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IterativeClosestPoint3.cxx
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IterativeClosestPoint3.cxx
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/*=========================================================================
*
* Copyright Insight Software Consortium
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0.txt
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*=========================================================================*/
// Software Guide : BeginLatex
//
// This example illustrates how to perform Iterative Closest Point (ICP)
// registration in ITK using a DistanceMap in order to increase the performance.
// There is of course a trade-off between the time needed for computing the
// DistanceMap and the time saving obtained by its repeated use during the
// iterative computation of the point to point distances. It is then necessary
// in practice to ponder both factors.
//
// \doxygen{EuclideanDistancePointMetric}.
//
// Software Guide : EndLatex
#include "itkTranslationTransform.h"
#include "itkEuclideanDistancePointMetric.h"
#include "itkLevenbergMarquardtOptimizer.h"
#include "itkPointSetToPointSetRegistrationMethod.h"
#include "itkDanielssonDistanceMapImageFilter.h"
#include "itkPointSetToImageFilter.h"
#include <iostream>
#include <fstream>
int main(int argc, char * argv[] )
{
if( argc < 3 )
{
std::cerr << "Arguments Missing. " << std::endl;
std::cerr <<
"Usage: IterativeClosestPoint3 fixedPointsFile movingPointsFile "
<< std::endl;
return EXIT_FAILURE;
}
// Software Guide : BeginCodeSnippet
const unsigned int Dimension = 2;
typedef itk::PointSet< float, Dimension > PointSetType;
PointSetType::Pointer fixedPointSet = PointSetType::New();
PointSetType::Pointer movingPointSet = PointSetType::New();
typedef PointSetType::PointType PointType;
typedef PointSetType::PointsContainer PointsContainer;
PointsContainer::Pointer fixedPointContainer = PointsContainer::New();
PointsContainer::Pointer movingPointContainer = PointsContainer::New();
PointType fixedPoint;
PointType movingPoint;
// Software Guide : EndCodeSnippet
// Software Guide : BeginLatex
//
// Read the file containing coordinates of fixed points.
//
// Software Guide : EndLatex
// Software Guide : BeginCodeSnippet
std::ifstream fixedFile;
fixedFile.open( argv[1] );
if( fixedFile.fail() )
{
std::cerr << "Error opening points file with name : " << std::endl;
std::cerr << argv[1] << std::endl;
return EXIT_FAILURE;
}
unsigned int pointId = 0;
fixedFile >> fixedPoint;
while( !fixedFile.eof() )
{
fixedPointContainer->InsertElement( pointId, fixedPoint );
fixedFile >> fixedPoint;
pointId++;
}
fixedPointSet->SetPoints( fixedPointContainer );
std::cout << "Number of fixed Points = "
<< fixedPointSet->GetNumberOfPoints() << std::endl;
// Software Guide : EndCodeSnippet
// Software Guide : BeginLatex
//
// Read the file containing coordinates of moving points.
//
// Software Guide : EndLatex
// Software Guide : BeginCodeSnippet
std::ifstream movingFile;
movingFile.open( argv[2] );
if( movingFile.fail() )
{
std::cerr << "Error opening points file with name : " << std::endl;
std::cerr << argv[2] << std::endl;
return EXIT_FAILURE;
}
pointId = 0;
movingFile >> movingPoint;
while( !movingFile.eof() )
{
movingPointContainer->InsertElement( pointId, movingPoint );
movingFile >> movingPoint;
pointId++;
}
movingPointSet->SetPoints( movingPointContainer );
std::cout << "Number of moving Points = "
<< movingPointSet->GetNumberOfPoints() << std::endl;
// Software Guide : EndCodeSnippet
// Software Guide : BeginCodeSnippet
typedef itk::EuclideanDistancePointMetric<
PointSetType,
PointSetType>
MetricType;
MetricType::Pointer metric = MetricType::New();
typedef itk::TranslationTransform< double, Dimension > TransformType;
TransformType::Pointer transform = TransformType::New();
// Optimizer Type
typedef itk::LevenbergMarquardtOptimizer OptimizerType;
OptimizerType::Pointer optimizer = OptimizerType::New();
optimizer->SetUseCostFunctionGradient(false);
// Registration Method
typedef itk::PointSetToPointSetRegistrationMethod<
PointSetType,
PointSetType >
RegistrationType;
RegistrationType::Pointer registration = RegistrationType::New();
// Scale the translation components of the Transform in the Optimizer
OptimizerType::ScalesType scales( transform->GetNumberOfParameters() );
scales.Fill( 0.01 );
const unsigned long numberOfIterations = 100;
const double gradientTolerance = 1e-5; // convergence criterion
const double valueTolerance = 1e-5; // convergence criterion
const double epsilonFunction = 1e-6; // convergence criterion
optimizer->SetScales( scales );
optimizer->SetNumberOfIterations( numberOfIterations );
optimizer->SetValueTolerance( valueTolerance );
optimizer->SetGradientTolerance( gradientTolerance );
optimizer->SetEpsilonFunction( epsilonFunction );
// Software Guide : EndCodeSnippet
// Software Guide : BeginLatex
//
// Start from an Identity transform (in a normal case, the user
// can probably provide a better guess than the identity...
//
// Software Guide : EndLatex
// Software Guide : BeginCodeSnippet
transform->SetIdentity();
registration->SetInitialTransformParameters( transform->GetParameters() );
registration->SetMetric( metric );
registration->SetOptimizer( optimizer );
registration->SetTransform( transform );
registration->SetFixedPointSet( fixedPointSet );
registration->SetMovingPointSet( movingPointSet );
// Software Guide : EndCodeSnippet
// Software Guide : BeginLatex
//
// Start from an Identity transform (in a normal case, the user
// can probably provide a better guess than the identity...
// Prepare the Distance Map in order to accelerate
// distance computations.
//
// First map the Fixed Points into a binary image.
// This is needed because the DanielssonDistance
// filter expects an image as input.
//
// Software Guide : EndLatex
// Software Guide : BeginCodeSnippet
typedef itk::Image< unsigned char, Dimension > BinaryImageType;
typedef itk::PointSetToImageFilter<
PointSetType,
BinaryImageType> PointsToImageFilterType;
PointsToImageFilterType::Pointer
pointsToImageFilter = PointsToImageFilterType::New();
pointsToImageFilter->SetInput( fixedPointSet );
BinaryImageType::SpacingType spacing;
spacing.Fill( 1.0 );
BinaryImageType::PointType origin;
origin.Fill( 0.0 );
pointsToImageFilter->SetSpacing( spacing );
pointsToImageFilter->SetOrigin( origin );
pointsToImageFilter->Update();
BinaryImageType::Pointer binaryImage = pointsToImageFilter->GetOutput();
typedef itk::Image< unsigned short, Dimension > DistanceImageType;
typedef itk::DanielssonDistanceMapImageFilter<
BinaryImageType, DistanceImageType> DistanceFilterType;
DistanceFilterType::Pointer distanceFilter = DistanceFilterType::New();
distanceFilter->SetInput( binaryImage );
distanceFilter->Update();
metric->SetDistanceMap( distanceFilter->GetOutput() );
try
{
registration->Update();
}
catch( itk::ExceptionObject & e )
{
std::cout << e << std::endl;
return EXIT_FAILURE;
}
std::cout << "Solution = " << transform->GetParameters() << std::endl;
// Software Guide : EndCodeSnippet
return EXIT_SUCCESS;
}