public static double[] Multiply(vtkLandmarkTransform landMatrix, double[] value)
{
vtkMatrix4x4 matrix = landMatrix.GetMatrix();
int size = Marshal.SizeOf(typeof(double)) * value.Length;
IntPtr pre = Marshal.AllocHGlobal(size);
Marshal.Copy(value, 0, pre, value.Length);
double[] result = matrix.MultiplyDoublePoint(pre);
Marshal.FreeHGlobal(pre);
return(result);
}
static void AlignFrames(Frame sourceFrame, Frame targetFrame, ref vtkTransform transform)
{
// This function takes two frames and finds the matrix M between them.
vtkLandmarkTransform landmarkTransform = vtkLandmarkTransform.New();
// Setup source points
vtkPoints sourcePoints = vtkPoints.New();
sourcePoints.InsertNextPoint(
sourceFrame.Origin[0],
sourceFrame.Origin[1],
sourceFrame.Origin[2]);
float[] sourceX = new float[3];
float[] sourceY = new float[3];
float[] sourceZ = new float[3];
Add(sourceFrame.Origin, sourceFrame.XDirection, ref sourceX);
Add(sourceFrame.Origin, sourceFrame.YDirection, ref sourceY);
Add(sourceFrame.Origin, sourceFrame.ZDirection, ref sourceZ);
sourcePoints.InsertNextPoint(sourceX[0], sourceX[1], sourceX[2]);
sourcePoints.InsertNextPoint(sourceY[0], sourceY[1], sourceY[2]);
sourcePoints.InsertNextPoint(sourceZ[0], sourceZ[1], sourceZ[2]);
// Setup target points
vtkPoints targetPoints = vtkPoints.New();
targetPoints.InsertNextPoint(targetFrame.Origin[0], targetFrame.Origin[1], targetFrame.Origin[2]);
float[] targetX = new float[3];
float[] targetY = new float[3];
float[] targetZ = new float[3];
Add(targetFrame.Origin, targetFrame.XDirection, ref targetX);
Add(targetFrame.Origin, targetFrame.YDirection, ref targetY);
Add(targetFrame.Origin, targetFrame.ZDirection, ref targetZ);
targetPoints.InsertNextPoint(targetX[0], targetX[1], targetX[2]);
targetPoints.InsertNextPoint(targetY[0], targetY[1], targetY[2]);
targetPoints.InsertNextPoint(targetZ[0], targetZ[1], targetZ[2]);
landmarkTransform.SetSourceLandmarks(sourcePoints);
landmarkTransform.SetTargetLandmarks(targetPoints);
landmarkTransform.SetModeToRigidBody();
landmarkTransform.Update();
vtkMatrix4x4 M = landmarkTransform.GetMatrix();
transform.SetMatrix(M);
}
public static vtkMatrix4x4 GetTranform(double[] soucePoint1, double[] soucePoint2, double[] soucePoint3,
double[] targetPoint1, double[] targetPoint2, double[] targetPoint3)
{
vtkPoints sourcePoints = new vtkPoints();
sourcePoints.InsertNextPoint(soucePoint1[0], soucePoint1[1], soucePoint1[2]);
sourcePoints.InsertNextPoint(soucePoint2[0], soucePoint2[1], soucePoint2[2]);
sourcePoints.InsertNextPoint(soucePoint3[0], soucePoint3[1], soucePoint3[2]);
vtkPoints targetPoints = new vtkPoints();
targetPoints.InsertNextPoint(targetPoint1[0], targetPoint1[1], targetPoint1[2]);
targetPoints.InsertNextPoint(targetPoint2[0], targetPoint2[1], targetPoint2[2]);
targetPoints.InsertNextPoint(targetPoint3[0], targetPoint3[1], targetPoint3[2]);
vtkLandmarkTransform landmark = new vtkLandmarkTransform();
landmark.SetSourceLandmarks(sourcePoints);
landmark.SetTargetLandmarks(targetPoints);
landmark.Update();
return(landmark.GetMatrix());
}