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vtkIterativeClosestPointTransform Class Reference

#include <vtkIterativeClosestPointTransform.h>

Inheritance diagram for vtkIterativeClosestPointTransform:

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List of all members.

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
Created by:
  • Barre, Sebastien
CVS contributions (if > 5%):
  • Barre, Sebastien (88%)
CVS logs (CVSweb):
  • .cxx (/Hybrid/vtkIterativeClosestPointTransform.cxx)
  • .h (/Hybrid/vtkIterativeClosestPointTransform.h)
Tests:
vtkIterativeClosestPointTransform (Tests)

Definition at line 63 of file vtkIterativeClosestPointTransform.h.

Public Types

typedef vtkLinearTransform Superclass

Public Member Functions

virtual const char * GetClassName ()
virtual int IsA (const char *type)
void PrintSelf (ostream &os, vtkIndent indent)
void Inverse ()
vtkAbstractTransformMakeTransform ()
void SetSource (vtkDataSet *source)
void SetTarget (vtkDataSet *target)
virtual vtkDataSetGetSource ()
virtual vtkDataSetGetTarget ()
void SetLocator (vtkCellLocator *locator)
virtual vtkCellLocatorGetLocator ()
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 vtkLandmarkTransformGetLandmarkTransform ()

Static Public Member Functions

vtkIterativeClosestPointTransformNew ()
int IsTypeOf (const char *type)
vtkIterativeClosestPointTransformSafeDownCast (vtkObject *o)

Protected Member Functions

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 Attributes

vtkDataSetSource
vtkDataSetTarget
vtkCellLocatorLocator
int MaximumNumberOfIterations
int CheckMeanDistance
int MeanDistanceMode
double MaximumMeanDistance
int MaximumNumberOfLandmarks
int StartByMatchingCentroids
int NumberOfIterations
double MeanDistance
vtkLandmarkTransformLandmarkTransform


Member Typedef Documentation

typedef vtkLinearTransform vtkIterativeClosestPointTransform::Superclass
 

Reimplemented from vtkLinearTransform.

Definition at line 67 of file vtkIterativeClosestPointTransform.h.


Constructor & Destructor Documentation

vtkIterativeClosestPointTransform::vtkIterativeClosestPointTransform  )  [protected]
 

vtkIterativeClosestPointTransform::~vtkIterativeClosestPointTransform  )  [protected]
 


Member Function Documentation

vtkIterativeClosestPointTransform* vtkIterativeClosestPointTransform::New  )  [static]
 

Create an object with Debug turned off, modified time initialized to zero, and reference counting on.

Reimplemented from vtkObject.

virtual const char* vtkIterativeClosestPointTransform::GetClassName  )  [virtual]
 

Reimplemented from vtkLinearTransform.

int vtkIterativeClosestPointTransform::IsTypeOf const char *  type  )  [static]
 

Return 1 if this class type is the same type of (or a subclass of) the named class. Returns 0 otherwise. This method works in combination with vtkTypeRevisionMacro found in vtkSetGet.h.

Reimplemented from vtkLinearTransform.

virtual int vtkIterativeClosestPointTransform::IsA const char *  type  )  [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 vtkTypeRevisionMacro found in vtkSetGet.h.

Reimplemented from vtkLinearTransform.

vtkIterativeClosestPointTransform* vtkIterativeClosestPointTransform::SafeDownCast vtkObject o  )  [static]
 

Reimplemented from vtkLinearTransform.

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 vtkLinearTransform.

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

virtual int vtkIterativeClosestPointTransform::GetMaximumNumberOfIterations  )  [virtual]
 

Set/Get the maximum number of iterations

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 iteration.

virtual int vtkIterativeClosestPointTransform::GetCheckMeanDistance  )  [virtual]
 

Force the algorithm to check the mean distance between two iteration.

virtual void vtkIterativeClosestPointTransform::CheckMeanDistanceOn  )  [virtual]
 

Force the algorithm to check the mean distance between two iteration.

virtual void vtkIterativeClosestPointTransform::CheckMeanDistanceOff  )  [virtual]
 

Force the algorithm to check the mean distance between two iteration.

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.

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.

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.

Definition at line 112 of file vtkIterativeClosestPointTransform.h.

References VTK_ICP_MODE_RMS.

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.

Definition at line 114 of file vtkIterativeClosestPointTransform.h.

References VTK_ICP_MODE_AV.

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.

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.

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.

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.

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.

virtual void vtkIterativeClosestPointTransform::SetStartByMatchingCentroids int   )  [virtual]
 

Starts the process by translating source centroid to target centroid.

virtual int vtkIterativeClosestPointTransform::GetStartByMatchingCentroids  )  [virtual]
 

Starts the process by translating source centroid to target centroid.

virtual void vtkIterativeClosestPointTransform::StartByMatchingCentroidsOn  )  [virtual]
 

Starts the process by translating source centroid to target centroid.

virtual void vtkIterativeClosestPointTransform::StartByMatchingCentroidsOff  )  [virtual]
 

Starts the process by translating source centroid to target centroid.

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  )  [protected, virtual]
 

Get the MTime of this object also considering the locator.

Reimplemented from vtkAbstractTransform.

void vtkIterativeClosestPointTransform::InternalUpdate  )  [protected, virtual]
 

Perform any subclass-specific Update.

Reimplemented from vtkAbstractTransform.

void vtkIterativeClosestPointTransform::InternalDeepCopy vtkAbstractTransform transform  )  [protected, virtual]
 

This method does no type checking, use DeepCopy instead.

Reimplemented from vtkHomogeneousTransform.


Member Data Documentation

vtkDataSet* vtkIterativeClosestPointTransform::Source [protected]
 

Definition at line 185 of file vtkIterativeClosestPointTransform.h.

vtkDataSet* vtkIterativeClosestPointTransform::Target [protected]
 

Definition at line 186 of file vtkIterativeClosestPointTransform.h.

vtkCellLocator* vtkIterativeClosestPointTransform::Locator [protected]
 

Definition at line 187 of file vtkIterativeClosestPointTransform.h.

int vtkIterativeClosestPointTransform::MaximumNumberOfIterations [protected]
 

Definition at line 188 of file vtkIterativeClosestPointTransform.h.

int vtkIterativeClosestPointTransform::CheckMeanDistance [protected]
 

Definition at line 189 of file vtkIterativeClosestPointTransform.h.

int vtkIterativeClosestPointTransform::MeanDistanceMode [protected]
 

Definition at line 190 of file vtkIterativeClosestPointTransform.h.

double vtkIterativeClosestPointTransform::MaximumMeanDistance [protected]
 

Definition at line 191 of file vtkIterativeClosestPointTransform.h.

int vtkIterativeClosestPointTransform::MaximumNumberOfLandmarks [protected]
 

Definition at line 192 of file vtkIterativeClosestPointTransform.h.

int vtkIterativeClosestPointTransform::StartByMatchingCentroids [protected]
 

Definition at line 193 of file vtkIterativeClosestPointTransform.h.

int vtkIterativeClosestPointTransform::NumberOfIterations [protected]
 

Definition at line 195 of file vtkIterativeClosestPointTransform.h.

double vtkIterativeClosestPointTransform::MeanDistance [protected]
 

Definition at line 196 of file vtkIterativeClosestPointTransform.h.

vtkLandmarkTransform* vtkIterativeClosestPointTransform::LandmarkTransform [protected]
 

Definition at line 197 of file vtkIterativeClosestPointTransform.h.


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