python VTK（二十六） ----图形基本操作点云配准技术 ICP点云配准

最新推荐文章于 2024-05-06 15:11:56 发布

爱吃鱼的喵喵咪

最新推荐文章于 2024-05-06 15:11:56 发布

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文章标签： python 计算机视觉 vtk 图像处理开发语言

本文链接：https://blog.csdn.net/xujia0/article/details/122236920

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#!/usr/bin/env python 
# -*- coding:utf-8 -*-
import vtk
# 原标记点
sourcePoints = vtk.vtkPoints()
sourcePoint1 = [0.5, 0.0, 0.0]
sourcePoints.InsertNextPoint(sourcePoint1)
sourcePoint2 = [0.0, 0.5, 0.0]
sourcePoints.InsertNextPoint(sourcePoint2)
sourcePoint3 = [0.0, 0.0, 0.5]
sourcePoints.InsertNextPoint(sourcePoint3)
# 目标标记点
targetPoints = vtk.vtkPoints()
targetPoint1 = [0.0, 0.0, 0.55]
targetPoints.InsertNextPoint(targetPoint1)
targetPoint2 = [0.0, 0.55, 0.0]
targetPoints.InsertNextPoint(targetPoint2)
targetPoint3 = [-0.55, 0.0, 0.0]
targetPoints.InsertNextPoint(targetPoint3)

landmarkTransform = vtk.vtkLandmarkTransform()  # 利用Landmark算法求变换矩阵，只需设置原标记点和目标标记点
landmarkTransform.SetSourceLandmarks(sourcePoints)
landmarkTransform.SetTargetLandmarks(targetPoints)
landmarkTransform.SetModeToRigidBody()  # 执行刚体配准，只有平移和旋转
landmarkTransform.Update()
# 进行可视化
source = vtk.vtkPolyData()
source.SetPoints(sourcePoints)

target = vtk.vtkPolyData()
target.SetPoints(targetPoints)

sourceGlyphFilter = vtk.vtkVertexGlyphFilter()   # 显示点集
sourceGlyphFilter.SetInputData(source)
sourceGlyphFilter.Update()

targetGlyphFilter = vtk.vtkVertexGlyphFilter()
targetGlyphFilter.SetInputData(target)
targetGlyphFilter