From 6a39de1920015e8e5d243f3e6550ecc6191a972c Mon Sep 17 00:00:00 2001
From: Joshua Steer <Joshua.Steer@soton.ac.uk>
Date: Tue, 21 Aug 2018 18:20:33 +0100
Subject: [PATCH] Added inlier functionality into the alignment script
---
AmpScan/align.py | 11 ++++++++++-
GUIs/AmpScanGUI.py | 11 +++++++++--
2 files changed, 19 insertions(+), 3 deletions(-)
diff --git a/AmpScan/align.py b/AmpScan/align.py
index 49c1644..3217912 100644
--- a/AmpScan/align.py
+++ b/AmpScan/align.py
@@ -164,16 +164,25 @@ class align(object):
# Define
kdTree = spatial.cKDTree(self.s.vert)
self.m.rigidTransform(Rs[:, :, 0], Ts[:, 0])
+ inlier = math.ceil(self.m.vert.shape[0]*inlier)
[dist, idx] = kdTree.query(self.m.vert, 1)
+ # Sort by distance
+ sort = np.argsort(dist)
+ # Keep only those within the inlier fraction
+ [dist, idx] = [dist[sort], idx[sort]]
+ [dist, idx, sort] = dist[:inlier], idx[:inlier], sort[:inlier]
err[0] = math.sqrt(dist.mean())
for i in range(maxiter):
- [R, T] = self.point2plane(self.m.vert,
+ [R, T] = self.point2plane(self.m.vert[sort],
self.s.vert[idx, :],
self.s.vNorm[idx, :])
Rs[:, :, i+1] = np.dot(R, Rs[:, :, i])
Ts[:, i+1] = np.dot(R, Ts[:, i]) + T
self.m.rigidTransform(R, T)
[dist, idx] = kdTree.query(self.m.vert, 1)
+ sort = np.argsort(dist)
+ [dist, idx] = [dist[sort], idx[sort]]
+ [dist, idx, sort] = dist[:inlier], idx[:inlier], sort[:inlier]
err[i+1] = math.sqrt(dist.mean())
qs[:, i+1] = np.r_[self.rot2quat(R), T]
R = Rs[:, :, -1]
diff --git a/GUIs/AmpScanGUI.py b/GUIs/AmpScanGUI.py
index 7b05ee7..9ea1ca4 100644
--- a/GUIs/AmpScanGUI.py
+++ b/GUIs/AmpScanGUI.py
@@ -3,6 +3,7 @@ import numpy as np
from vtk.util import numpy_support
from AmpScan import AmpObject
from AmpScan.registration import registration
+from AmpScan.align import align
from AmpScan.ampVis import qtVtkWindow
from AmpScan.pressSens import pressSense
from PyQt5.QtCore import QPoint, QSize, Qt, QTimer, QRect, pyqtSignal
@@ -123,7 +124,12 @@ class AmpScanGUI(QMainWindow):
moving = str(self.alCont.moving.currentText())
self.fileManager.setTable(static, [1,0,0], 0.5, 2)
self.fileManager.setTable(moving, [0,0,1], 0.5, 2)
- print('Run the ICP code between %s and %s' % (static, moving))
+ al = align(self.files[moving], self.files[static]).m
+ al.addActor()
+ alName = moving + '_al'
+ self.files[alName] = al
+ self.filesDrop.append(alName)
+ self.fileManager.addRow(alName, self.files[alName])
if hasattr(self, 'alCont'):
self.alCont.getNames()
if hasattr(self, 'regCont'):
@@ -142,7 +148,8 @@ class AmpScanGUI(QMainWindow):
target = str(self.regCont.target.currentText())
self.fileManager.setTable(baseline, [1,0,0], 0.5, 0)
self.fileManager.setTable(target, [0,0,1], 0.5, 0)
- reg = registration(self.files[baseline], self.files[target], steps = 5).reg
+ reg = registration(self.files[baseline], self.files[target], steps = 5,
+ smooth=1).reg
reg.addActor(CMap = self.CMap02P)
regName = target + '_reg'
self.files[regName] = reg
--
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