VTK 实现曲面重建（CPR）

原理

CPR±+Curved+Planar+Reformation
下载: https://www.jianguoyun.com/p/DXY5HOoQgYiuCRia-PED (访问密码 : r0ga0d)

曲面重建CPR步骤

输入点拟合样条曲线（利用vtkSplineFilter）
计算样条曲线各点的法向量(弗莱纳公式)
根据点和法向量截取图片(vtkProbeFilter)
每张图片拼接起来(vtkImageAppend)

VTK实现

常用功能vtk肯定提供现成办法

期刊地址
https://www.vtkjournal.org/browse/publication/838
期刊 Github 地址(只包含了计算曲线法相和样条曲线切割的实现和测试)
https://github.com/midas-journal/midas-journal-838
作者项目 Github 地址(还带了一堆其他的算法和测试以及paraview的插件)
https://github.com/djelouze/vtkKinship

使用

作者案例写的很完整。

方法一：增加远程模块： Module_SplineDrivenImageSlicer:BOOL（vtk9要自己改一下cmakelists）

作者写的我看起来比较吃力，改了下，剔除一些没用的，并添加注释。下边2和3是自己完整改完之后的

方法二：把FrenetSerretFrame和SplineDrivenImageSlicer直接添加到自己工程

两个都试了下，第二个更好，自己可以随时改：

1. 输入点拟合样条曲线（利用`vtkSplineFilter`）

捕获样条曲线直接用 vtkContourWidget即可，他的rep可以得到世界坐标。结合背景ImageReslicers的4*4变换矩阵可以得到点的空间位置。

利用vtkContourWidget捕获点

vtkContourWidget *wid = vtkContourWidget::New();
wid->SetInteractor(m_renderWindows[2]->GetInteractor());
wid->CreateDefaultRepresentation();
wid->On();
m_scrollConnection->Connect(wid, vtkCommand::EndInteractionEvent, this, SLOT(SlotContourEndInteractionEvent(vtkObject *, unsigned long, void *, void *)), nullptr, 0.0, Qt::UniqueConnection);

计算点的空间位置

auto widget = dynamic_cast<vtkContourWidget *>(t_obj);
auto rep = dynamic_cast<vtkOrientedGlyphContourRepresentation *>(widget->GetContourRepresentation());
if(rep) {vtkMatrix4x4 *sourceMatrix = m_resliceWidget->getImageReslicers()[2]->GetResliceAxes();qint32 n = rep->GetNumberOfNodes();for (qint32 i = 0; i < n; ++i) {double p[3];rep->GetNthNodeWorldPosition(i, p);vtkNew<vtkTransform> transform1;transform1->SetMatrix(sourceMatrix);transform1->Translate(p[0], p[1], 0);qDebug() << i<< transform1->GetMatrix()->GetElement(0, 3)<< transform1->GetMatrix()->GetElement(1, 3)<< transform1->GetMatrix()->GetElement(2, 3);}
}

拟合曲线

vtkNew<vtkSplineFilter> spline_filter;
spline_filter->SetSubdivideToLength();
spline_filter->SetLength(0.2);
spline_filter->SetInputData(poly_data);
spline_filter->Update();

2. 计算样条曲线各点的法向量(弗莱纳公式)

根据弗莱纳公式计算曲线向量

#include"vtkPoints.h"
#include"vtkPolyDataAlgorithm.h"
#include"vtkPolyData.h"
#include"vtkCellArray.h"/*** @brief The CBCTFrenetSerretFrame class* 弗莱纳公式（Frenet–Serret formulas）*/
class CBCTFrenetSerretFrame : public vtkPolyDataAlgorithm {public:vtkTypeMacro(CBCTFrenetSerretFrame, vtkPolyDataAlgorithm)static CBCTFrenetSerretFrame *New();vtkSetMacro(view_up_, double)vtkGetMacro(view_up_, double)static void RotateVector( double *vector, const double *axis, double angle );protected:CBCTFrenetSerretFrame();~CBCTFrenetSerretFrame() override;virtual int RequestData(vtkInformation *, vtkInformationVector **, vtkInformationVector *)override;virtual int FillInputPortInformation(int port, vtkInformation *info)override;// 计算导数void ComputeTangentVectors(vtkIdType pointIdNext,vtkIdType pointIdLast,double *tangent);// 计算二阶导数void ComputeNormalVectors(double *tgNext,double *tgLast,double *normal );// 由切线定义的平面上最后法线的投影void ComputeConsistentNormalVectors( double *tangent,double *lastNormal,double *normal);private:CBCTFrenetSerretFrame(const CBCTFrenetSerretFrame &);void operator=(const CBCTFrenetSerretFrame &);double view_up_;int consistent_normals_;
};


#include "vtkDoubleArray.h"
#include "vtkPointData.h"
#include "vtkMath.h"
#include "vtkInformation.h"
#include "vtkInformationVector.h"
#include "vtkObjectFactory.h"vtkStandardNewMacro(CBCTFrenetSerretFrame);CBCTFrenetSerretFrame::CBCTFrenetSerretFrame( ) {this->consistent_normals_ = 1;this->view_up_ = 0;
}CBCTFrenetSerretFrame::~CBCTFrenetSerretFrame( ) {}int CBCTFrenetSerretFrame::FillInputPortInformation(int port, vtkInformation *info) {if( port == 0 ) {info->Set(vtkAlgorithm::INPUT_REQUIRED_DATA_TYPE(), "vtkPolyData");}return 1;
}int CBCTFrenetSerretFrame::RequestData(vtkInformation *vtkNotUsed(request),vtkInformationVector **inputVector,vtkInformationVector *outputVector) {vtkInformation *inInfo = inputVector[0]->GetInformationObject(0);vtkInformation *outInfo = outputVector->GetInformationObject(0);vtkPolyData *input = vtkPolyData::SafeDownCast(inInfo->Get(vtkDataObject::DATA_OBJECT()));vtkPolyData *output = vtkPolyData::SafeDownCast(outInfo->Get(vtkDataObject::DATA_OBJECT()));output->DeepCopy( input );vtkDoubleArray *tangents = vtkDoubleArray::New( );tangents->SetNumberOfComponents( 3 );tangents->SetNumberOfTuples( input->GetNumberOfPoints( ) );tangents->SetName("FSTangents");vtkDoubleArray *normals = vtkDoubleArray::New( );normals->SetNumberOfComponents( 3 );normals->SetNumberOfTuples( input->GetNumberOfPoints( ) );normals->SetName("FSNormals");vtkCellArray *lines = output->GetLines( );lines->InitTraversal();vtkIdType nbPoints;vtkIdType *points;int cellIdx;for( cellIdx = 0; cellIdx < lines->GetNumberOfCells( ); cellIdx++ ) {lines->GetNextCell( nbPoints, points);for( int i = 0 ; i < nbPoints; i++) {double tangent[3];if( i == 0 ) {this->ComputeTangentVectors( points[0], points[1], tangent );} else if( i == nbPoints - 1 ) {this->ComputeTangentVectors( points[nbPoints - 2], points[nbPoints - 1], tangent );} else {this->ComputeTangentVectors( points[i - 1], points[i + 1], tangent );}vtkMath::Normalize( tangent );tangents->SetTuple(points[i], tangent);}for( int i = 0 ; i < nbPoints; i++) {if( !this->consistent_normals_ || i == 0) {double tangentLast[3], tangentNext[3], normal[3];if( i == 0 ) {tangents->GetTuple( points[i], tangentLast);} else {tangents->GetTuple( points[i - 1], tangentLast);}if( i == nbPoints - 1 ) {tangents->GetTuple( points[i], tangentNext);} else {tangents->GetTuple( points[i + 1], tangentNext);}this->ComputeNormalVectors( tangentLast, tangentNext, normal );if( this->consistent_normals_ ) {this->RotateVector( normal, tangentLast, this->view_up_ );}vtkMath::Normalize( normal );normals->SetTuple(points[i], normal);}if( this->consistent_normals_ && i != 0) {double tangent[3], lastNormal[3], normal[3];normals->GetTuple(points[i - 1], lastNormal);tangents->GetTuple(points[i], tangent);this->ComputeConsistentNormalVectors( tangent,lastNormal,normal );vtkMath::Normalize( normal );normals->SetTuple(points[i], normal);}}}output->GetPointData( )->AddArray( normals );output->GetPointData( )->AddArray( tangents );normals->Delete( );tangents->Delete( );return 1;
}void CBCTFrenetSerretFrame::ComputeTangentVectors(vtkIdType pointIdNext, vtkIdType pointIdLast, double *tangent ) {vtkPolyData *input = static_cast<vtkPolyData *>(this->GetInput( 0 ));double ptNext[3];double ptLast[3];input->GetPoint( pointIdNext, ptNext);input->GetPoint( pointIdLast, ptLast);int comp;for( comp = 0; comp < 3; comp++ ) {tangent[comp] = ( ptLast[comp] - ptNext[comp] ) / 2;}
}void CBCTFrenetSerretFrame::ComputeConsistentNormalVectors( double *tangent,double *normalLast,double *normal ) {double temp[3];vtkMath::Cross( normalLast, tangent, temp);vtkMath::Cross( tangent, temp, normal );
}void CBCTFrenetSerretFrame::ComputeNormalVectors( double *tgNext,double *tgLast,double *normal ) {int comp;for( comp = 0; comp < 3; comp++ ) {normal[comp] = ( tgNext[comp] - tgLast[comp] );}if( vtkMath::Norm(normal) == 0 ) {double unit[3] = {1, 0, 0};vtkMath::Cross( tgLast, unit, normal );}
}void CBCTFrenetSerretFrame::RotateVector( double *vector, const double *axis, double angle ) {double UdotN = vtkMath::Dot(vector, axis);double NvectU[3];vtkMath::Cross(axis, vector, NvectU);for( int comp = 0; comp < 3 ; comp++) {vector[comp] =  cos( angle ) * vector[comp]+ (1 - cos( angle )) * UdotN * axis[comp]+ sin( angle ) * NvectU[comp];}
}

3. 根据点和法向量截取图片(`vtkProbeFilter`)

沿着样条曲线切割图片

class CBCTFrenetSerretFrame;
class vtkImageReslice;/*** @brief The CBCTSplineDrivenImageSlicer class* 沿着样条曲线切割图片*/
class CBCTSplineDrivenImageSlicer : public vtkImageAlgorithm {public:vtkTypeMacro(CBCTSplineDrivenImageSlicer, vtkImageAlgorithm)static CBCTSplineDrivenImageSlicer *New();void SetPathConnection(int id, vtkAlgorithmOutput *algOutput);void SetPathConnection(vtkAlgorithmOutput *algOutput);vtkAlgorithmOutput *GetPathConnection( );vtkSetMacro(offset_point_, vtkIdType)protected:CBCTSplineDrivenImageSlicer();~CBCTSplineDrivenImageSlicer()override;virtual int RequestData(vtkInformation *, vtkInformationVector **,vtkInformationVector *)override;virtual int FillInputPortInformation(int port, vtkInformation *info)override;virtual int FillOutputPortInformation( int, vtkInformation *)override;virtual int RequestInformation(vtkInformation *, vtkInformationVector **,vtkInformationVector *)override;private:CBCTSplineDrivenImageSlicer(const CBCTSplineDrivenImageSlicer &);void operator=(const CBCTSplineDrivenImageSlicer &);CBCTFrenetSerretFrame *local_frenetFrames_;vtkImageReslice *reslicer_;int slice_extent_[2]; // 输出image的xy像素数量double slice_spacing_[2]; // 输出image的xy间隔double slice_thickness_; // 输出image的z轴间隔double incidence_;// 初始法向量的旋转vtkIdType offset_point_;vtkIdType offset_line_;vtkIdType probe_input_;
};

#include"vtkPoints.h"
#include"vtkPolyData.h"
#include"vtkCellArray.h"
#include "vtkImageReslice.h"#include "vtkFrenetSerretFrame.h"
#include "vtkPlaneSource.h"
#include "vtkImageData.h"
#include "vtkProbeFilter.h"
#include "vtkMatrix4x4.h"
#include "vtkImageAppend.h"
#include "vtkDoubleArray.h"
#include "vtkPointData.h"
#include "vtkMath.h"
#include "vtkInformation.h"
#include "vtkInformationVector.h"
#include "vtkObjectFactory.h"
#include "vtkSmartPointer.h"
#include "vtkStreamingDemandDrivenPipeline.h"vtkStandardNewMacro(CBCTSplineDrivenImageSlicer);CBCTSplineDrivenImageSlicer::CBCTSplineDrivenImageSlicer( ) {this->local_frenetFrames_ = CBCTFrenetSerretFrame::New( );this->reslicer_ = vtkImageReslice::New();this->slice_extent_[0] = 256;this->slice_extent_[1] = 256;this->slice_spacing_[0] = 0.2;this->slice_spacing_[1] = 0.2;this->slice_thickness_ = 0.2;this->offset_point_ = 0;this->offset_line_ = 0;this->incidence_ = 0;this->probe_input_ = 0;this->SetNumberOfInputPorts( 2 );this->SetNumberOfOutputPorts( 2 );this->SetInputArrayToProcess(0, 0, 0, vtkDataObject::FIELD_ASSOCIATION_POINTS,vtkDataSetAttributes::SCALARS);
}CBCTSplineDrivenImageSlicer::~CBCTSplineDrivenImageSlicer( ) {this->local_frenetFrames_->Delete( );this->reslicer_->Delete( );
}void CBCTSplineDrivenImageSlicer::SetPathConnection(int id, vtkAlgorithmOutput *algOutput) {if (id < 0) {vtkErrorMacro("Bad index " << id << " for source.");return;}int numConnections = this->GetNumberOfInputConnections(1);if (id < numConnections) {this->SetNthInputConnection(1, id, algOutput);} else if (id == numConnections && algOutput) {this->AddInputConnection(1, algOutput);} else if (algOutput) {vtkWarningMacro("The source id provided is larger than the maximum ""source id, using " << numConnections << " instead.");this->AddInputConnection(1, algOutput);}
}void CBCTSplineDrivenImageSlicer::SetPathConnection(vtkAlgorithmOutput *algOutput) {this->SetPathConnection(0, algOutput);
}vtkAlgorithmOutput *CBCTSplineDrivenImageSlicer::GetPathConnection() {return( this->GetInputConnection( 1, 0 ) );
}int CBCTSplineDrivenImageSlicer::FillInputPortInformation(int port, vtkInformation *info) {if( port == 0 ) {info->Set(vtkAlgorithm::INPUT_REQUIRED_DATA_TYPE(), "vtkImageData");} else {info->Set(vtkAlgorithm::INPUT_REQUIRED_DATA_TYPE(), "vtkPolyData");}return 1;
}int CBCTSplineDrivenImageSlicer::FillOutputPortInformation(int port, vtkInformation *info) {if (port == 0) {info->Set(vtkDataObject::DATA_TYPE_NAME(), "vtkImageData");}if (port == 1) {info->Set(vtkDataObject::DATA_TYPE_NAME(), "vtkPolyData");}return 1;
}int CBCTSplineDrivenImageSlicer::RequestInformation (vtkInformation *vtkNotUsed(request),vtkInformationVector **inputVector,vtkInformationVector *outputVector) {vtkInformation *outInfo = outputVector->GetInformationObject(0);int extent[6] = {0, this->slice_extent_[0] - 1,0, this->slice_extent_[1] - 1,0, 1};double spacing[3] = {this->slice_spacing_[0], this->slice_spacing_[1], this->slice_thickness_};outInfo->Set(vtkDataObject::SPACING(), spacing, 3);outInfo->Set(vtkStreamingDemandDrivenPipeline::WHOLE_EXTENT(), extent, 6);return 1;
}int CBCTSplineDrivenImageSlicer::RequestData(vtkInformation *vtkNotUsed(request),vtkInformationVector **inputVector,vtkInformationVector *outputVector) {// 获取信息对象vtkInformation *inInfo = inputVector[0]->GetInformationObject(0);vtkInformation *pathInfo = inputVector[1]->GetInformationObject(0);vtkInformation *outImageInfo = outputVector->GetInformationObject(0);vtkInformation *outPlaneInfo = outputVector->GetInformationObject(1);// 获取输入和输出vtkImageData *input = vtkImageData::SafeDownCast(inInfo->Get(vtkDataObject::DATA_OBJECT()));vtkImageData *inputCopy = vtkImageData::New( );inputCopy->ShallowCopy( input );vtkPolyData *inputPath = vtkPolyData::SafeDownCast(pathInfo->Get(vtkDataObject::DATA_OBJECT()));vtkImageData *outputImage = vtkImageData::SafeDownCast(outImageInfo->Get(vtkDataObject::DATA_OBJECT()));vtkPolyData *outputPlane = vtkPolyData::SafeDownCast(outPlaneInfo->Get(vtkDataObject::DATA_OBJECT()));vtkSmartPointer<vtkPolyData> pathCopy = vtkSmartPointer<vtkPolyData>::New( );pathCopy->ShallowCopy( inputPath );// 计算路径的局部法线和切线this->local_frenetFrames_->SetInputData( pathCopy );this->local_frenetFrames_->Setview_up_(this->incidence_ );this->local_frenetFrames_->Update( );// 路径将包含点数据数组“切线”和“向量”vtkPolyData *path = static_cast<vtkPolyData *>(this->local_frenetFrames_->GetOutputDataObject( 0 ));// 计算单元格中使用了多少个点。如果循环，点可以使用多次// 不使用NumberOfPoints，因为我们只需要线条和点vtkCellArray *lines = path->GetLines( );lines->InitTraversal( );vtkIdType nbCellPoints;vtkIdType *points;vtkIdType cellId = -1;do {lines->GetNextCell( nbCellPoints, points);cellId++;} while( cellId != this->offset_line_ );vtkIdType ptId = this->offset_point_;if( ptId >= nbCellPoints ) {ptId = nbCellPoints - 1;}// 建立一个新的reslicer与图像输入作为输入。this->reslicer_->SetInputData( inputCopy );// 获取ptId点的Frenet-Serret图表：// - position (center)// - tangent T// - normal Ndouble center[3];path->GetPoints( )->GetPoint( ptId, center );vtkDoubleArray *pathTangents = static_cast<vtkDoubleArray *>(path->GetPointData( )->GetArray( "FSTangents" ));double tangent[3];pathTangents->GetTuple( ptId, tangent );vtkDoubleArray *pathNormals = static_cast<vtkDoubleArray *>(path->GetPointData( )->GetArray( "FSNormals" ));double normal[3];pathNormals->GetTuple( ptId, normal );// Frenet-Serret 图表由 T, N and B = T ^ Ndouble crossProduct[3];vtkMath::Cross( tangent, normal, crossProduct );// 构建平面输出，该输出将表示三维视图中的切片位置vtkSmartPointer<vtkPlaneSource> plane= vtkSmartPointer<vtkPlaneSource>::New( );double planeOrigin[3];double planePoint1[3];double planePoint2[3];for( int comp = 0; comp < 3; comp ++) {planeOrigin[comp] = center[comp] - normal[comp] * this->slice_extent_[1] * this->slice_spacing_[1] / 2.0- crossProduct[comp] * this->slice_extent_[0] * this->slice_spacing_[0] / 2.0;planePoint1[comp] = planeOrigin[comp] + crossProduct[comp] * this->slice_extent_[0] * this->slice_spacing_[0];planePoint2[comp] = planeOrigin[comp] + normal[comp] * this->slice_extent_[1] * this->slice_spacing_[1];}plane->SetOrigin(planeOrigin);plane->SetPoint1(planePoint1);plane->SetPoint2(planePoint2);plane->SetResolution(this->slice_extent_[0],this->slice_extent_[1]);plane->Update();if( this->probe_input_ == 1 ) {vtkSmartPointer<vtkProbeFilter> probe = vtkSmartPointer<vtkProbeFilter>::New( );probe->SetInputConnection( plane->GetOutputPort( ) );probe->SetSourceData( inputCopy );probe->Update( );outputPlane->DeepCopy(probe->GetOutputDataObject(0));} else {outputPlane->DeepCopy(plane->GetOutputDataObject(0));}// 构建转换矩阵vtkMatrix4x4 *resliceAxes = vtkMatrix4x4::New( );resliceAxes->Identity();double origin[4];// 仿照 vtkImageReslice:// - 1st column contains the resliced image x-axis// - 2nd column contains the resliced image y-axis// - 3rd column contains the normal of the resliced image plane// -> 1st column is normal to the path// -> 3nd column is tangent to the path// -> 2nd column is B = T^Nfor ( int comp = 0; comp < 3; comp++ ) {resliceAxes->SetElement(0, comp, crossProduct[comp]);resliceAxes->SetElement(1, comp, normal[comp]);resliceAxes->SetElement(2, comp, tangent[comp]);origin[comp] = center[comp] -normal[comp] * this->slice_extent_[1] * this->slice_spacing_[1] / 2.0 -crossProduct[comp] * this->slice_extent_[0] * this->slice_spacing_[0] / 2.0;}origin[3] = 1.0;double originXYZW[4];resliceAxes->MultiplyPoint(origin, originXYZW);resliceAxes->Transpose();double neworiginXYZW[4];resliceAxes->MultiplyPoint(originXYZW, neworiginXYZW);resliceAxes->SetElement(0, 3, neworiginXYZW[0]);resliceAxes->SetElement(1, 3, neworiginXYZW[1]);resliceAxes->SetElement(2, 3, neworiginXYZW[2]);this->reslicer_->SetResliceAxes( resliceAxes );this->reslicer_->SetInformationInput( input );this->reslicer_->SetInterpolationModeToCubic( );this->reslicer_->SetOutputDimensionality( 2 );this->reslicer_->SetOutputOrigin(0, 0, 0);this->reslicer_->SetOutputExtent(0, this->slice_extent_[0] - 1,0, this->slice_extent_[1] - 1,0, 1);this->reslicer_->SetOutputSpacing(this->slice_spacing_[0],this->slice_spacing_[1],this->slice_thickness_);this->reslicer_->Update();resliceAxes->Delete();outputImage->DeepCopy(this->reslicer_->GetOutputDataObject(0));outputImage->GetPointData()->GetScalars()->SetName("ReslicedImage");return 1;
}

4. 每张图片拼接起来(`vtkImageAppend`)

就是作者的案例，加了个Permute和Flip用来摆正

vtkNew<vtkImageAppend> append;
append->SetAppendAxis(2);
vtkNew<CBCTSplineDrivenImageSlicer> reslicer;
reslicer->SetInputData(img_reader->GetOutput());
reslicer->SetPathConnection(spline_filter->GetOutputPort());
long long nb_points = spline_filter->GetOutput()->GetNumberOfPoints();
for(int pt_id = 0; pt_id < nb_points; pt_id++) {reslicer->Setoffset_point_(pt_id);reslicer->Update();vtkNew<vtkImageData> tempSlice;tempSlice->DeepCopy(reslicer->GetOutput());append->AddInputData(tempSlice);
}
append->Update();
vtkNew<vtkImagePermute> permute_filter;
permute_filter->SetInputData(append->GetOutput());
permute_filter->SetFilteredAxes(2, 0, 1);
permute_filter->Update();
vtkNew<vtkImageFlip> flip_filter;
flip_filter->SetInputData(permute_filter->GetOutput());
flip_filter->SetFilteredAxes(1);
flip_filter->Update();

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Vtk,(visualization toolkit)是一个开源的免费软件系统,主要用于三维计算机图形学.图像处理和可视化. VTK编程中主要用到的几个对象 vtkRenderer ,vtkRende ...

VTK 实现曲面重建（CPR）

VTK 实现曲面重建（CPR）

原理

曲面重建CPR步骤

VTK实现

使用

1. 输入点拟合样条曲线（利用`vtkSplineFilter`）

2. 计算样条曲线各点的法向量(弗莱纳公式)

3. 根据点和法向量截取图片(`vtkProbeFilter`)

4. 每张图片拼接起来(`vtkImageAppend`)

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VTK 实现 曲面重建（CPR）

VTK 实现 曲面重建（CPR）

原理

曲面重建CPR步骤

VTK实现

使用

1. 输入点拟合样条曲线（利用vtkSplineFilter）

2. 计算样条曲线各点的法向量(弗莱纳公式)

3. 根据点和法向量截取图片(vtkProbeFilter)

4. 每张图片拼接起来(vtkImageAppend)

VTK 实现 曲面重建（CPR）相关推荐

最新文章

热门文章

VTK 实现曲面重建（CPR）

VTK 实现曲面重建（CPR）

1. 输入点拟合样条曲线（利用`vtkSplineFilter`）

3. 根据点和法向量截取图片(`vtkProbeFilter`)

4. 每张图片拼接起来(`vtkImageAppend`)

VTK 实现曲面重建（CPR）相关推荐