[ITK-users] Estimation of initial rotation for Euler3DTransform

[Sharmin Sultana]

Dear all,

I am trying to register two pointsets where each pointset represents a
curve. I have tried using the IterativeClosestPointRegistration2.cxx
example. But the problem with the results here is that while the
translation seems to be OK, the rotation is not when I do not set an
initial rotation.

According to the user guide, the Euler3DTranform cannot handle for large
rotations, and the user has to provide an initial rotation that is correct
to within 10 or 20 degrees. When I have provided the initial rotations, and
the resulting registered curve seems to be correct. I got the initial
rotations by manually rotating and translating the moving pointset in
Paraview against the fixed pointset using the Transform filter.

Is there a way to automatically estimate the initial rotation required?
Below are the pointsets that I was using.

Fixed PointSet
70.3771 16.9556 -77.8874
69.2143 17.2079 -77.253
68.1514 17.8068 -76.7957
66.9762 18.1519 -76.4658
65.8135 18.6132 -76.2163
64.67 19.0656 -75.7242
63.5119 19.2921 -75.3272
62.3751 19.597 -75.0951
61.2921 19.8394 -74.793
60.2845 20.1405 -74.4514
59.3191 20.3305 -74.1283
58.408 20.3767 -73.9007
57.5404 20.4277 -73.9293
56.8618 20.7408 -73.5224
55.4173 20.853 -72.9256
54.7285 20.8667 -72.693
53.6634 20.0938 -72.5906


Moving PointSet:
-1.158 -9.962 -7.944
-1.026 -9.224 -7.430
-0.883 -8.423 -6.872
-0.757 -7.646 -6.300
-0.640 -6.883 -5.727
-0.518 -6.120 -5.179
-0.406 -5.366 -4.622
-0.352 -4.661 -4.000
-0.291 -3.939 -3.394
-0.185 -3.181 -2.817
-0.042 -2.460 -2.183
0.074 -1.710 -1.531
0.174 -0.927 -0.853
0.296 -0.109 -0.120
0.459 0.737 0.693
0.640 1.647 1.657
0.861 2.763 2.808

Thanks and regards,


-- 
Sharmin Sultana
Old Dominion University
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