sksurgerysurfacematch.algorithms.goicp_registration module

Go ICP implementation of RigidRegistration interface.

class sksurgerysurfacematch.algorithms.goicp_registration.RigidRegistration(dt_size: int = 200, dt_factor: float = 2.0, normalise: bool = True, num_moving_points: int = 1000, rotation_limits=[-45, 45], trans_limits=[-0.5, 0.5])

Bases: sksurgerysurfacematch.interfaces.rigid_registration.RigidRegistration

Class that uses GoICP implementation to register fixed/moving clouds. At the moment, we are just relying on all default parameters. :param dt_size: Nodes per dimension of distance transform :param dt_factor: GoICP distance transform factor TODO: rest of params

register(moving_cloud: numpy.ndarray, fixed_cloud: numpy.ndarray) → numpy.ndarray

Uses GoICP library, wrapped in scikit-surgerygoicp.

Parameters:

• fixed_cloud – [Nx3] fixed point cloud.
• moving_cloud – [Mx3] moving point cloud.
• normalise – If true, data will be centred around 0 and normalised.
• num_moving_points – How many points to sample from moving cloud if 0, use all points

Returns:

[4x4] transformation matrix, moving-to-fixed space.

sksurgerysurfacematch.algorithms.goicp_registration.create_scaling_matrix(scale: float) → numpy.ndarray

Create a scaling matrix, with the same value in each axis.

sksurgerysurfacematch.algorithms.goicp_registration.create_translation_matrix(translate: numpy.ndarray) → numpy.ndarray

Create translation matrix from 3x1 translation vector.

sksurgerysurfacematch.algorithms.goicp_registration.demean_and_normalise(points_a: numpy.ndarray, points_b: numpy.ndarray)

Independently centre each point cloud around 0,0,0, then normalise both to [-1,1].

Parameters:

• points_a (np.ndarray) – 1st point cloud
• points_b (np.ndarray) – 2nd point cloud

Returns:

normalised points clouds, scale factor & translations

sksurgerysurfacematch.algorithms.goicp_registration.numpy_to_POINT3D_array(numpy_pointcloud)

Covert numpy array to POINT3D array suitable for GoICP algorithm.

sksurgerysurfacematch.algorithms.goicp_registration.set_rotnode(limits_degrees) → sksurgerygoicppython.ROTNODE

Setup a ROTNODE with upper/lower rotation limits

sksurgerysurfacematch.algorithms.goicp_registration.set_transnode(trans_limits) → sksurgerygoicppython.TRANSNODE

Setup a TRANSNODE with upper/lower limits