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vtkIterativeClosestPointTransform Class Reference

Implementation of the ICP algorithm. More...

#include <vtkIterativeClosestPointTransform.h>

Inheritance diagram for vtkIterativeClosestPointTransform:

[legend]Collaboration diagram for vtkIterativeClosestPointTransform:

[legend]List of all members.

Public Methods
virtual const char *	GetClassName ()
virtual int	IsA (const char *type)
void	PrintSelf (ostream &os, vtkIndent indent)
void	Inverse ()
vtkAbstractTransform *	MakeTransform ()
void	SetSource (vtkDataSet *source)
void	SetTarget (vtkDataSet *target)
virtual vtkDataSet *	GetSource ()
virtual vtkDataSet *	GetTarget ()
void	SetLocator (vtkCellLocator *locator)
virtual vtkCellLocator *	GetLocator ()
virtual void	SetMaximumNumberOfIterations (int)
virtual int	GetMaximumNumberOfIterations ()
virtual int	GetNumberOfIterations ()
virtual void	SetCheckMeanDistance (int)
virtual int	GetCheckMeanDistance ()
virtual void	CheckMeanDistanceOn ()
virtual void	CheckMeanDistanceOff ()
virtual void	SetMeanDistanceMode (int)
virtual int	GetMeanDistanceMode ()
void	SetMeanDistanceModeToRMS ()
void	SetMeanDistanceModeToAbsoluteValue ()
const char *	GetMeanDistanceModeAsString ()
virtual void	SetMaximumMeanDistance (float)
virtual float	GetMaximumMeanDistance ()
virtual float	GetMeanDistance ()
virtual void	SetMaximumNumberOfLandmarks (int)
virtual int	GetMaximumNumberOfLandmarks ()
virtual void	SetStartByMatchingCentroids (int)
virtual int	GetStartByMatchingCentroids ()
virtual void	StartByMatchingCentroidsOn ()
virtual void	StartByMatchingCentroidsOff ()
virtual vtkLandmarkTransform *	GetLandmarkTransform ()
Static Public Methods
vtkIterativeClosestPointTransform *	New ()
int	IsTypeOf (const char *type)
vtkIterativeClosestPointTransform *	SafeDownCast (vtkObject *o)
Protected Methods
void	ReleaseLocator (void)
void	CreateDefaultLocator (void)
unsigned long int	GetMTime ()
	vtkIterativeClosestPointTransform ()
	~vtkIterativeClosestPointTransform ()
void	InternalUpdate ()
void	InternalDeepCopy (vtkAbstractTransform *transform)
void	ReleaseSource (void)
void	ReleaseTarget (void)
Protected Attributes
vtkDataSet *	Source
vtkDataSet *	Target
vtkCellLocator *	Locator
int	MaximumNumberOfIterations
int	CheckMeanDistance
int	MeanDistanceMode
float	MaximumMeanDistance
int	MaximumNumberOfLandmarks
int	StartByMatchingCentroids
int	NumberOfIterations
float	MeanDistance
vtkLandmarkTransform *	LandmarkTransform

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Detailed Description

Implementation of the ICP algorithm.

Date:

2001/10/11 14:17:27

Revision:

1.6

Thanks:

Thanks to Sebastien Barre who developed this class. Thanks to Tim Hutton too for the idea.

Match two surfaces using the iterative closest point (ICP) algorithm. The core of the algorithm is to match each vertex in one surface with the closest surface point on the other, then apply the transformation that modify one surface to best match the other (in a least square sense). This has to be iterated to get proper convergence of the surfaces.

Attention:

Use vtkTransformPolyDataFilter to apply the resulting ICP transform to your data. You might also set it to your actor's user transform.

This class makes use of vtkLandmarkTransform internally to compute the best fit. Use the GetLandmarkTransform member to get a pointer to that transform and set its parameters. You might, for example, constrain the number of degrees of freedom of the solution (i.e. rigid body, similarity, etc.) by checking the vtkLandmarkTransform documentation for its SetMode member.

See also:

vtkLandmarkTransform

Tests:

vtkIterativeClosestPointTransform (Tests)

Definition at line 83 of file vtkIterativeClosestPointTransform.h.

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Constructor & Destructor Documentation

vtkIterativeClosestPointTransform::vtkIterativeClosestPointTransform (    )  [protected]

vtkIterativeClosestPointTransform::~vtkIterativeClosestPointTransform (    )  [protected]

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Member Function Documentation

vtkIterativeClosestPointTransform* vtkIterativeClosestPointTransform::New (    )  [static]

Create an object with Debug turned off, modified time initialized to zero, and reference counting on. Reimplemented from vtkObject.

virtual const char* vtkIterativeClosestPointTransform::GetClassName (    )  [virtual]

Return the class name as a string. This method is defined in all subclasses of vtkObject with the vtkTypeMacro found in vtkSetGet.h. Reimplemented from vtkLinearTransform.

int vtkIterativeClosestPointTransform::IsTypeOf (  const char *    type )  [static]

Return 1 if this class type is the same type of (or a subclass of) the named class. Returns 0 otherwise. This method works in combination with vtkTypeMacro found in vtkSetGet.h. Reimplemented from vtkLinearTransform.

virtual int vtkIterativeClosestPointTransform::IsA (  const char *    type )  [virtual]

Return 1 if this class is the same type of (or a subclass of) the named class. Returns 0 otherwise. This method works in combination with vtkTypeMacro found in vtkSetGet.h. Reimplemented from vtkLinearTransform.

vtkIterativeClosestPointTransform* vtkIterativeClosestPointTransform::SafeDownCast (  vtkObject *    o )  [static]

Will cast the supplied object to vtkObject* is this is a safe operation (i.e., a safe downcast); otherwise NULL is returned. This method is defined in all subclasses of vtkObject with the vtkTypeMacro found in vtkSetGet.h. Reimplemented from vtkLinearTransform.

void vtkIterativeClosestPointTransform::PrintSelf (  ostream &    os, vtkIndent    indent )  [virtual]

Methods invoked by print to print information about the object including superclasses. Typically not called by the user (use Print() instead) but used in the hierarchical print process to combine the output of several classes. Reimplemented from vtkLinearTransform.

void vtkIterativeClosestPointTransform::SetSource (  vtkDataSet *    source )

Specify the source and target data sets.

void vtkIterativeClosestPointTransform::SetTarget (  vtkDataSet *    target )

Specify the source and target data sets.

virtual vtkDataSet* vtkIterativeClosestPointTransform::GetSource (    )  [virtual]

Specify the source and target data sets.

virtual vtkDataSet* vtkIterativeClosestPointTransform::GetTarget (    )  [virtual]

Specify the source and target data sets.

void vtkIterativeClosestPointTransform::SetLocator (  vtkCellLocator *    locator )

Set/Get a spatial locator for speeding up the search process. An instance of vtkCellLocator is used by default.

virtual vtkCellLocator* vtkIterativeClosestPointTransform::GetLocator (    )  [virtual]

Set/Get a spatial locator for speeding up the search process. An instance of vtkCellLocator is used by default.

virtual void vtkIterativeClosestPointTransform::SetMaximumNumberOfIterations (  int    )  [virtual]

Set/Get the maximum number of iterations

virtual int vtkIterativeClosestPointTransform::GetMaximumNumberOfIterations (    )  [virtual]

Set/Get the maximum number of iterations

virtual int vtkIterativeClosestPointTransform::GetNumberOfIterations (    )  [virtual]

Get the number of iterations since the last update

virtual void vtkIterativeClosestPointTransform::SetCheckMeanDistance (  int    )  [virtual]

Force the algorithm to check the mean distance between two iteration.

virtual int vtkIterativeClosestPointTransform::GetCheckMeanDistance (    )  [virtual]

Force the algorithm to check the mean distance between two iteration.

virtual void vtkIterativeClosestPointTransform::CheckMeanDistanceOn (    )  [virtual]

Force the algorithm to check the mean distance between two iteration.

virtual void vtkIterativeClosestPointTransform::CheckMeanDistanceOff (    )  [virtual]

Force the algorithm to check the mean distance between two iteration.

virtual void vtkIterativeClosestPointTransform::SetMeanDistanceMode (  int    )  [virtual]

Specify the mean distance mode. This mode expresses how the mean distance is computed. The RMS mode is the square root of the average of the sum of squares of the closest point distances. The Absolute Value mode is the mean of the sum of absolute values of the closest point distances.

virtual int vtkIterativeClosestPointTransform::GetMeanDistanceMode (    )  [virtual]

Specify the mean distance mode. This mode expresses how the mean distance is computed. The RMS mode is the square root of the average of the sum of squares of the closest point distances. The Absolute Value mode is the mean of the sum of absolute values of the closest point distances.

void vtkIterativeClosestPointTransform::SetMeanDistanceModeToRMS (    )  [inline]

Specify the mean distance mode. This mode expresses how the mean distance is computed. The RMS mode is the square root of the average of the sum of squares of the closest point distances. The Absolute Value mode is the mean of the sum of absolute values of the closest point distances. Definition at line 132 of file vtkIterativeClosestPointTransform.h.

void vtkIterativeClosestPointTransform::SetMeanDistanceModeToAbsoluteValue (    )  [inline]

Specify the mean distance mode. This mode expresses how the mean distance is computed. The RMS mode is the square root of the average of the sum of squares of the closest point distances. The Absolute Value mode is the mean of the sum of absolute values of the closest point distances. Definition at line 134 of file vtkIterativeClosestPointTransform.h.

const char* vtkIterativeClosestPointTransform::GetMeanDistanceModeAsString (    )

Specify the mean distance mode. This mode expresses how the mean distance is computed. The RMS mode is the square root of the average of the sum of squares of the closest point distances. The Absolute Value mode is the mean of the sum of absolute values of the closest point distances.

virtual void vtkIterativeClosestPointTransform::SetMaximumMeanDistance (  float    )  [virtual]

Set/Get the maximum mean distance between two iteration. If the mean distance is lower than this, the convergence stops.

virtual float vtkIterativeClosestPointTransform::GetMaximumMeanDistance (    )  [virtual]

Set/Get the maximum mean distance between two iteration. If the mean distance is lower than this, the convergence stops.

virtual float vtkIterativeClosestPointTransform::GetMeanDistance (    )  [virtual]

Get the mean distance between the last two iterations.

virtual void vtkIterativeClosestPointTransform::SetMaximumNumberOfLandmarks (  int    )  [virtual]

Set/Get the maximum number of landmarks sampled in your dataset. If your dataset is dense, then you will typically not need all the points to compute the ICP transform.

virtual int vtkIterativeClosestPointTransform::GetMaximumNumberOfLandmarks (    )  [virtual]

Set/Get the maximum number of landmarks sampled in your dataset. If your dataset is dense, then you will typically not need all the points to compute the ICP transform.

virtual void vtkIterativeClosestPointTransform::SetStartByMatchingCentroids (  int    )  [virtual]

Starts the process by translating source centroid to target centroid.

virtual int vtkIterativeClosestPointTransform::GetStartByMatchingCentroids (    )  [virtual]

Starts the process by translating source centroid to target centroid.

virtual void vtkIterativeClosestPointTransform::StartByMatchingCentroidsOn (    )  [virtual]

Starts the process by translating source centroid to target centroid.

virtual void vtkIterativeClosestPointTransform::StartByMatchingCentroidsOff (    )  [virtual]

Starts the process by translating source centroid to target centroid.

virtual vtkLandmarkTransform* vtkIterativeClosestPointTransform::GetLandmarkTransform (    )  [virtual]

Get the internal landmark transform. Use it to constrain the number of degrees of freedom of the solution (i.e. rigid body, similarity, etc.).

void vtkIterativeClosestPointTransform::Inverse (    )  [virtual]

Invert the transformation. This is done by switching the source and target. Reimplemented from vtkAbstractTransform.

vtkAbstractTransform* vtkIterativeClosestPointTransform::MakeTransform (    )  [virtual]

Make another transform of the same type. Reimplemented from vtkAbstractTransform.

void vtkIterativeClosestPointTransform::ReleaseSource (  void    )  [protected]

Release source and target

void vtkIterativeClosestPointTransform::ReleaseTarget (  void    )  [protected]

Release source and target

void vtkIterativeClosestPointTransform::ReleaseLocator (  void    )  [protected]

Release locator

void vtkIterativeClosestPointTransform::CreateDefaultLocator (  void    )  [protected]

Create default locator. Used to create one when none is specified.

unsigned long int vtkIterativeClosestPointTransform::GetMTime (    )  [protected, virtual]

Get the MTime of this object also considering the locator. Reimplemented from vtkAbstractTransform.

void vtkIterativeClosestPointTransform::InternalUpdate (    )  [protected, virtual]

Perform any subclass-specific Update. Reimplemented from vtkAbstractTransform.

void vtkIterativeClosestPointTransform::InternalDeepCopy (  vtkAbstractTransform *    transform )  [protected, virtual]

This method does no type checking, use DeepCopy instead. Reimplemented from vtkHomogeneousTransform.

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Member Data Documentation

vtkDataSet* vtkIterativeClosestPointTransform::Source [protected]

Definition at line 205 of file vtkIterativeClosestPointTransform.h.

vtkDataSet* vtkIterativeClosestPointTransform::Target [protected]

Definition at line 206 of file vtkIterativeClosestPointTransform.h.

vtkCellLocator* vtkIterativeClosestPointTransform::Locator [protected]

Definition at line 207 of file vtkIterativeClosestPointTransform.h.

int vtkIterativeClosestPointTransform::MaximumNumberOfIterations [protected]

Definition at line 208 of file vtkIterativeClosestPointTransform.h.

int vtkIterativeClosestPointTransform::CheckMeanDistance [protected]

Definition at line 209 of file vtkIterativeClosestPointTransform.h.

int vtkIterativeClosestPointTransform::MeanDistanceMode [protected]

Definition at line 210 of file vtkIterativeClosestPointTransform.h.

float vtkIterativeClosestPointTransform::MaximumMeanDistance [protected]

Definition at line 211 of file vtkIterativeClosestPointTransform.h.

int vtkIterativeClosestPointTransform::MaximumNumberOfLandmarks [protected]

Definition at line 212 of file vtkIterativeClosestPointTransform.h.

int vtkIterativeClosestPointTransform::StartByMatchingCentroids [protected]

Definition at line 213 of file vtkIterativeClosestPointTransform.h.

int vtkIterativeClosestPointTransform::NumberOfIterations [protected]

Definition at line 215 of file vtkIterativeClosestPointTransform.h.

float vtkIterativeClosestPointTransform::MeanDistance [protected]

Definition at line 216 of file vtkIterativeClosestPointTransform.h.

vtkLandmarkTransform* vtkIterativeClosestPointTransform::LandmarkTransform [protected]

Definition at line 217 of file vtkIterativeClosestPointTransform.h.

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

• Hybrid/vtkIterativeClosestPointTransform.h

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