VTK_Learning_LandMarker_Registration 朱雀 2023-06-27 11:14 19阅读 0赞 # 1.配准效果图 # ![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3dlaXhpbl8zODI5MzQ1Mw_size_16_color_FFFFFF_t_70][] # 2.LandMarker配准代码 # #include <QCoreApplication> #include <QDebug> #include <iostream> #include <sstream> #include <QtCore> #include "ndi_capi.h" #include "pointclouddata.h" #include <QGuiApplication> #include <QQmlApplicationEngine> #include "tempframe.h" #include "tempdataprocessor.h" #include "tempdatarepository.h" #include "tempthread001.h" #include "registrationpointcloud.h" #include <QMainWindow> #include <QWidget> #include <QGuiApplication> #include <QQuickView> #include <QtQml> #include <QQmlApplicationEngine> //vtk #include <vtkActor.h> #include <vtkCamera.h> #include <vtkCylinderSource.h> #include <vtkNamedColors.h> #include <vtkPolyDataMapper.h> #include <vtkProperty.h> #include <vtkRenderWindow.h> #include <vtkRenderWindowInteractor.h> #include <vtkRenderer.h> #include <array> #include <vtkAutoInit.h> VTK_MODULE_INIT(vtkRenderingOpenGL2); VTK_MODULE_INIT(vtkRenderingFreeType); VTK_MODULE_INIT(vtkInteractionStyle); #include <vtkSmartPointer.h> #include <vtkPolyDataReader.h> #include <vtkPolyData.h> #include <vtkTransform.h> #include <vtkTransformPolyDataFilter.h> #include <vtkVertexGlyphFilter.h> #include <vtkIterativeClosestPointTransform.h> #include <vtkLandmarkTransform.h> #include <vtkTransformPolyDataFilter.h> #include <vtkPolyDataMapper.h> #include <vtkActor.h> #include <vtkProperty.h> #include <vtkAxesActor.h> #include <vtkRenderer.h> #include <vtkRenderWindow.h> #include <vtkRenderWindowInteractor.h> #include <vtkOrientationMarkerWidget.h> //坐标系交互 int main(int argc, char *argv[]) { QCoreApplication::setAttribute(Qt::AA_EnableHighDpiScaling); qmlRegisterType<TempFrame>("qian.qml.TempInterface", 1, 0, "TempFrame"); qmlRegisterType<Tool>("qian.qml.TempInterface", 1, 0, "Tool"); qmlRegisterType<MyStrayMarker>("qian.qml.TempInterface", 1, 0, "MyStrayMarker"); QGuiApplication app(argc, argv); // QObject *w= new QObject(); // TempThread001 *m_tempThread; // m_tempThread = new TempThread001(w); // TempDataProcessor *m_tempDataProcessor=new TempDataProcessor(); // TempDataRepository *m_tempDataRepository=new TempDataRepository(); // m_tempDataProcessor->setTempDataRepository(m_tempDataRepository); // m_tempThread->setTempDataProcessor(m_tempDataProcessor); // m_tempThread->start(); // QQmlApplicationEngine engine; // engine.rootContext()->setContextProperty("NDI_DataRepository",m_tempDataRepository); // engine.rootContext()->setContextProperty("NDI_DataProcessor",m_tempDataProcessor); // engine.load(QUrl(QStringLiteral("qrc:/qml/main.qml"))); // if (engine.rootObjects().isEmpty()) // return -1; vtkSmartPointer<vtkPoints> sourcePoints = vtkSmartPointer<vtkPoints>::New(); double sourcePoint1[3] = { 0.5, 0, 0 }; sourcePoints->InsertNextPoint(sourcePoint1); double sourcePoint2[3] = { 0, 0.5, 0 }; sourcePoints->InsertNextPoint(sourcePoint2); double sourcePoint3[3] = { 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); //利用Landmark算法求变换矩阵 vtkSmartPointer<vtkLandmarkTransform> landmarkTransform = vtkSmartPointer<vtkLandmarkTransform>::New(); landmarkTransform->SetSourceLandmarks(sourcePoints); landmarkTransform->SetTargetLandmarks(targetPoints); landmarkTransform->SetModeToRigidBody(); //执行刚体配准 landmarkTransform->Update(); 构造PolyData类型 进行图形可视化 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(); 源数据施加配准变换矩阵 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(6); vtkSmartPointer<vtkPolyDataMapper> targetMapper = vtkSmartPointer<vtkPolyDataMapper>::New(); targetMapper->SetInputConnection(targetGlyphFilter->GetOutputPort()); vtkSmartPointer<vtkActor> targetActor = vtkSmartPointer<vtkActor>::New(); targetActor->SetMapper(targetMapper); targetActor->GetProperty()->SetColor(0, 1, 0); targetActor->GetProperty()->SetPointSize(6); vtkSmartPointer<vtkPolyDataMapper> solutionMapper = vtkSmartPointer<vtkPolyDataMapper>::New(); solutionMapper->SetInputConnection(transformFilter->GetOutputPort()); vtkSmartPointer<vtkActor> solutionActor = vtkSmartPointer<vtkActor>::New(); solutionActor->SetMapper(solutionMapper); solutionActor->GetProperty()->SetColor(1, 0, 0); solutionActor->GetProperty()->SetPointSize(6); vtkSmartPointer<vtkRenderer> render = vtkSmartPointer<vtkRenderer>::New(); render->AddActor(sourceActor); render->AddActor(targetActor); render->AddActor(solutionActor); render->SetBackground(0, 0, 0); vtkSmartPointer<vtkRenderWindow> rw = vtkSmartPointer<vtkRenderWindow>::New(); rw->AddRenderer(render); rw->SetSize(480, 480); rw->SetWindowName("Regisration by Landmark"); //设置坐标系显示功能 vtkSmartPointer<vtkAxesActor> axes = vtkSmartPointer<vtkAxesActor>::New(); axes->SetScale(10); render->AddActor(axes); vtkSmartPointer<vtkRenderWindowInteractor> rwi = vtkSmartPointer<vtkRenderWindowInteractor>::New(); rwi->SetRenderWindow(rw); /************************************************************/ vtkSmartPointer<vtkOrientationMarkerWidget> widget = vtkSmartPointer<vtkOrientationMarkerWidget>::New(); widget->SetOutlineColor(0.9300, 0.5700, 0.1300); widget->SetOrientationMarker(axes); widget->SetInteractor(rwi); //加入鼠标交互 widget->SetViewport(0.0, 0.0, 0.3, 0.3); //设置显示位置 widget->SetEnabled(1); widget->InteractiveOn();//开启鼠标交互 /************************************************************/ render->ResetCamera(); rw->Render(); rwi->Initialize(); rwi->Start(); return app.exec(); } # 3.camke文件 # cmake_minimum_required(VERSION 3.0.0) project(capi_test VERSION 0.1 LANGUAGES CXX) set(CMAKE_INCLUDE_CURRENT_DIR ON) set(CMAKE_AUTOMOC ON) set(CMAKE_AUTORCC ON) find_package(Qt5Core) find_package(Qt5Quick REQUIRED) find_package(Qt5Widgets REQUIRED) find_package(Qt5Qml REQUIRED) find_package(Qt5QuickControls2 REQUIRED) find_package(Qt5QuickWidgets REQUIRED) find_package(VTK 8.1 REQUIRED NO_MODULE) #find_package(VTK COMPONENTS # vtkCommonColor # vtkCommonCore # vtkFiltersSources # vtkInteractionStyle # vtkRenderingContextOpenGL2 # vtkRenderingCore # vtkRenderingFreeType # vtkRenderingGL2PSOpenGL2 # vtkRenderingOpenGL2 QUIET) if (NOT VTK_FOUND) message("Skipping CylinderExample: ${VTK_NOT_FOUND_MESSAGE}") return () endif() message (STATUS "VTK_VERSION: ${VTK_VERSION}") #添加source和inc include_directories("./*.h") set(project_SOURCES main.cpp ndi_capi.cpp pointclouddata.cpp tempframe.cpp tempthread001.cpp tempdataprocessor.cpp tempdatarepository.cpp registrationpointcloud.cpp ) # Set the output directory structure set(BUILD_OUTPUT_DIRECTORY build-output) set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY_DEBUG ${BUILD_OUTPUT_DIRECTORY}) set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY_RELEASE ${BUILD_OUTPUT_DIRECTORY}) set(CMAKE_LIBRARY_OUTPUT_DIRECTORY_DEBUG ${BUILD_OUTPUT_DIRECTORY}) set(CMAKE_LIBRARY_OUTPUT_DIRECTORY_RELEASE ${BUILD_OUTPUT_DIRECTORY}) set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_DEBUG ${BUILD_OUTPUT_DIRECTORY}) set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE ${BUILD_OUTPUT_DIRECTORY}) # Set the preprocessor flag we need when creating the library add_definitions(-DCAPICOMMON_EXPORTS) # Include the header files include_directories("CAPIcommon/include" "CAPIcommon/src/include") # Set the $SOURCES_NDLINK variable using file(GLOB...) with wildcards file(GLOB SOURCES_CAPICOMMON "CAPIcommon/src/*.cpp") # Generate a shared library from the sources add_library(CAPIcommon SHARED ${SOURCES_CAPICOMMON}) # ${PROJECT_NAME} 为生成的可执行文件名字 #add_executable(${PROJECT_NAME} ${project_SOURCES} "qml.qrc") #target_link_libraries(${PROJECT_NAME} Qt5::Core CAPIcommon Qt5::Quick Qt5::Widgets Qt5::Qml Qt5::QuickControls2 Qt5::QuickWidgets) if (VTK_VERSION VERSION_LESS "8.90.0") # old system include(${VTK_USE_FILE}) add_executable(${PROJECT_NAME} MACOSX_BUNDLE ${project_SOURCES}) target_link_libraries(${PROJECT_NAME} ${VTK_LIBRARIES} Qt5::Core CAPIcommon Qt5::Quick Qt5::Widgets Qt5::Qml Qt5::QuickControls2 Qt5::QuickWidgets ) else () # include all components add_executable(${PROJECT_NAME} MACOSX_BUNDLE ) target_link_libraries(${PROJECT_NAME} ${VTK_LIBRARIES}) # vtk_module_autoinit is needed vtk_module_autoinit( TARGETS ${PROJECT_NAME} MODULES ${VTK_LIBRARIES} ) endif () #添加SerialPort模块 下面整句添加 qt5_use_modules(${PROJECT_NAME} Core SerialPort) # Copy .rom files so the built binaries can use them file(COPY sroms DESTINATION ${BUILD_OUTPUT_DIRECTORY}) [watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3dlaXhpbl8zODI5MzQ1Mw_size_16_color_FFFFFF_t_70]: https://img-blog.csdnimg.cn/20200106130410784.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3dlaXhpbl8zODI5MzQ1Mw==,size_16,color_FFFFFF,t_70
还没有评论，来说两句吧...