IterativeClosestPoints
VTKExamples/Python//IterativeClosestPoints
Code
IterativeClosestPoints.py
from __future__ import print_function
import vtk
from vtk import *
# ============ create source points ==============
print("Creating source points...")
sourcePoints = vtk.vtkPoints()
sourceVertices = vtk.vtkCellArray()
id = sourcePoints.InsertNextPoint(1.0, 0.1, 0.0)
sourceVertices.InsertNextCell(1)
sourceVertices.InsertCellPoint(id)
id = sourcePoints.InsertNextPoint(0.1, 1.1, 0.0)
sourceVertices.InsertNextCell(1)
sourceVertices.InsertCellPoint(id)
id = sourcePoints.InsertNextPoint(0.0, 0.1, 1.0)
sourceVertices.InsertNextCell(1)
sourceVertices.InsertCellPoint(id)
source = vtk.vtkPolyData()
source.SetPoints(sourcePoints)
source.SetVerts(sourceVertices)
if vtk.VTK_MAJOR_VERSION <= 5:
source.Update()
print("Displaying source points...")
# ============ display source points ==============
pointCount = 3
for index in range(pointCount):
point = [0,0,0]
sourcePoints.GetPoint(index, point)
print("source point[%s]=%s" % (index,point))
#============ create target points ==============
print("Creating target points...")
targetPoints = vtk.vtkPoints()
targetVertices = vtk.vtkCellArray()
id = targetPoints.InsertNextPoint(1.0, 0.0, 0.0)
targetVertices.InsertNextCell(1)
targetVertices.InsertCellPoint(id)
id = targetPoints.InsertNextPoint(0.0, 1.0, 0.0)##
targetVertices.InsertNextCell(1)
targetVertices.InsertCellPoint(id)
id = targetPoints.InsertNextPoint(0.0, 0.0, 1.0)
targetVertices.InsertNextCell(1)
targetVertices.InsertCellPoint(id)
target = vtk.vtkPolyData()
target.SetPoints(targetPoints)
target.SetVerts(targetVertices)
if vtk.VTK_MAJOR_VERSION <= 5:
target.Update()
# ============ display target points ==============
print("Displaying target points...")
pointCount = 3
for index in range(pointCount):
point = [0,0,0]
targetPoints.GetPoint(index, point)
print("target point[%s]=%s" % (index,point))
print("Running ICP ----------------")
# ============ run ICP ==============
icp = vtk.vtkIterativeClosestPointTransform()
icp.SetSource(source)
icp.SetTarget(target)
icp.GetLandmarkTransform().SetModeToRigidBody()
#icp.DebugOn()
icp.SetMaximumNumberOfIterations(20)
icp.StartByMatchingCentroidsOn()
icp.Modified()
icp.Update()
icpTransformFilter = vtk.vtkTransformPolyDataFilter()
if vtk.VTK_MAJOR_VERSION <= 5:
icpTransformFilter.SetInput(source)
else:
icpTransformFilter.SetInputData(source)
icpTransformFilter.SetTransform(icp)
icpTransformFilter.Update()
transformedSource = icpTransformFilter.GetOutput()
# ============ display transformed points ==============
pointCount = 3
for index in range(pointCount):
point = [0,0,0]
transformedSource.GetPoint(index, point)
print("transformed source point[%s]=%s" % (index,point))