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AmpScan
AmpScan
Commit 2c63b0e8 authored by jp6g18's avatar jp6g18
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Merge branch 'master' into 'Omar' 

# Conflicts:
#   AmpScan/ampVis.py
#   GUIs/AmpScanGUI.py
parents 5a608740 13398e31
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    .gitlab-ci.yml
    View file @ 2c63b0e8
    sample_job:
    script: python tests/sample_test.py
    #doctests and unitests:
    # script: pytest --doctest-modules -v --ignore=GUIs
    # Temporarily added back old testing
    unittests:
    script: python -m unittest discover tests -v
    core doctests:
    script: python -m doctest -v AmpScan/core.py
    registration doctests:
    script: python -m doctest -v AmpScan/registration.py
    align doctests:
    script: python -m doctest -v AmpScan/align.py
    AmpScan/align.py
    View file @ 2c63b0e8
    ......@@ -10,8 +10,13 @@ import vtk
    import math
    from scipy import spatial
    from scipy.optimize import minimize
    from .core import AmpObject
    from .ampVis import vtkRenWin
    from AmpScan.core import AmpObject
    from AmpScan.ampVis import vtkRenWin
    # For doc examples
    import os
    staticfh = os.getcwd() + "\\tests\\stl_file.stl"
    movingfh = os.getcwd() + "\\tests\\stl_file_2.stl"
    class align(object):
    ......@@ -41,9 +46,9 @@ class align(object):
    Examples
    --------
    >>> static = AmpScan.AmpObject(staticfh)
    >>> moving = AmpScan.AmpObject(movingfh)
    >>> al = AmpScan.align(moving, static).m
    >>> static = AmpObject(staticfh)
    >>> moving = AmpObject(movingfh)
    >>> al = align(moving, static).m
    """
    ......@@ -131,7 +136,7 @@ class align(object):
    R = Rs[:, :, -1]
    #Simpl
    [U, s, V] = np.linalg.svd(R)
    R = np.dot(U, V.T)
    R = np.dot(U, V)
    self.tForm = np.r_[np.c_[R, np.zeros(3)], np.append(Ts[:, -1], 1)[:, None].T]
    self.R = R
    self.T = Ts[:, -1]
    ......@@ -176,9 +181,9 @@ class align(object):
    Examples
    --------
    >>> static = AmpScan.AmpObject(staticfh)
    >>> moving = AmpScan.AmpObject(movingfh)
    >>> al = AmpScan.align(moving, static, method='linPoint2Plane').m
    >>> static = AmpObject(staticfh)
    >>> moving = AmpObject(movingfh)
    >>> al = align(moving, static, method='linPoint2Plane').m
    """
    cn = np.c_[np.cross(mv, sn), sn]
    ......@@ -229,9 +234,9 @@ class align(object):
    Examples
    --------
    >>> static = AmpScan.AmpObject(staticfh)
    >>> moving = AmpScan.AmpObject(movingfh)
    >>> al = AmpScan.align(moving, static, method='linPoint2Point').m
    >>> static = AmpObject(staticfh)
    >>> moving = AmpObject(movingfh)
    >>> al = align(moving, static, method='linPoint2Point').m
    """
    mCent = mv - mv.mean(axis=0)
    ......@@ -271,9 +276,9 @@ class align(object):
    Examples
    --------
    >>> static = AmpScan.AmpObject(staticfh)
    >>> moving = AmpScan.AmpObject(movingfh)
    >>> al = AmpScan.align(moving, static, method='optPoint2Point', opt='SLSQP').m
    >>> static = AmpObject(staticfh)
    >>> moving = AmpObject(movingfh)
    >>> al = align(moving, static, method='optPoint2Point', opt='SLSQP').m
    """
    X = np.zeros(6)
    ......
    AmpScan/ampVis.py
    View file @ 2c63b0e8
    ......@@ -374,7 +374,7 @@ class visMixin(object):
    def genIm(self, size=[512, 512], views=[[0, -1, 0]],
    background=[1.0, 1.0, 1.0], projection=True,
    shading=True, mag=10, out='im', fh='test.tiff',
    zoom=1.0, az = 0, el=0,crop=False):
    zoom=1.0, az = 0, el=0,crop=False, cam=None):
    r"""
    Creates a temporary off screen vtkRenWin which is then either returned
    as a numpy array or saved as a .png file
    ......@@ -411,6 +411,7 @@ class visMixin(object):
    self.addActor()
    # Generate a renderer window
    win = vtkRenWin()
    win.OffScreenRenderingOn()
    # Set the number of viewports
    win.setnumViewports(len(views))
    # Set the background colour
    ......@@ -427,7 +428,8 @@ class visMixin(object):
    # win.setProjection(projection, viewport=i)
    win.renderActors([self.actor,], zoom=zoom)
    win.rens[0].GetActiveCamera().Azimuth(az)
    win.rens[0].GetActiveCamera().Elevation(el)
    if cam is not None:
    win.rens[0].SetActiveCamera(cam)
    win.Render()
    if out == 'im':
    im = win.getImage()
    ......@@ -438,7 +440,7 @@ class visMixin(object):
    mask = np.all(im == 1, axis=2)
    mask = ~np.all(mask, axis=0)
    im = im[:, mask, :]
    return im
    return im, win
    elif out == 'fh':
    win.getScreenshot(fh)
    return
    ......
    AmpScan/core.py
    View file @ 2c63b0e8
    ......@@ -6,11 +6,17 @@ Copyright: Joshua Steer 2018, Joshua.Steer@soton.ac.uk
    """
    import numpy as np
    import os
    import struct
    from .trim import trimMixin
    from .smooth import smoothMixin
    from .analyse import analyseMixin
    from .ampVis import visMixin
    from AmpScan.trim import trimMixin
    from AmpScan.smooth import smoothMixin
    from AmpScan.analyse import analyseMixin
    from AmpScan.ampVis import visMixin
    # The file path used in doc examples
    filename = os.getcwd()+"\\tests\\stl_file.stl"
    class AmpObject(trimMixin, smoothMixin, analyseMixin, visMixin):
    r"""
    ......@@ -36,8 +42,7 @@ class AmpObject(trimMixin, smoothMixin, analyseMixin, visMixin):
    Examples
    -------
    >>> fh = 'test.stl'
    >>> amp = AmpScan.AmpObject(fh)
    >>> amp = AmpObject(filename)
    """
    ......@@ -149,13 +154,12 @@ class AmpObject(trimMixin, smoothMixin, analyseMixin, visMixin):
    Examples
    --------
    >>> fh = 'test.stl'
    >>> amp = AmpObject(fh, unify=False)
    >>> amp = AmpObject(filename, unify=False)
    >>> amp.vert.shape
    (600, 3)
    (44832, 3)
    >>> amp.unifyVert()
    >>> amp.vert.shape
    (125, 3)
    (7530, 3)
    """
    # Requires numpy 1.13
    ......@@ -314,7 +318,16 @@ class AmpObject(trimMixin, smoothMixin, analyseMixin, visMixin):
    Translation in [x, y, z]
    """
    self.vert[:] += trans
    # Check that trans is array like
    if isinstance(trans, (list, np.ndarray, tuple)):
    # Check that trans has exactly 3 dimensions
    if len(trans) == 3:
    self.vert[:] += trans
    else:
    raise ValueError("Translation has incorrect dimensions. Expected 3 but found: " + str(len(trans)))
    else:
    raise TypeError("Translation is not array_like: " + trans)
    def centre(self):
    r"""
    ......@@ -337,10 +350,15 @@ class AmpObject(trimMixin, smoothMixin, analyseMixin, visMixin):
    Examples
    --------
    >>> amp = AmpObject('test.stl')
    >>> amp = AmpObject(filename)
    >>> ang = [np.pi/2, -np.pi/4, np.pi/3]
    >>> amp.rotateAng(ang, ang='rad')
    """
    # Check that ang is valid
    if ang not in ('rad', 'deg'):
    raise ValueError("Ang expected 'rad' or 'deg' but {} was found".format(ang))
    if isinstance(rot, (tuple, list, np.ndarray)):
    R = self.rotMatrix(rot, ang)
    self.rotate(R, norms)
    ......@@ -359,6 +377,18 @@ class AmpObject(trimMixin, smoothMixin, analyseMixin, visMixin):
    norms: boolean, default True
    """
    if isinstance(R, (list, tuple)):
    # Make R a np array if its a list or tuple
    R = np.array(R, np.float)
    elif not isinstance(R, np.ndarray):
    # If
    raise TypeError("Expected R to be array-like but found: " + str(type(R)))
    if len(R) != 3 or len(R[0]) != 3:
    # Incorrect dimensions
    if isinstance(R, np.ndarray):
    raise ValueError("Expected 3x3 array, but found: {}".format(R.shape))
    else:
    raise ValueError("Expected 3x3 array, but found: 3x"+str(len(R)))
    self.vert[:, :] = np.dot(self.vert, R.T)
    if norms is True:
    self.norm[:, :] = np.dot(self.norm, R.T)
    ......@@ -380,9 +410,15 @@ class AmpObject(trimMixin, smoothMixin, analyseMixin, visMixin):
    """
    if R is not None:
    self.rotate(R, True)
    if isinstance(R, (tuple, list, np.ndarray)):
    self.rotate(R, True)
    else:
    raise TypeError("Expecting array-like rotation, but found: "+type(R))
    if T is not None:
    self.translate(T)
    if isinstance(T, (tuple, list, np.ndarray)):
    self.translate(T)
    else:
    raise TypeError("Expecting array-like translation, but found: "+type(T))
    @staticmethod
    ......@@ -396,7 +432,7 @@ class AmpObject(trimMixin, smoothMixin, analyseMixin, visMixin):
    rot: array_like
    Rotation around [x, y, z]
    ang: str, default 'rad'
    Specift if the Euler angles are in degrees or radians
    Specify if the Euler angles are in degrees or radians
    Returns
    -------
    ......@@ -404,8 +440,20 @@ class AmpObject(trimMixin, smoothMixin, analyseMixin, visMixin):
    The calculated 3x3 rotation matrix
    """
    # Check that rot is valid
    if not isinstance(rot, (tuple, list, np.ndarray)):
    raise TypeError("Expecting array-like rotation, but found: "+type(rot))
    elif len(rot) != 3:
    raise ValueError("Expecting 3 arguments but found: {}".format(len(rot)))
    # Check that ang is valid
    if ang not in ('rad', 'deg'):
    raise ValueError("Ang expected 'rad' or 'deg' but {} was found".format(ang))
    if ang == 'deg':
    rot = np.deg2rad(rot)
    [angx, angy, angz] = rot
    Rx = np.array([[1, 0, 0],
    [0, np.cos(angx), -np.sin(angx)],
    ......@@ -429,8 +477,14 @@ class AmpObject(trimMixin, smoothMixin, analyseMixin, visMixin):
    The axis in which to flip the mesh
    """
    self.vert[:, axis] *= -1.0
    # Switch face order to normals face same direction
    self.faces[:, [1, 2]] = self.faces[:, [2, 1]]
    self.calcNorm()
    self.calcVNorm()
    if isinstance(axis, int):
    if 0 <= axis < 3: # Check axis is between 0-2
    self.vert[:, axis] *= -1.0
    # Switch face order to normals face same direction
    self.faces[:, [1, 2]] = self.faces[:, [2, 1]]
    self.calcNorm()
    self.calcVNorm()
    else:
    raise ValueError("Expected axis to be within range 0-2 but found: {}".format(axis))
    else:
    raise TypeError("Expected axis to be int, but found: {}".format(type(axis)))
    AmpScan/registration.py
    View file @ 2c63b0e8
    ......@@ -6,9 +6,14 @@ Copyright: Joshua Steer 2018, Joshua.Steer@soton.ac.uk
    import numpy as np
    import copy
    from scipy import spatial
    from .core import AmpObject
    from AmpScan.core import AmpObject
    import matplotlib.pyplot as plt
    # For the doc examples
    import os
    basefh = os.getcwd()+"\\tests\\stl_file.stl"
    targfh = os.getcwd()+"\\tests\\stl_file_2.stl"
    class registration(object):
    r"""
    Registration methods between two AmpObject meshes. This function morphs the baseline
    ......@@ -36,9 +41,10 @@ class registration(object):
    Examples
    --------
    >>> baseline = AmpScan.AmpObject(basefh)
    >>> target = AmpScan.AmpObject(targfh)
    >>> reg = AmpScan.registration(steps=10, neigh=10, smooth=1).reg
    >>> from AmpScan.core import AmpObject
    >>> baseline = AmpObject(basefh)
    >>> target = AmpObject(targfh)
    >>> reg = registration(baseline, target, steps=10, neigh=10, smooth=1).reg
    """
    def __init__(self, baseline, target, method='point2plane', *args, **kwargs):
    ......@@ -86,53 +92,52 @@ class registration(object):
    [self.b.vert, self.b.faces, self.b.values]))
    regData = copy.deepcopy(bData)
    self.reg = AmpObject(regData, stype='reg')
    self.disp = AmpObject({'vert': np.zeros(self.reg.vert.shape),
    'faces': self.reg.faces,
    'values':self.reg.values})
    if scale is not None:
    tmin = self.t.vert.min(axis=0)[2]
    rmin = self.reg.vert.min(axis=0)[2]
    SF = ((tmin-scale)/(rmin-scale)) - 1
    logic = self.reg.vert[:, 2] < scale
    d = (self.reg.vert[logic, 2] - scale) * SF
    self.reg.vert[logic, 2] += d
    self.disp.vert[logic, 2] += d
    self.reg.vert = self.b.vert + self.disp.vert
    normals = np.cross(self.t.vert[self.t.faces[:,1]] -
    self.t.vert[self.t.faces[:,0]],
    self.t.vert[self.t.faces[:,2]] -
    self.t.vert[self.t.faces[:,0]])
    mag = (normals**2).sum(axis=1)
    if subset is None:
    rVert = self.reg.vert
    else:
    rVert = self.reg.vert[subset]
    for step in np.arange(steps, 0, -1, dtype=float):
    # Index of 10 centroids nearest to each baseline vertex
    ind = tTree.query(rVert, neigh)[1]
    # D = np.zeros(self.reg.vert.shape)
    ind = tTree.query(self.reg.vert, neigh)[1]
    # Define normals for faces of nearest faces
    norms = normals[ind]
    # Get a point on each face
    fPoints = self.t.vert[self.t.faces[ind, 0]]
    # Calculate dot product between point on face and normals
    d = np.einsum('ijk, ijk->ij', norms, fPoints)
    t = (d - np.einsum('ijk, ik->ij', norms, rVert))/mag[ind]
    t = (d - np.einsum('ijk, ik->ij', norms, self.reg.vert))/mag[ind]
    # Calculate the vector from old point to new point
    G = rVert[:, None, :] + np.einsum('ijk, ij->ijk', norms, t)
    G = self.reg.vert[:, None, :] + np.einsum('ijk, ij->ijk', norms, t)
    # Ensure new points lie inside points otherwise set to 99999
    # Find smallest distance from old to new point
    if inside is False:
    G = G - rVert[:, None, :]
    G = G - self.reg.vert[:, None, :]
    GMag = np.sqrt(np.einsum('ijk, ijk->ij', G, G))
    GInd = GMag.argmin(axis=1)
    else:
    G, GInd = self.__calcBarycentric(rVert, G, ind)
    G, GInd = self.__calcBarycentric(self.reg.vert, G, ind)
    # Define vector from baseline point to intersect point
    D = G[np.arange(len(G)), GInd, :]
    rVert += D/step
    # rVert += D/step
    self.disp.vert += D/step
    if smooth > 0 and step > 1:
    # v = self.reg.vert[~subset]
    self.reg.lp_smooth(smooth, brim = fixBrim)
    # self.reg.vert[~subset] = v
    self.disp.lp_smooth(smooth, brim = fixBrim)
    self.reg.vert = self.b.vert + self.disp.vert
    else:
    self.reg.vert = self.b.vert + self.disp.vert
    self.reg.calcNorm()
    self.reg.calcStruct()
    self.reg.values[:] = self.calcError(error)
    ......
    AmpScan/smooth.py
    View file @ 2c63b0e8
    ......@@ -52,7 +52,7 @@ class smoothMixin(object):
    def smoothValues(self, n=1):
    """
    Function to apply a simple laplacian smooth to the values array.
    Identical to the vertex smoothing expect it applies the smoothing
    Identical to the vertex smoothing except it applies the smoothing
    to the values
    Parameters
    ......
    AmpScan/ssm.py
    View file @ 2c63b0e8
    ......@@ -9,6 +9,7 @@ import os
    import numpy as np
    from .core import AmpObject
    from .registration import registration
    import os
    class pca(object):
    ......@@ -18,20 +19,20 @@ class pca(object):
    Examples
    --------
    >>> import os
    >>> p = pca()
    >>> p.importFolder('/path/')
    >>> p.baseline('dir/baselinefh.stl')
    >>> p.register(save = '/regpath/')
    >>> p.importFolder(os.getcwd()+"\\tests\\pca_tests")
    >>> p.setBaseline(os.getcwd()+"\\tests\\stl_file_3.stl")
    >>> p.register(save=os.getcwd()+"\\tests\\pca_tests\\")
    >>> p.pca()
    >>> sfs = [0, 0.1, -0.5 ... 0]
    >>> sfs = [1, 2]
    >>> newS = p.newShape(sfs)
    """
    def __init__(self):
    self.shapes = []
    def setBaseline(self, baseline):
    r"""
    Function to set the baseline mesh used for registration of the
    ......@@ -44,8 +45,7 @@ class pca(object):
    """
    self.baseline = AmpObject(baseline, 'limb')
    def importFolder(self, path, unify=True):
    r"""
    Function to import multiple stl files from folder into the pca object
    ......@@ -60,10 +60,10 @@ class pca(object):
    """
    self.fnames = [f for f in os.listdir(path) if f.endswith('.stl')]
    self.shapes = [AmpObject(path + f, 'limb', unify=unify) for f in self.fnames]
    self.shapes = [AmpObject(os.path.join(path, f), 'limb', unify=unify) for f in self.fnames]
    for s in self.shapes:
    s.lp_smooth(3, brim=True)
    def sliceFiles(self, height):
    r"""
    Function to run a planar trim on all the training data for the PCA
    ......@@ -77,7 +77,7 @@ class pca(object):
    """
    for s in self.shapes:
    s.planarTrim(height)
    def register(self, scale=None, save=None, baseline=True):
    r"""
    Register all the AmpObject training data to the baseline AmpObject
    ......@@ -100,12 +100,11 @@ class pca(object):
    self.registered.append(r)
    if save is not None:
    for f, r in zip(self.fnames, self.registered):
    r.save(save + f)
    r.save(os.path.join(save, f))
    self.X = np.array([r.vert.flatten() for r in self.registered]).T
    if baseline is True:
    self.X = np.c_[self.X, self.baseline.vert.flatten()]
    def pca(self):
    r"""
    Function to run mean centered pca using a singular value decomposition
    ......@@ -117,8 +116,8 @@ class pca(object):
    (self.pca_U, self.pca_S, self.pca_V) = np.linalg.svd(X_meanC, full_matrices=False)
    self.pc_weights = np.dot(np.diag(self.pca_S), self.pca_V)
    self.pc_stdevs = np.std(self.pc_weights, axis=1)
    def newShape(self, sfs, scale = 'eigs'):
    def newShape(self, sfs, scale='eigs'):
    r"""
    Function to calculate a new shape based upon the eigenvalues
    or stdevs
    ......@@ -133,11 +132,15 @@ class pca(object):
    to standard deviations about the mean
    """
    try: len(sfs) == len(self.pc_stdevs)
    except: ValueError('sfs must be of the same length as the number of '
    'principal components')
    if not isinstance(sfs, (list, tuple, np.ndarray)):
    raise TypeError('sfs is invalid type (expected array-like, found: {}'.format(type(sfs)))
    if len(sfs) != len(self.pc_stdevs):
    raise ValueError('sfs must be of the same length as the number of '
    'principal components (expected {} but found {})'.format(len(self.pc_stdevs), len(sfs)))
    if scale == 'eigs':
    sf = (self.pca_U * sfs).sum(axis=1)
    elif scale == 'std':
    sf = (self.pca_U * self.pc_stdevs * sfs).sum(axis=1)
    else:
    raise ValueError("Invalid scale (expected 'eigs' or 'std' but found{}".format(scale))
    return self.pca_mean + sf
    AmpScan/trim.py
    View file @ 2c63b0e8
    ......@@ -5,6 +5,12 @@ Copyright: Joshua Steer 2018, Joshua.Steer@soton.ac.uk
    """
    import numpy as np
    from numbers import Number
    import os
    # Used by doc tests
    filename = os.getcwd() + "\\tests\\stl_file.stl"
    class trimMixin(object):
    r"""
    ......@@ -26,11 +32,13 @@ class trimMixin(object):
    Examples
    --------
    >>> amp = AmpObject(fh)
    >>> from AmpScan import AmpObject
    >>> amp = AmpObject(filename)
    >>> amp.planarTrim(100, 2)
    """
    if isinstance(height, float) and isinstance(plane, int):
    if isinstance(height, Number) and isinstance(plane, int):
    # planar values for each vert on face
    fv = self.vert[self.faces, plane]
    # Number points on each face are above cut plane
    ......@@ -49,6 +57,7 @@ class trimMixin(object):
    self.faces = self.faces[fvlogic != 3, :]
    self.faces = vInd[self.faces]
    self.vert = self.vert[~delv, :]
    self.values = self.values[~delv]
    self.calcStruct()
    else:
    raise TypeError("height arg must be a float and plane arg must be an int")
    \ No newline at end of file
    raise TypeError("height arg must be a float")
    CONTRIBUTING.md 0 → 100644
    View file @ 2c63b0e8
    To contribute to the open source AmpScan package
    \ No newline at end of file
    GUIs/AmpScanGUI.py
    View file @ 2c63b0e8
    ......@@ -10,9 +10,9 @@ from PyQt5.QtGui import (QColor, QFontMetrics, QImage, QPainter, QIcon,
    QOpenGLVersionProfile)
    from PyQt5.QtWidgets import (QAction, QApplication, QGridLayout, QHBoxLayout,
    QMainWindow, QMessageBox, QComboBox, QButtonGroup,
    QOpenGLWidget, QFileDialog,QLabel,QPushButton,
    QOpenGLWidget, QFileDialog, QLabel, QPushButton,
    QSlider, QWidget, QTableWidget, QTableWidgetItem,
    QAbstractButton, QCheckBox)
    QAbstractButton, QCheckBox, QErrorMessage)
    class AmpScanGUI(QMainWindow):
    ......@@ -113,16 +113,19 @@ class AmpScanGUI(QMainWindow):
    Numpy style docstring.
    """
    self.alCont = AlignControls(self.filesDrop, self)
    self.alCont.show()
    self.alCont.centre.clicked.connect(self.centreMesh)
    self.alCont.icp.clicked.connect(self.runICP)
    self.alCont.xrotButton.buttonClicked[QAbstractButton].connect(self.rotatex)
    self.alCont.yrotButton.buttonClicked[QAbstractButton].connect(self.rotatey)
    self.alCont.zrotButton.buttonClicked[QAbstractButton].connect(self.rotatez)
    self.alCont.xtraButton.buttonClicked[QAbstractButton].connect(self.transx)
    self.alCont.ytraButton.buttonClicked[QAbstractButton].connect(self.transy)
    self.alCont.ztraButton.buttonClicked[QAbstractButton].connect(self.transz)
    if self.objectsReady(1):
    self.alCont = AlignControls(self.filesDrop, self)
    self.alCont.show()
    self.alCont.centre.clicked.connect(self.centreMesh)
    self.alCont.icp.clicked.connect(self.runICP)
    self.alCont.xrotButton.buttonClicked[QAbstractButton].connect(self.rotatex)
    self.alCont.yrotButton.buttonClicked[QAbstractButton].connect(self.rotatey)
    self.alCont.zrotButton.buttonClicked[QAbstractButton].connect(self.rotatez)
    self.alCont.xtraButton.buttonClicked[QAbstractButton].connect(self.transx)
    self.alCont.ytraButton.buttonClicked[QAbstractButton].connect(self.transy)
    self.alCont.ztraButton.buttonClicked[QAbstractButton].connect(self.transz)
    else:
    show_message("Must be at least 1 object loaded to run align")
    def Point_Pick(self):
    """
    ......@@ -155,7 +158,6 @@ class AmpScanGUI(QMainWindow):
    self.pnt = None
    vtkRenWin.delMarker(self.renWin)
    def rotatex(self, button):
    moving = str(self.alCont.moving.currentText())
    ang = float(button.text())
    ......@@ -216,59 +218,64 @@ class AmpScanGUI(QMainWindow):
    self.renWin.Render()
    def runICP(self):
    static = str(self.alCont.static.currentText())
    moving = str(self.alCont.moving.currentText())
    al = align(self.files[moving], self.files[static],
    maxiter=10, method='linPoint2Plane').m
    al.tform = vtk.vtkTransform()
    al.tform.PostMultiply()
    al.addActor()