Implementation of the ICP algorithm. More...

#include <vtkIterativeClosestPointTransform.h>

Inheritance diagram for vtkIterativeClosestPointTransform:

Collaboration diagram for vtkIterativeClosestPointTransform:

Public Types
typedef vtkLinearTransform	Superclass

Public Types inherited from vtkLinearTransform
typedef vtkHomogeneousTransform	Superclass

Public Types inherited from vtkHomogeneousTransform
typedef vtkAbstractTransform	Superclass

Public Types inherited from vtkAbstractTransform
typedef vtkObject	Superclass

Public Types inherited from vtkObject
typedef vtkObjectBase	Superclass

Public Member Functions
virtual int	IsA (const char *type)

vtkIterativeClosestPointTransform *	NewInstance () const

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 (double)

virtual double	GetMaximumMeanDistance ()


virtual double	GetMeanDistance ()


virtual void	SetMaximumNumberOfLandmarks (int)

virtual int	GetMaximumNumberOfLandmarks ()


virtual void	SetStartByMatchingCentroids (int)

virtual int	GetStartByMatchingCentroids ()

virtual void	StartByMatchingCentroidsOn ()

virtual void	StartByMatchingCentroidsOff ()


virtual vtkLandmarkTransform *	GetLandmarkTransform ()

Public Member Functions inherited from vtkLinearTransform
vtkLinearTransform *	NewInstance () const

void	PrintSelf (ostream &os, vtkIndent indent)

void	TransformPoints (vtkPoints inPts, vtkPoints outPts)

virtual void	TransformNormals (vtkDataArray inNms, vtkDataArray outNms)

virtual void	TransformVectors (vtkDataArray inVrs, vtkDataArray outVrs)

void	TransformNormal (const float in[3], float out[3])

void	TransformNormal (const double in[3], double out[3])

double *	TransformNormal (double x, double y, double z)

double *	TransformNormal (const double normal[3])

float *	TransformFloatNormal (float x, float y, float z)

float *	TransformFloatNormal (const float normal[3])

double *	TransformDoubleNormal (double x, double y, double z)

double *	TransformDoubleNormal (const double normal[3])

double *	TransformVector (double x, double y, double z)

double *	TransformVector (const double normal[3])

void	TransformVector (const float in[3], float out[3])

void	TransformVector (const double in[3], double out[3])

float *	TransformFloatVector (float x, float y, float z)

float *	TransformFloatVector (const float vec[3])

double *	TransformDoubleVector (double x, double y, double z)

double *	TransformDoubleVector (const double vec[3])

void	TransformPointsNormalsVectors (vtkPoints inPts, vtkPoints outPts, vtkDataArray inNms, vtkDataArray outNms, vtkDataArray inVrs, vtkDataArray outVrs)

vtkLinearTransform *	GetLinearInverse ()

void	InternalTransformPoint (const float in[3], float out[3])

void	InternalTransformPoint (const double in[3], double out[3])

virtual void	InternalTransformNormal (const float in[3], float out[3])

virtual void	InternalTransformNormal (const double in[3], double out[3])

virtual void	InternalTransformVector (const float in[3], float out[3])

virtual void	InternalTransformVector (const double in[3], double out[3])

void	InternalTransformDerivative (const float in[3], float out[3], float derivative[3][3])

void	InternalTransformDerivative (const double in[3], double out[3], double derivative[3][3])

Public Member Functions inherited from vtkHomogeneousTransform
vtkHomogeneousTransform *	NewInstance () const

void	GetMatrix (vtkMatrix4x4 *m)

vtkMatrix4x4 *	GetMatrix ()

vtkHomogeneousTransform *	GetHomogeneousInverse ()

Public Member Functions inherited from vtkAbstractTransform
vtkAbstractTransform *	NewInstance () const

double *	TransformNormalAtPoint (const double point[3], const double normal[3])

double *	TransformVectorAtPoint (const double point[3], const double vector[3])

vtkAbstractTransform *	GetInverse ()

void	SetInverse (vtkAbstractTransform *transform)

void	DeepCopy (vtkAbstractTransform *)

void	Update ()

virtual int	CircuitCheck (vtkAbstractTransform *transform)

unsigned long	GetMTime ()

virtual void	UnRegister (vtkObjectBase *O)

void	TransformPoint (const float in[3], float out[3])

void	TransformPoint (const double in[3], double out[3])

double *	TransformPoint (double x, double y, double z)

double *	TransformPoint (const double point[3])

float *	TransformFloatPoint (float x, float y, float z)

float *	TransformFloatPoint (const float point[3])

double *	TransformDoublePoint (double x, double y, double z)

double *	TransformDoublePoint (const double point[3])

void	TransformNormalAtPoint (const float point[3], const float in[3], float out[3])

void	TransformNormalAtPoint (const double point[3], const double in[3], double out[3])

double *	TransformDoubleNormalAtPoint (const double point[3], const double normal[3])

float *	TransformFloatNormalAtPoint (const float point[3], const float normal[3])

void	TransformVectorAtPoint (const float point[3], const float in[3], float out[3])

void	TransformVectorAtPoint (const double point[3], const double in[3], double out[3])

double *	TransformDoubleVectorAtPoint (const double point[3], const double vector[3])

float *	TransformFloatVectorAtPoint (const float point[3], const float vector[3])

Public Member Functions inherited from vtkObject
vtkObject *	NewInstance () const

virtual void	DebugOn ()

virtual void	DebugOff ()

bool	GetDebug ()

void	SetDebug (bool debugFlag)

virtual void	Modified ()

unsigned long	AddObserver (unsigned long event, vtkCommand *, float priority=0.0f)

unsigned long	AddObserver (const char event, vtkCommand , float priority=0.0f)

vtkCommand *	GetCommand (unsigned long tag)

void	RemoveObserver (vtkCommand *)

void	RemoveObservers (unsigned long event, vtkCommand *)

void	RemoveObservers (const char event, vtkCommand )

int	HasObserver (unsigned long event, vtkCommand *)

int	HasObserver (const char event, vtkCommand )

void	RemoveObserver (unsigned long tag)

void	RemoveObservers (unsigned long event)

void	RemoveObservers (const char *event)

void	RemoveAllObservers ()

int	HasObserver (unsigned long event)

int	HasObserver (const char *event)

template<class U , class T >
unsigned long	AddObserver (unsigned long event, U observer, void(T::*callback)(), float priority=0.0f)

template<class U , class T >
unsigned long	AddObserver (unsigned long event, U observer, void(T::callback)(vtkObject , unsigned long, void *), float priority=0.0f)

template<class U , class T >
unsigned long	AddObserver (unsigned long event, U observer, bool(T::callback)(vtkObject , unsigned long, void *), float priority=0.0f)

int	InvokeEvent (unsigned long event, void *callData)

int	InvokeEvent (const char event, void callData)

int	InvokeEvent (unsigned long event)

int	InvokeEvent (const char *event)

Public Member Functions inherited from vtkObjectBase
const char *	GetClassName () const

virtual void	Delete ()

virtual void	FastDelete ()

void	Print (ostream &os)

virtual void	Register (vtkObjectBase *o)

void	SetReferenceCount (int)

void	PrintRevisions (ostream &)

virtual void	PrintHeader (ostream &os, vtkIndent indent)

virtual void	PrintTrailer (ostream &os, vtkIndent indent)

int	GetReferenceCount ()

Static Public Member Functions
static vtkIterativeClosestPointTransform *	New ()

static int	IsTypeOf (const char *type)

static vtkIterativeClosestPointTransform *	SafeDownCast (vtkObjectBase *o)

Static Public Member Functions inherited from vtkLinearTransform
static int	IsTypeOf (const char *type)

static vtkLinearTransform *	SafeDownCast (vtkObjectBase *o)

Static Public Member Functions inherited from vtkHomogeneousTransform
static int	IsTypeOf (const char *type)

static vtkHomogeneousTransform *	SafeDownCast (vtkObjectBase *o)

Static Public Member Functions inherited from vtkAbstractTransform
static int	IsTypeOf (const char *type)

static vtkAbstractTransform *	SafeDownCast (vtkObjectBase *o)

Static Public Member Functions inherited from vtkObject
static int	IsTypeOf (const char *type)

static vtkObject *	SafeDownCast (vtkObjectBase *o)

static vtkObject *	New ()

static void	BreakOnError ()

static void	SetGlobalWarningDisplay (int val)

static void	GlobalWarningDisplayOn ()

static void	GlobalWarningDisplayOff ()

static int	GetGlobalWarningDisplay ()

Static Public Member Functions inherited from vtkObjectBase
static int	IsTypeOf (const char *name)

static vtkObjectBase *	New ()

Protected Member Functions
virtual vtkObjectBase *	NewInstanceInternal () const

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 Member Functions inherited from vtkLinearTransform
	vtkLinearTransform ()

	~vtkLinearTransform ()

Protected Member Functions inherited from vtkHomogeneousTransform
	vtkHomogeneousTransform ()

	~vtkHomogeneousTransform ()

void	InternalDeepCopy (vtkAbstractTransform *transform)

Protected Member Functions inherited from vtkAbstractTransform
	vtkAbstractTransform ()

	~vtkAbstractTransform ()

Protected Member Functions inherited from vtkObject
	vtkObject ()

virtual	~vtkObject ()

virtual void	RegisterInternal (vtkObjectBase *, int check)

virtual void	UnRegisterInternal (vtkObjectBase *, int check)

void	InternalGrabFocus (vtkCommand mouseEvents, vtkCommand keypressEvents=NULL)

void	InternalReleaseFocus ()

Protected Member Functions inherited from vtkObjectBase
	vtkObjectBase ()

virtual	~vtkObjectBase ()

virtual void	CollectRevisions (ostream &)

virtual void	ReportReferences (vtkGarbageCollector *)

	vtkObjectBase (const vtkObjectBase &)

void	operator= (const vtkObjectBase &)

Protected Attributes
vtkDataSet *	Source

vtkDataSet *	Target

vtkCellLocator *	Locator

int	MaximumNumberOfIterations

int	CheckMeanDistance

int	MeanDistanceMode

double	MaximumMeanDistance

int	MaximumNumberOfLandmarks

int	StartByMatchingCentroids

int	NumberOfIterations

double	MeanDistance

vtkLandmarkTransform *	LandmarkTransform

Protected Attributes inherited from vtkHomogeneousTransform
vtkMatrix4x4 *	Matrix

Protected Attributes inherited from vtkAbstractTransform
float	InternalFloatPoint [3]

double	InternalDoublePoint [3]

Protected Attributes inherited from vtkObject
bool	Debug

vtkTimeStamp	MTime

vtkSubjectHelper *	SubjectHelper

Protected Attributes inherited from vtkObjectBase
vtkAtomicInt32	ReferenceCount

vtkWeakPointerBase **	WeakPointers

Detailed Description

Implementation of the ICP algorithm.

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 54 of file vtkIterativeClosestPointTransform.h.

Member Typedef Documentation

typedef vtkLinearTransform vtkIterativeClosestPointTransform::Superclass

Definition at line 58 of file vtkIterativeClosestPointTransform.h.

Constructor & Destructor Documentation

vtkIterativeClosestPointTransform::vtkIterativeClosestPointTransform ( )

protected

vtkIterativeClosestPointTransform::~vtkIterativeClosestPointTransform ( )

protected

Member Function Documentation

static vtkIterativeClosestPointTransform* vtkIterativeClosestPointTransform::New ( )

static

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

static

virtual int vtkIterativeClosestPointTransform::IsA ( const char * name )

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.

static vtkIterativeClosestPointTransform* vtkIterativeClosestPointTransform::SafeDownCast ( vtkObjectBase * o )

static

virtual vtkObjectBase* vtkIterativeClosestPointTransform::NewInstanceInternal ( ) const

protectedvirtual

Reimplemented from vtkLinearTransform.

vtkIterativeClosestPointTransform* vtkIterativeClosestPointTransform::NewInstance ( ) const

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 vtkObject.

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. Default is 50.

virtual int vtkIterativeClosestPointTransform::GetMaximumNumberOfIterations ( )

virtual

Set/Get the maximum number of iterations. Default is 50.

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 iterations. Default is Off.

virtual int vtkIterativeClosestPointTransform::GetCheckMeanDistance ( )

virtual

Force the algorithm to check the mean distance between two iterations. Default is Off.

virtual void vtkIterativeClosestPointTransform::CheckMeanDistanceOn ( )

virtual

Force the algorithm to check the mean distance between two iterations. Default is Off.

virtual void vtkIterativeClosestPointTransform::CheckMeanDistanceOff ( )

virtual

Force the algorithm to check the mean distance between two iterations. Default is Off.

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. The default is VTK_ICP_MODE_RMS

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. The default is VTK_ICP_MODE_RMS

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. The default is VTK_ICP_MODE_RMS

Definition at line 104 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. The default is VTK_ICP_MODE_RMS

Definition at line 106 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. The default is VTK_ICP_MODE_RMS

virtual void vtkIterativeClosestPointTransform::SetMaximumMeanDistance ( double )

virtual

Set/Get the maximum mean distance between two iteration. If the mean distance is lower than this, the convergence stops. The default is 0.01.

virtual double vtkIterativeClosestPointTransform::GetMaximumMeanDistance ( )

virtual

Set/Get the maximum mean distance between two iteration. If the mean distance is lower than this, the convergence stops. The default is 0.01.

virtual double 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. The default is 200.

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. The default is 200.

virtual void vtkIterativeClosestPointTransform::SetStartByMatchingCentroids ( int )

virtual

Starts the process by translating source centroid to target centroid. The default is Off.

virtual int vtkIterativeClosestPointTransform::GetStartByMatchingCentroids ( )

virtual

Starts the process by translating source centroid to target centroid. The default is Off.

virtual void vtkIterativeClosestPointTransform::StartByMatchingCentroidsOn ( )

virtual

Starts the process by translating source centroid to target centroid. The default is Off.

virtual void vtkIterativeClosestPointTransform::StartByMatchingCentroidsOff ( )

virtual

Starts the process by translating source centroid to target centroid. The default is Off.

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.

Implements vtkAbstractTransform.

vtkAbstractTransform* vtkIterativeClosestPointTransform::MakeTransform ( )

virtual

Make another transform of the same type.

Implements 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 ( )

protectedvirtual

Get the MTime of this object also considering the locator.

Reimplemented from vtkObject.

void vtkIterativeClosestPointTransform::InternalUpdate ( )

protectedvirtual

Perform any subclass-specific Update.

Reimplemented from vtkAbstractTransform.

void vtkIterativeClosestPointTransform::InternalDeepCopy ( vtkAbstractTransform * transform )

protectedvirtual

This method does no type checking, use DeepCopy instead.

Reimplemented from vtkAbstractTransform.

Member Data Documentation

vtkDataSet* vtkIterativeClosestPointTransform::Source

protected

Definition at line 179 of file vtkIterativeClosestPointTransform.h.

vtkDataSet* vtkIterativeClosestPointTransform::Target

protected

Definition at line 180 of file vtkIterativeClosestPointTransform.h.

vtkCellLocator* vtkIterativeClosestPointTransform::Locator

protected

Definition at line 181 of file vtkIterativeClosestPointTransform.h.

int vtkIterativeClosestPointTransform::MaximumNumberOfIterations

protected

Definition at line 182 of file vtkIterativeClosestPointTransform.h.

int vtkIterativeClosestPointTransform::CheckMeanDistance

protected

Definition at line 183 of file vtkIterativeClosestPointTransform.h.

int vtkIterativeClosestPointTransform::MeanDistanceMode

protected

Definition at line 184 of file vtkIterativeClosestPointTransform.h.

double vtkIterativeClosestPointTransform::MaximumMeanDistance

protected

Definition at line 185 of file vtkIterativeClosestPointTransform.h.

int vtkIterativeClosestPointTransform::MaximumNumberOfLandmarks

protected

Definition at line 186 of file vtkIterativeClosestPointTransform.h.

int vtkIterativeClosestPointTransform::StartByMatchingCentroids

protected

Definition at line 187 of file vtkIterativeClosestPointTransform.h.

int vtkIterativeClosestPointTransform::NumberOfIterations

protected

Definition at line 189 of file vtkIterativeClosestPointTransform.h.

double vtkIterativeClosestPointTransform::MeanDistance

protected

Definition at line 190 of file vtkIterativeClosestPointTransform.h.

vtkLandmarkTransform* vtkIterativeClosestPointTransform::LandmarkTransform

protected

Definition at line 191 of file vtkIterativeClosestPointTransform.h.

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

/home/boeckb/code/depot/group-kitware/vtk/build-release/Utilities/Doxygen/dox/Common/DataModel/vtkIterativeClosestPointTransform.h

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation