[Community] Registration of a point set to spatial objects

[Alvaro Bertelsen]

Dear ITK Users,

 

I have a registration problem which receives two different inputs:

 

+ A point set (without normals)

+ A geometrical model formed by basic bodies, mostly planes and cylinders

 

I would like to solve this problem using a variant of the Iterative Closest Point (ICP) algorithm, in which the closest points on the model's surface were computed analytically, using the equations describing the planes and cylinders. I know that ITK supports point sets and that basic geometric bodies can be represented as spatial objects. However, I was wondering if ITK currently includes a registration of this kind, that is, a PointSetToSpatialObjectRegistrationMethod.

 

I know that this issue appeared previously on this list in 2004:

http://public.kitware.com/pipermail/insight-users/2004-October/010646.html

 

...and that ITK has already a class that implements a point set to spatial object registration:

http://www.itk.org/Doxygen44/html/classitk_1_1PointSetToSpatialObjectDemonsRegistration.html

 

...which does not seem to do much work (in fact, it only has its constructor and PrintSelf methods implemented).

 

Is it possible to do this type of registration in ITK? As long as possible, I would like to avoid converting my geometrical data into a second point set.

 

Thanks in advance for your valuable help!

 

Best regards,

Álvaro Bertelsen

 

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