);
	solutionActor->GetProperty()->SetColor(0,0,1);
	solutionActor->GetProperty()->SetPointSize(3);

	vtkSmartPointer<vtkRenderer> renderer =
		vtkSmartPointer<vtkRenderer>::New();
	renderer->SetBackground(1.0, 1.0, 1.0);

	vtkSmartPointer<vtkRenderWindow> renderWindow =
		vtkSmartPointer<vtkRenderWindow>::New();
	renderWindow->AddRenderer(renderer);
	renderer->AddActor(sourceActor);
	renderer->AddActor(targetActor);
	renderer->AddActor(solutionActor);

	vtkSmartPointer<vtkRenderWindowInteractor> renderWindowInteractor =
		vtkSmartPointer<vtkRenderWindowInteractor>::New();
	renderWindowInteractor->SetRenderWindow(renderWindow);

	renderWindow->SetSize(640, 480);
	renderWindow->Render();
	renderWindow->SetWindowName("PolyDataICP");
	renderWindow->Render();
	renderWindow->Render();
	renderWindowInteractor->Start();

	return EXIT_SUCCESS;
}

VTK系列目录：

1 VTK基本概念

2 VTK图像处理

3 VTK图形处理

4 VTK体绘制