在使用VMTK血管中心线提取之后，实现内窥镜的漫游：
VTK(四)—VMTK血管中心线提取

本文测试模型：
lumen.stl：
https://github.com/jackyko1991/Vessel-Centerline-Extraction/tree/master/test_data/right

前言

对提取的中心线进行曲线插值，使得路径平滑，并跟随中心线完成内窥镜的漫游。

实现效果：

代码

CMakeLists.txt:

cmake_minimum_required(VERSION 3.5)project(EndoRoaming LANGUAGES CXX)set(CMAKE_CXX_STANDARD 11)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
# Eigen3
find_package( Eigen3 REQUIRED )
# VMTK
find_package( VMTK REQUIRED)
include(${VMTK_USE_FILE})
# ITK
find_package( ITK REQUIRED)
include(${ITK_USE_FILE})
# VTK
find_package( VTK 8.1.2 EXACT REQUIRED)
include(${VTK_USE_FILE})include_directories(${EIGEN3_INCLUDE_DIR})add_executable(EndoRoaming endoroaming.cpp)target_link_libraries(EndoRoaming ${VTK_LIBRARIES})

endoroaming.cpp:

#include <vtkSmartPointer.h>
#include <vtkRenderWindow.h>
#include <vtkRenderer.h>
#include <vtkPolyDataMapper.h>
#include <vtkActor.h>#include <vtkCamera.h>
#include <vtkProperty.h>
#include <vtkAxesActor.h>
#include <vtkSTLReader.h>#include <vtkDiscreteMarchingCubes.h>
#include <vtkWindowedSincPolyDataFilter.h>
#include <vtkCleanPolyData.h>
#include <vtkTriangleFilter.h>
#include <vtkPolyData.h>
#include <vtkPointData.h>
#include <vtkDataArray.h>
#include <vtkIdList.h>
#include <vtkDecimatePro.h>
#include <vtkDoubleArray.h>
#include <vtkParametricSpline.h>
#include <vtkParametricFunctionSource.h>
#include <vtkLODActor.h>
#include <vtkKochanekSpline.h>#include <vtkvmtkCapPolyData.h>
#include <vtkvmtkPolyDataCenterlines.h>#include <Eigen/Core>
#include <Eigen/Eigen>
#include <unistd.h>
#include <iostream>vtkSmartPointer<vtkPolyData> ExtractCenterline(vtkSmartPointer<vtkPolyData> inputSurface) {//1.清理 并 三角化vtkSmartPointer<vtkPolyData> cappedSurface = vtkSmartPointer<vtkPolyData>::New();vtkSmartPointer<vtkCleanPolyData>surfaceCleaner = vtkSmartPointer<vtkCleanPolyData>::New();surfaceCleaner->SetInputData(inputSurface);surfaceCleaner->Update();vtkSmartPointer < vtkTriangleFilter> surfaceTriangulator = vtkSmartPointer<vtkTriangleFilter>::New();surfaceTriangulator->SetInputConnection(surfaceCleaner->GetOutputPort());surfaceTriangulator->PassLinesOff();surfaceTriangulator->PassVertsOff();surfaceTriangulator->Update();cappedSurface->DeepCopy(surfaceTriangulator->GetOutput());//2.填补管腔 cappedsurfacevtkSmartPointer<vtkvmtkCapPolyData> capper = vtkSmartPointer<vtkvmtkCapPolyData>::New();capper->SetInputData(cappedSurface);capper->Update();vtkSmartPointer<vtkIdList> CapCenterIds = vtkSmartPointer<vtkIdList>::New();cappedSurface->DeepCopy(capper->GetOutput());CapCenterIds->DeepCopy(capper->GetCapCenterIds());cout<<"The number of the lumen is:" <<capper->GetCapCenterIds()->GetNumberOfIds()<<endl;//3.设置起始位置//起点vtkSmartPointer<vtkIdList> sourceIds = vtkSmartPointer<vtkIdList>::New();sourceIds->SetNumberOfIds(1);sourceIds->SetId(0, CapCenterIds->GetId(0));vtkSmartPointer<vtkIdList> targetIds = vtkSmartPointer<vtkIdList>::New();//多个目标
//        targetIds->SetNumberOfIds(CapCenterIds->GetNumberOfIds() - 1);
//        for (int i = 1; i < CapCenterIds->GetNumberOfIds(); i++)
//        {//            targetIds->SetId(i - 1, CapCenterIds->GetId(i));
//        }//单个目标targetIds->SetNumberOfIds(1);targetIds->SetId(0, CapCenterIds->GetId(2));//4.中心线计算 calculatevtkSmartPointer<vtkvmtkPolyDataCenterlines> centerlinesFilter = vtkSmartPointer<vtkvmtkPolyDataCenterlines>::New();centerlinesFilter->SetInputData(cappedSurface);centerlinesFilter->SetSourceSeedIds(sourceIds);centerlinesFilter->SetTargetSeedIds(targetIds);centerlinesFilter->SetAppendEndPointsToCenterlines(true);centerlinesFilter->SetCenterlineResampling(true);centerlinesFilter->SetResamplingStepLength(1);centerlinesFilter->SetRadiusArrayName("Radius");centerlinesFilter->SetEdgeArrayName("Edge");centerlinesFilter->SetEdgePCoordArrayName("PCoord");centerlinesFilter->Update();//获取结果vtkSmartPointer<vtkPolyData> output = centerlinesFilter->GetOutput();return output;
}int main(int argc,char**argv)
{if(argc<2){std::cout<<"please input a model\n";return -1;}std::string source = argv[1];vtkSmartPointer<vtkSTLReader> reader = vtkSmartPointer<vtkSTLReader>::New();reader->SetFileName(source.c_str());reader->Update();// STL 文件vtkSmartPointer<vtkPolyDataMapper> mapper = vtkSmartPointer<vtkPolyDataMapper>::New();mapper->SetInputConnection(reader->GetOutputPort());mapper->Update();vtkSmartPointer<vtkPolyData> data = vtkSmartPointer<vtkPolyData>::New();data->DeepCopy(reader->GetOutput());vtkSmartPointer<vtkPoints> pathpoints =  vtkSmartPointer<vtkPoints>::New();//ExtractCenterline(data);pathpoints->DeepCopy(ExtractCenterline(data)->GetPoints());//-------------------------设置新的引导点---------------------------//-------------------------------------cout<<"The number of points:"<<pathpoints->GetNumberOfPoints()<<endl;//样条曲线拟合vtkNew<vtkKochanekSpline> xSpline;vtkNew<vtkKochanekSpline> ySpline;vtkNew<vtkKochanekSpline> zSpline;vtkSmartPointer<vtkParametricSpline> spline = vtkSmartPointer<vtkParametricSpline>::New();spline->SetXSpline(xSpline);spline->SetYSpline(ySpline);spline->SetZSpline(zSpline);spline->SetPoints(pathpoints);vtkSmartPointer<vtkParametricFunctionSource> functionSource = vtkSmartPointer<vtkParametricFunctionSource>::New();functionSource->SetParametricFunction(spline);functionSource->SetUResolution(10 * pathpoints->GetNumberOfPoints());functionSource->SetVResolution(10 * pathpoints->GetNumberOfPoints());functionSource->SetWResolution(10 * pathpoints->GetNumberOfPoints());functionSource->Update();vtkSmartPointer<vtkPoints> newPoints = vtkSmartPointer<vtkPoints>::New();int NumberInsertPoints = 10 * pathpoints->GetNumberOfPoints();double ratioSpeed = 1.0/(NumberInsertPoints-1);for(int i = 0; i < NumberInsertPoints; i++){double u[] = {i*ratioSpeed, 0, 0};double p[3];spline->Evaluate(u, p, nullptr);newPoints->InsertNextPoint(p);}cout<<"The number of new points:"<<newPoints->GetNumberOfPoints()<<endl;//settingvtkSmartPointer<vtkPolyDataMapper> pointMapper = vtkSmartPointer<vtkPolyDataMapper>::New();pointMapper->SetInputConnection(functionSource->GetOutputPort());vtkSmartPointer<vtkLODActor> actorPoints = vtkSmartPointer<vtkLODActor>::New();actorPoints->SetMapper(pointMapper);actorPoints->GetProperty()->SetColor(0,1,0);actorPoints->GetProperty()->SetLineWidth(2);//-------------------------------------//-------------------------设置新的引导点---------------------------vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();actor->SetMapper(mapper);vtkSmartPointer<vtkProperty> property = vtkSmartPointer<vtkProperty>::New();property->SetDiffuseColor(1, 0.49, 0.25);property->SetDiffuse(0.7);property->SetSpecular(0.3);property->SetSpecularPower(20);property->SetOpacity(0.9);  //透明化actor->SetProperty(property);//坐标系vtkSmartPointer<vtkAxesActor> actor2 = vtkSmartPointer<vtkAxesActor>::New(); //三维坐标系actor2->SetPosition(0, 0, 0);actor2->SetTotalLength(100, 100, 100);actor2->SetShaftType(0);actor2->SetAxisLabels(0);vtkSmartPointer<vtkRenderer> renderer = vtkSmartPointer<vtkRenderer>::New();renderer->AddActor(actor);renderer->AddActor(actor2);renderer->AddActor(actorPoints);renderer->SetBackground(0.1,0.2,0.4);; // Background color greenvtkSmartPointer<vtkRenderWindow> renderWindow =vtkSmartPointer<vtkRenderWindow>::New();renderWindow->AddRenderer(renderer);renderWindow->SetSize(1920,1080);vtkSmartPointer<vtkCamera> aCamera = vtkSmartPointer<vtkCamera>::New();while(true){for(int i=0;i<newPoints->GetNumberOfPoints()-1;i++){double* point = new double[3];double* NextPoint = new double[3];newPoints->GetPoint(i,point);newPoints->GetPoint(i+1,NextPoint);Eigen::Vector3d lastPosition(point[0],point[1],point[2] );Eigen::Vector3d NextPosition(NextPoint[0],NextPoint[1],NextPoint[2] );Eigen::Vector3d focalPoint = NextPosition + (NextPosition - lastPosition)*1.0;aCamera->SetPosition ( lastPosition[0], lastPosition[1], lastPosition[2] );aCamera->SetFocalPoint( focalPoint[0], focalPoint[1], focalPoint[2] );aCamera->SetViewUp ( 0, -1, 0);aCamera->ComputeViewPlaneNormal();renderer->SetActiveCamera(aCamera);renderWindow->Render();usleep(30*1000);}return 0;}}

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VTK(五)---内窥镜漫游（基于VMTK血管中心线提取）

前言

实现效果：

代码

VTK(五)---内窥镜漫游（基于VMTK血管中心线提取）相关推荐

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