Details on ICP registration implementation

odiseo123 · June 30, 2018, 10:40am

Operating system: Windows 7 64bits
Slicer version: 4.8.1
Expected behavior: N/A
Actual behavior: N/A

I am using the surface registration module with “Surface Registration” as “Type of Registration”. I just wanted some extra information about it:
*Is the registration algorithm a pure ICP method, i.e. it aligns points WITHOUT considering normals or curvature?
*Is the “Number Of Landmarks” the number of points sampled from the mesh surface? Is the sampling done randomly?

Thanks a lot for your help.

Andinet_Enquobahrie · July 1, 2018, 1:48pm

Hi,

The Surface Registration module which is part of the CMFreg extension uses vtkIterativeClosestPointTransform. You can look into the details in the following links.

Surface registration python script

github.com

DCBIA-OrthoLab/CMFreg/blob/master/SurfaceRegistration/SurfaceRegistration.py

import os
from __main__ import vtk, qt, ctk, slicer
from slicer.ScriptedLoadableModule import *
import logging
import time
import numpy
import json

#
# SurfaceRegistration
#

class SurfaceRegistration(ScriptedLoadableModule):
    """Uses ScriptedLoadableModule base class, available at:
  https://github.com/Slicer/Slicer/blob/master/Base/Python/slicer/ScriptedLoadableModule.py
    """

    def __init__(self, parent):
        ScriptedLoadableModule.__init__(self, parent)
        self.parent.title = "Surface Registration"

This file has been truncated. show original

vtkIterativeClosestPointTransform
https://www.vtk.org/doc/nightly/html/classvtkIterativeClosestPointTransform.html#details

HTH,
Andinet

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Details on ICP registration implementation

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