[Insight-users] Rigid ICP

[Luis Ibanez]

Hi David,

The Rigid3DTransform class
http://public.kitware.com/Insight/Doxygen/html/classitk_1_1Rigid3DTransform.html

is intended to be a base class for

 Versor3DTransform
QuaternionRigidTransform
Euler3DTransform

The Rigid3DTransform itself should not be used in a registration process.
(think of it as an Abstract class).


Please chose one of the specific transform above.

You may want to start with  the

 QuaternionRigidTransform or the
 Euler3DTransform



About your second question:

Yes, Having a PointSetTransform filter sounds
like a reasonable request.

Actually it would be pretty easy for you to create
this filter from the MeshTransform filter, and to
share the resulting filter by posting it to the
Insight Journal.

Please let us know if you need any help identifying
the necessary changes.



   Regards,



            Luis


-----------------------------------------------------------------------------------------------------------
On Sun, Jul 12, 2009 at 5:07 PM, David Doria
<daviddoria+itk at gmail.com<daviddoria%2Bitk at gmail.com>
> wrote:

> I modified one of the registration examples in an attempt to do a
> rigid ICP between 2 sets of points.
>
> I set the transform to a itkRigid3DTransform, but when it runs it says
> "Attempting to set a non-orthogonal rotation matrix."
>
> My example code is here:
> http://rpi.edu/~doriad/ICP.cpp <http://rpi.edu/%7Edoriad/ICP.cpp>
>
> The initialization is the identity matrix, so I'm assuming the
> non-orthogonal matrix is being set within the
> itkPointSetToPointSetRegistrationMethod.
>
> It looks like the itkPointSetToPointSetRegistrationMethod is templated
> on the type of transform I pass it, so why wouldn't this work? The
> optimizer should restrict the search to the domain of transforms that
> fit the specified transform type, right?
>
> On a separate note: from previous list posts, it looks like to
> transform a set of points, they need to be in an itkMesh (even though
> there is no topology) so itkTransformMeshFilter can be used. Does it
> seem like a worth while feature request to make an
> itkTransformPointSetFilter ?
>
> Thanks,
>
> David
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