[ITK-users] IterativeClosestPoint2 example: how to get better results

[D'Isidoro Fabio]

I am trying to use the IterativeClosestPoint2 example on the fixed and moving point sets in attachment (called "src" and "dest" point sets).

The ground truth is "properly ordered dest = Transform(src)", where:

Euler angles:  (0.349065850398866, 0.349065850398866, 0.349065850398866)
Translations: (4.1335200571234, 5.90820985238168, 7.04748773837622)

(the dest_point set in attachment is randomly reshuffled)

>>> If I use srx = fixed, dest = moving, the registration results is:

Euler angles:  (-0.327201, -0.36953, -0.47291)
Translations: (-6.28471, -2.64212, -1.50835)

>>> If I use dest = fixed, src = moving, the registration results is:

Euler angles:  (0.44595, 0.20655, 0.36423)
Translations: (6.28471, 2.64212, 1.50835)



Question 1):

Given that "properly ordered dest = Transform(src)", according to the guide src should be the fixed point set. Am I wrong?

Question 2):

I am not happy with the results, given that there is no additional noise (the underlined values refer to error angles of up to 8 degrees and 3 mm errors). I am surprised because there is no additional noise to the data, so I would expect an accurate registration. Are my results normal? How could I improve the results? Should I change the optimizer, or the transform?


Please help, thank you.
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