[vtkusers] ICP with Point Cloud

[samo]

Hi guys 

Thanks very much for your ideas, but unfortunately they both don't work.
Everytime I check the NumberOfIterations the icp needed, I get 0. My points
are completly random, sometimes I also have some points twice or more. What
could be the error? I understood both ideas, and in my opinion they should
work perfectly, but they don't 

Has anybody an idea?





Emmanouil Moschidis wrote:
> 
> hi i have posted in the past this  piece of code that should work...
> 
> 
>      vtkPoints *cloudPoints=new vtkPoints;
>      vtkCellArray *cloudCells=new vtkCellArray;
>      vtkPolyData *cloudPData=new vtkPolyData;
> 
> 
>      cloudPoints->SetDataTypeToDouble();
>      cloudPoints->SetNumberOfPoints(numberOfVTKPoints);
> 
> 
>      for(int i=0; i<(numberOfVTKCells*3); i++)
>      {         
> cloudPoints->SetPoint(i,vtkStoredPointsBuffer[i].getX(),vtkStoredPointsBuffer[i].getY(),vtkStoredPointsBuffer[i].getZ());
> 
>      }
> 
>      cloudCells->InsertNextCell(numberOfVTKPoints);
> 
> 
>      for (int i=0; i<numberOfVTKPoints; i++)
>      {
>          cloudCells->InsertCellPoint(i);
>      }
> 
> 
>      cloudPData->SetPoints(cloudPoints);
>      cloudPData->SetLines(cloudCells);
> 
> 
> the only weird thing you may see is these getX(), getY(), getZ() 
> methods.The reason why i use these methods is that i store my points in 
> std::vector<Point3D>where Point3D is a custom class for 3D points (in your
> case you use 
> vtkPoints).
> In general it works. Try if it works for your application too 
> 
> good luck 
> 
> 
> samo <sandra.moritz at gmx.de> wrote: 
> 
> Hello together
> 
> I try to match a point cloud with a surface with the help of
> vtkIterativeClosestPointAlgorithm. What I would like to know is, whether
> and
> how I can use a point cloud in vtk. At the moment, I am using the
> vtkPoints
> array to store all the points in. But when I want to use the icp, I need a
> vtkDataSet. But, as I understood, the vtkDataSet always needs the cell
> information. Is that right? I tried to use vtkUnstructuredGrid with only
> setting points and no cells. But the icp calculated no transformation. Is
> there a possiblility to use the icp without the cell information? As, in
> my
> point cloud, I don't know how the points are organized. I just would like
> to
> calculate a transformation from the point cloud to the surface. The icp
> which I know from maths, is able to do that. 
> 
> Has anybody an idea?
> -- 
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