[vtkusers] ActiViz C# | add 2 actors

[Maarten Beek]

Source is moved to target -> it's your choice

use StartByMatchingCentroidsOn() to align the centers first.





On Monday, January 20, 2014 1:57:24 PM, Matias Montroull <matimontg at gmail.com> wrote:
 
Ok, so here's my code: See the registration commented section at the bottom.

Question, Source should be my NDI points or the mesh points?

Thanks for your time..


//Mesh
            vtkDICOMImageReader readerdicom = new vtkDICOMImageReader();
            readerdicom.SetDirectoryName(@"C:\CDDICOM\images");
            readerdicom.Update();

//extract skin
            vtkContourFilter skinextractor = vtkContourFilter.New();
            skinextractor.SetInputConnection(readerdicom.GetOutputPort());
            skinextractor.SetValue(0, -800);

//remove inner points
            vtkPolyDataConnectivityFilter contornos = new vtkPolyDataConnectivityFilter();
            contornos.SetInputConnection(skinextractor.GetOutputPort());
            contornos.SetExtractionModeToLargestRegion();
            contornos.SetColorRegions(1);
            vtkCleanPolyData removepoints = new vtkCleanPolyData();
            removepoints.SetInput(contornos.GetOutput());
            removepoints.Update();

            vtkPolyDataNormals skinnormals = vtkPolyDataNormals.New();

            skinnormals.SetInputConnection(removepoints.GetOutputPort());
            skinnormals.SetFeatureAngle(90.0);
            skinnormals.ComputePointNormalsOn();

            vtkPolyDataMapper skinmapper = vtkPolyDataMapper.New();
            skinmapper.SetInputConnection(skinnormals.GetOutputPort());
            skinmapper.ScalarVisibilityOff();

            vtkActor actor_mesh = vtkActor.New();
            actor_mesh.SetMapper(skinmapper);


//Rregistracion (I load my NDI tracker registered points)

            vtkTesting test = vtkTesting.New();
            string root = test.GetDataRoot();
            string filePath = System.IO.Path.Combine(root, @"C:/tracker/reg.poi");

            FileStream fs = null;
            StreamReader sr = null;
            String sLineBuffer;
            String[] sXYZ;
            char[] chDelimiter = new char[] { ' ', '\t', ';' };
            double[] xyz = new double[3];
            vtkPoints points = vtkPoints.New();
            int cnt = 0;


            // in case file must be open in another application too use "FileShare.ReadWrite"
            fs = new FileStream(filePath, FileMode.Open, FileAccess.Read, FileShare.ReadWrite);
            sr = new StreamReader(fs);
            while (!sr.EndOfStream)
            {
                sLineBuffer = sr.ReadLine();
                cnt++;
                sXYZ = sLineBuffer.Split(chDelimiter, StringSplitOptions.RemoveEmptyEntries);
                if (sXYZ == null)
                {
                    System.Windows.MessageBox.Show("data seems to be in wrong format at line " + cnt, "Format Exception");
                    return;
                }
                xyz[0] = double.Parse(sXYZ[0], CultureInfo.InvariantCulture);
                xyz[1] = double.Parse(sXYZ[1], CultureInfo.InvariantCulture);
                xyz[2] = double.Parse(sXYZ[2], CultureInfo.InvariantCulture);
                points.InsertNextPoint(xyz[0], xyz[1], xyz[2]);
            }
            vtkPolyData polydata = vtkPolyData.New();
            polydata.SetPoints(points);

            vtkSurfaceReconstructionFilter surf = new vtkSurfaceReconstructionFilter();
            surf.SetInput(polydata);
            vtkContourFilter cf = new vtkContourFilter();
            cf.SetInputConnection(surf.GetOutputPort());

            vtkVertexGlyphFilter glyphFilter = vtkVertexGlyphFilter.New();
            glyphFilter.SetInputConnection(polydata.GetProducerPort());
            glyphFilter.Update();
            // Visualize
            vtkPolyDataMapper registracion_mapper = vtkPolyDataMapper.New();

            registracion_mapper.SetInputConnection(glyphFilter.GetOutputPort());

            vtkActor actorregistracion = vtkActor.New();
            actorregistracion.SetMapper(registracion_mapper);
            actorregistracion.GetProperty().SetPointSize(3);
            actorregistracion.GetProperty().SetColor(1, 0.5, 0);
            
            double[] a = actorregistracion.GetCenter();
            double[] b = actor_mesh.GetCenter();

         
            
        //Registration:
            vtkIterativeClosestPointTransform closestpoints = new vtkIterativeClosestPointTransform();
            closestpoints.SetSource(removepoints.GetOutput());
            closestpoints.SetTarget(glyphFilter.GetOutput());
            closestpoints.GetLandmarkTransform().SetModeToRigidBody();
            closestpoints.SetMaximumNumberOfIterations(1000);
            closestpoints.SetMaximumNumberOfLandmarks(400);
            closestpoints.StartByMatchingCentroidsOff();
            closestpoints.Modified();
            closestpoints.Update();

            vtkTransformPolyDataFilter transform = new vtkTransformPolyDataFilter();
            transform.SetInput(removepoints.GetOutput());
            transform.SetTransform(closestpoints);
            transform.Update();

            vtkPolyDataMapper solucion_mapper = vtkPolyDataMapper.New();
            solucion_mapper.SetInputConnection(transform.GetOutputPort());
            vtkActor actorsolucion = vtkActor.New();
            actorsolucion.SetMapper(solucion_mapper);
            actorsolucion.GetProperty().SetColor(0, 0, 1);
            actorsolucion.GetProperty().SetPointSize(3);




On Mon, Jan 20, 2014 at 3:47 PM, Maarten Beek <beekmaarten at yahoo.com> wrote:

Not after the mapper because that doesn't generate a vtkPolyData (inherits from vtkDataSet).
>I would put it at the end of both pipelines (vtkClosestPointTransform needs two inputs: source and target) before the results of these pipelines are added to their mappers.
>Depends on what data you want to register (vtkPolyDataNormals doesn't change the location of the points so you could take the result before this algorithm as well). 
>
>
>
>
>On Monday, January 20, 2014 10:04:10 AM, Maarten Beek <beekmaarten at yahoo.com> wrote:
> 
>Both data have their own coordinate system. One from the apparatus that generated the skin surface, the other one from the NDI tracker. Both data would be in the same coordinate system if some calibration of the equipment is performed.
>
>The current data has to be registered to each other (moving one object into the coordinate system of the other). A first step would be to align the centers (see: vtkClosestPointTransform), then some additional iterations would be required to improve the registration.
>
>
>
>
>
>
>On Saturday, January 18, 2014 7:44:23 PM, Matias Montroull <matimontg at gmail.com> wrote:
> 
>Hi,
>
>I've managed to add 2 actors to a render, however, I would like to set the same center for both..
>
>
Reason being is that I have a skin face surface and a set of points I registered using a NDI tracker. So, I'd like to view both to see how close my points are to the surface to make some tests and then optimization (find the closest points to the surface).
>
>My points appear at the right of the image as shown in the screenshoot attached.. Is that because I need to set the center to be the same por something else I'm missing?
>
>
>
>Thanks!
>
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