niftk::VTKIterativeClosestPoint Class Reference

Uses vtkIterativeClosestPointTransform to register two vtkPolyData sets. More...

Public Member Functions
	VTKIterativeClosestPoint ()
	~VTKIterativeClosestPoint ()
double	Run ()
	Perform a vtk Iterative Closest Point (ICP) registration on the two data sets. More...
double	GetRMSResidual (vtkPolyData &source) const
	Calculates the RMS residual, using the current transformation and the supplied source data-set. More...
vtkSmartPointer< vtkMatrix4x4 >	GetTransform () const
	returns the transform to move the source to the target. More...
void	ApplyTransform (vtkPolyData *solution)
	Transform the source to the target, placing the result in solution. More...
void	SetSource (vtkSmartPointer< vtkPolyData >)
	Set the source poly data. More...
void	SetTarget (vtkSmartPointer< vtkPolyData >)
	Set the target polydata. More...
void	SetICPMaxLandmarks (unsigned int)
	Set the maximum number of ICP landmarks, default 50. More...
void	SetICPMaxIterations (unsigned int)
	Set the maximum number of ICP iterations, default 100. More...
void	SetTLSIterations (unsigned int)
	Set the number of TLS iterations, default 0. More...
void	SetTLSPercentage (unsigned int)
	Set the TLS percentage [1 - 100], default 50. More...

Detailed Description

Uses vtkIterativeClosestPointTransform to register two vtkPolyData sets.

This class requires that one (normally target) contains cells. i.e. a surface of triangles for instance. If the source contains cells, but the target does not, the registration is reversed, and then once completed, the transform is inverted.

This class also implements a Trimmed Least Squares (TLS) approach, whereby the ICP is repeated. At each iteration, controlled by SetTLSIterations(), the best matching number of points, controlled by SetTLSPercentage() is retained, and the outliers are discarded.

Constructor & Destructor Documentation

niftk::VTKIterativeClosestPoint::VTKIterativeClosestPoint

(

)

niftk::VTKIterativeClosestPoint::~VTKIterativeClosestPoint

(

)

Member Function Documentation

void niftk::VTKIterativeClosestPoint::ApplyTransform

(

vtkPolyData *

solution

)

Transform the source to the target, placing the result in solution.

double niftk::VTKIterativeClosestPoint::GetRMSResidual

(

vtkPolyData &

source

)

const

Calculates the RMS residual, using the current transformation and the supplied source data-set.

vtkSmartPointer< vtkMatrix4x4 > niftk::VTKIterativeClosestPoint::GetTransform

(

)

const

returns the transform to move the source to the target.

double niftk::VTKIterativeClosestPoint::Run

(

)

Perform a vtk Iterative Closest Point (ICP) registration on the two data sets.

Returns

the RMS residual error, using the full source dataset.

void niftk::VTKIterativeClosestPoint::SetICPMaxIterations

(

unsigned int

maxIterations

)

Set the maximum number of ICP iterations, default 100.

void niftk::VTKIterativeClosestPoint::SetICPMaxLandmarks

(

unsigned int

maxLandMarks

)

Set the maximum number of ICP landmarks, default 50.

void niftk::VTKIterativeClosestPoint::SetSource

(

vtkSmartPointer< vtkPolyData >

source

)

Set the source poly data.

void niftk::VTKIterativeClosestPoint::SetTarget

(

vtkSmartPointer< vtkPolyData >

target

)

Set the target polydata.

void niftk::VTKIterativeClosestPoint::SetTLSIterations

(

unsigned int

iterations

)

Set the number of TLS iterations, default 0.

If zero, (the default), this feature is off.

void niftk::VTKIterativeClosestPoint::SetTLSPercentage

(

unsigned int

percentage

)

Set the TLS percentage [1 - 100], default 50.

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The documentation for this class was generated from the following files:

• niftkVTKIterativeClosestPoint.h
• niftkVTKIterativeClosestPoint.cxx