[Insight-users] ICP variants

[Luis Ibanez]

Hi Sam,

You probably want to look at the following two VTK classes:

http://www.vtk.org/doc/nightly/html/classvtkLandmarkTransform.html

http://www.vtk.org/doc/nightly/html/classvtkIterativeClosestPointTransform.html

The LandmarkTransform is used for solving registration
when you have one-to-one point correspondances.

It will be great if you implement the closed form solution, we
will be happy to adopt your class in ITK if you want to contribute
it to the toolkit.

Note that in that case you can make your class to be a Calculator
or a Filter, instead of a Metric, since the output of your class
will be directly a RigidTransform.


Regards,


    Luis



-------------------
Sam Theisens wrote:

> Hi everyone,
> 
> I want to implement Horn's closed form solution to rigid registration,
> because the current ICP framework in ITK seems to be a bit difficult to
> adjust to my needs. Horn's algorithm is recommended in Besl's ICP paper. 
> - Is it true that Horn's solution was not implemented in ITK or VTK, or have
> I simply overlooked?
> - Is it a good optimization method to use in registration of partially
> overlapping point sets with ICP?
> 
> Best regards,
> 
> Sam Theisens
> 
> 
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