IterativeClosestPoints

VTKExamples/Python/Filtering/IterativeClosestPoints

Code

IterativeClosestPoints.py

from __future__ import print_function

import vtk

# ============ create source points ==============
print("Creating source points...")
sourcePoints = vtk.vtkPoints()
sourceVertices = vtk.vtkCellArray()

sp_id = sourcePoints.InsertNextPoint(1.0, 0.1, 0.0)
sourceVertices.InsertNextCell(1)
sourceVertices.InsertCellPoint(sp_id)

sp_id = sourcePoints.InsertNextPoint(0.1, 1.1, 0.0)
sourceVertices.InsertNextCell(1)
sourceVertices.InsertCellPoint(sp_id)

sp_id = sourcePoints.InsertNextPoint(0.0, 0.1, 1.0)
sourceVertices.InsertNextCell(1)
sourceVertices.InsertCellPoint(sp_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()

tp_id = targetPoints.InsertNextPoint(1.0, 0.0, 0.0)
targetVertices.InsertNextCell(1)
targetVertices.InsertCellPoint(tp_id)

tp_id = targetPoints.InsertNextPoint(0.0, 1.0, 0.0)
targetVertices.InsertNextCell(1)
targetVertices.InsertCellPoint(tp_id)

tp_id = targetPoints.InsertNextPoint(0.0, 0.0, 1.0)
targetVertices.InsertNextCell(1)
targetVertices.InsertCellPoint(tp_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))