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 2024-08-31 07:30:00 发布

爱吃鱼的喵喵咪

最新推荐文章于 2024-08-31 07:30:00 发布

阅读量1.2k

点赞数

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

版权

本文介绍了使用Python和VTK进行点云配准的技术，特别是ICP（Iterative Closest Point）算法的应用。通过展示配准前后的点集对比，展示从黄色原标记点到红色目标标记点，最终转换为蓝色配准后点集的过程。

摘要由CSDN通过智能技术生成

#!/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)