[Insight-users] 3D Lidar-point-to-Image registration using pointSetToImageRetgistration

[ruisheng wang]

Hi Luis,

Thank you very much for your replies. Do you have an example code showing
the process of Lidar-to-Image registration using
Mutual informaiton. I could not find examples for doing this. In the ITK
document, there is not an example showing
PointSetToimageRegistration, do you have an example code showing how to use
PointSetToImageregistration?

thanks a lot!
Ruisheng



Hi Ruisheng,

In order to use this class effectively, you should
first become very familiar with the ITK Registration
Framework.

Please read the ITK Software Guide:

      http://www.itk.org/ItkSoftwareGuide.pdf

In particular the Chapter 8 "Image Registration"
in pdf-pages:  347-533.


Once you are familiar with the framework,
you may want use the following configuration:


1) Use the PointSetToImageRegistration class

2) Use the itkPointSetToImageMetric class

3) Use the perspective transform

4) Start with an optimizer that does not require
   derivatives (e.g. the Amoeba optimizer).


Key factors for a successful registration are:

A)  Good initialization of the Transform

B)  Steady setup for the optimizer parameters

C) Proper scaling of the Transform parameters.

In your case, please note that (A) includes to
make a very good initialization for the center
of projection and the focal distance, and that
(B) means that you should start with optimizer
settings that barely modify the Transform, and
from them you can progress towards having
the Transform explore a wider range of
parameters.


     Regards,


            Luis


Hi everyone,

I'm trying to register 3D lidar with 2D optical images using the transform
ITK::
Rigid3DPerspectiveTransform.
But seems there is not much explanation or examples from ITK to describe the
this functions. I wonder if
anyone here could give me some hints for how to use
ITK::Rigid3DPerspectiveTransform for the 3D-to2D registration
problems.

Thanks very much!
Ruisheng
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