Godofredo,<br><br>If I am understanding your diagram correctly, the ICP algorithm is doing what is intended to do. It minimizes the least squared distance from the source point set to the target surface. This necessarily implies compromises when the source and target do not have the same extent. Note that your pink points have been approximately centered over the target surface, and the position it is in should correspond to the minimum of the least squared distance.
<br><br>- Wes<br><br><div><span class="gmail_quote">On 6/14/07, <b class="gmail_sendername">Godofredo</b> <<a href="mailto:godofredoiii@gmail.com">godofredoiii@gmail.com</a>> wrote:</span><blockquote class="gmail_quote" style="border-left: 1px solid rgb(204, 204, 204); margin: 0pt 0pt 0pt 0.8ex; padding-left: 1ex;">
<br>Hi. I'm making some tries with ICP algorithm but I can't just figure out it's<br>implementation. Here I show you some images generated with my code. In blue<br>is the target surface, in green are the source points which I want to match
<br>with the surface and in red are the source points transformed with the<br>output of the ICP algorithm. As ou can seee, I've also marked the points<br>which best fit beetween two datasets but the ICP algorithm seems to ignore
<br>the amount of points to fit.<br><br>And this are the parameters I use in my code:<br><br> icp->StartByMatchingCentroidsOff();//I use this because I need the<br>code for another applications and I //don't actually want the
<br>centroids used as source<br> icp->SetMaximumNumberOfIterations(20);<br> icp->SetCheckMeanDistance(true);<br> icp->GetLandmarkTransform()->SetModeToRigidBody();<br><br>So this are my questions:How does ICP actually work? why doesn't it fit
<br>according to the spatialy more closest points beetween the two surfaces?<br>Which parameters should I modify and how?<br>Thanks in advance.<br><a href="http://www.nabble.com/file/p11118686/icp.jpg">http://www.nabble.com/file/p11118686/icp.jpg
</a><br>--<br>View this message in context: <a href="http://www.nabble.com/ICP-algorithm-question-tf3921301.html#a11118686">http://www.nabble.com/ICP-algorithm-question-tf3921301.html#a11118686</a><br>Sent from the VTK - Users mailing list archive at
<a href="http://Nabble.com">Nabble.com</a>.<br><br>_______________________________________________<br>This is the private VTK discussion list.<br>Please keep messages on-topic. Check the FAQ at: <a href="http://www.vtk.org/Wiki/VTK_FAQ">
http://www.vtk.org/Wiki/VTK_FAQ</a><br>Follow this link to subscribe/unsubscribe:<br><a href="http://www.vtk.org/mailman/listinfo/vtkusers">http://www.vtk.org/mailman/listinfo/vtkusers</a><br></blockquote></div><br><br clear="all">
<br>-- <br>Wesley D. Turner, Ph.D.<br>Kitware, Inc.<br>R&D Engineer<br>28 Corporate Drive<br>Clifton Park, NY 12065-8662<br>Phone: 518-371-3971 x120