[Insight-users] Points after VersorRigid3DTransform

[agatte]

Hi ;)

I am trying to make rigid registration using VersorRigid3DTransform.
I have  landmarks from CT and landmarks from tracker.
I have aleady received a result of transform. 
I need to have a points after registration.
I don't have any idea for it.

Could anyone help me please ?

I would appreciate for any help ;)

My code :

int main()
{

	double*pReturn; // poitns atfter transformation

 // double tab[30]; // data for testing
	double tab[30] = 
	{138.6933, 231.3487,-32.96535,
	141.1425,236.4764,-77.96535, 
	144.5423,239.5312,-119.2154,
	43.92002,222.6613,-69.21533,
	230.9095,214.9283,-69.21535,

	-172.41,-262.59,822.04,
	-174.23,-264.49,861.7, 
	-161.54,-265.46,928.22,
	-186.33,-160.82,885.01, 
	-186.79,-366.81,863.97 };  

  typedef   float          VectorComponentType;
 
  typedef   itk::Vector< VectorComponentType, Dimension >    VectorType;
  typedef   itk::Image< VectorType,  Dimension >   DeformationFieldType;

  typedef itk::VersorRigid3DTransform< double > Rigid3DTransformType;
  typedef itk::LandmarkBasedTransformInitializer<
Rigid3DTransformType,ImageType, ImageType> 
      LandmarkBasedTransformInitializerType;
 
  LandmarkBasedTransformInitializerType::Pointer
landmarkBasedTransformInitializer =
  LandmarkBasedTransformInitializerType::New();

  //  Create source and target landmarks.
  typedef LandmarkBasedTransformInitializerType::LandmarkPointContainer    
LandmarkContainerType;
  typedef LandmarkBasedTransformInitializerType::LandmarkPointType         
LandmarkPointType;
 
  LandmarkContainerType imageLandmarks;
  LandmarkContainerType trackerLandmarks;
 
  LandmarkPointType imagePoint; //  CT data
  LandmarkPointType trackerPoint; //data from tracking system
 
  // 1 landmark
  trackerPoint[0] = tab[0];
  trackerPoint[1] = tab[1];
  trackerPoint[2] = tab[2];
  imagePoint[0] = tab[3];
  imagePoint[1] = tab[4];
  imagePoint[2] = tab[5];
  imageLandmarks.push_back(imagePoint );
  trackerLandmarks.push_back(trackerPoint );
 
  // 2 landmark
  trackerPoint[0] = tab[6];
  trackerPoint[1] = tab[7];
  trackerPoint[2] = tab[8];
  imagePoint[0] = tab[9];
  imagePoint[1] = tab[10];
  imagePoint[2] = tab[11];
  imageLandmarks.push_back(imagePoint );
  trackerLandmarks.push_back(trackerPoint );
 
  // 3 landmark
  trackerPoint[0] = tab[12];
  trackerPoint[1] = tab[13];
  trackerPoint[2] = tab[14];
  imagePoint[0] = tab[15];
  imagePoint[1] = tab[16];
  imagePoint[2] = tab[17];
  imageLandmarks.push_back(imagePoint );
  trackerLandmarks.push_back(trackerPoint );
 
  // 4 landmark
  trackerPoint[0] = tab[18];
  trackerPoint[1] = tab[19];
  trackerPoint[2] = tab[20];
  imagePoint[0] = tab[21];
  imagePoint[1] = tab[22];
  imagePoint[2] = tab[23];
  imageLandmarks.push_back(imagePoint );
  trackerLandmarks.push_back(trackerPoint );

  // 5 landmark
  trackerPoint[0] = tab[24];
  trackerPoint[1] = tab[25];
  trackerPoint[2] = tab[26];
  imagePoint[0] = tab[27];
  imagePoint[1] = tab[28];
  imagePoint[2] = tab[29];
  imageLandmarks.push_back(imagePoint );
  trackerLandmarks.push_back(trackerPoint );
 
 
  landmarkBasedTransformInitializer->SetFixedLandmarks( imageLandmarks);
  landmarkBasedTransformInitializer->SetMovingLandmarks( trackerLandmarks);
 
  Rigid3DTransformType::Pointer transform = Rigid3DTransformType::New();
 
  transform->SetIdentity();
   landmarkBasedTransformInitializer->SetTransform(transform);
  landmarkBasedTransformInitializer->InitializeTransform();
  cout<<"transform : "<<transform<<endl;

 // transform->GetParameters();
 // pReturn[0]= ...

  cout<<"Parametrs : \n "<<transform->GetParameters()<<endl;
  //Rigid3DTransformType::MatrixType matrix =
transform->GetRotationMatrix();
  //Rigid3DTransformType::OffsetType offset = transform->GetOffset();
  //cout<<"matrix:  "<<matrix<<endl;
  //cout<<"offset:  "<<offset<<endl;


 
 
 
  return EXIT_SUCCESS;
}
 



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