ICP alignment of mesh in python

Apoorva · December 3, 2024, 3:07pm

Hi,

How to do ICP based alignment in the python code as we do in software shown below? An how to get rotation and translation matrix?

amorris · December 6, 2024, 7:28pm

The equivalent call in Python is demonstrated here:

github.com

SCIInstitute/ShapeWorks/blob/master/Testing/PythonTests/icp.py

import os
import sys
from shapeworks import *

success = True

def icpTest1():
  imgSource = Image(os.environ["DATA"] + "/smooth1.nrrd")
  imgTarget = Image(os.environ["DATA"] + "/smooth2.nrrd")
  xform = imgSource.createRigidRegistrationTransform(imgTarget, 1.0, 5)
  imgSource.applyTransform(xform, imgTarget.origin(), imgTarget.dims(), imgTarget.spacing(), imgTarget.coordsys(), InterpolationType.NearestNeighbor)

  compareImg = Image(os.environ["DATA"] + "/icp.nrrd")

  return imgSource == compareImg

success &= utils.test(icpTest1)

def icpTest2():
  img1 = Image(os.environ["DATA"] + "/femur1_dt.nrrd")

This file has been truncated. show original

createRigidRegistrationTransform

There are standard ways to decompose a matrix into rotation and translation, but we don’t provide any within shapeworks.

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ICP alignment of mesh in python

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