DeformableIcpAlgorithm Class Reference

#include <ImFusion/Reg/DeformableIcpAlgorithm.h>

Regularized-least-squares-based iterative closest point (ICP) algorithm for deformable registration of two meshes, a mesh to a point cloud, or two point clouds representing a curve. More...

Inheritance diagram for DeformableIcpAlgorithm:

Detailed Description

Regularized-least-squares-based iterative closest point (ICP) algorithm for deformable registration of two meshes, a mesh to a point cloud, or two point clouds representing a curve.

Deformation smoothness is promoted by using the Frobenius norm of the Laplacian applied to point displacements as regularization term. The Laplacian is computed on the initial configuration. The rigidity of the moving points is gradually reduced by multiplying the regularization parameter \(\lambda\) by a factor smaller than 1 each iteration. Point correspondences are re-established each iteration using bi- or unidirectional nearest neighbor search.

Iterations are stopped if the relative RMSE or \(\lambda\) falls below a specified threshold or the maximum number of iterations has been reached. The same stopping criteria apply for an optional iterative rigid or rigid-then-rigid-and-scaling pre-alignment. Additionally, the pre-alignment is also stopped if the difference of relative RMSEs between successive iterations falls below a threshold.

For more information, see the class DeformableIcp, which is used by this algorithm.

Public Types
enum class	MovingInput { First , Second }
	Used to define which input to use as moving input. More...
enum class	PointCloudInterpretation { ClosedCurve , OpenCurve }
	Used to define how to interpret point clouds provided as moving input. More...
Public Types inherited from Algorithm
enum	Status {   Unknown = -1 , Success = 0 , Error = 1 , InvalidInput ,   IncompleteInput , OutOfMemoryHost , OutOfMemoryGPU , UnsupportedGPU ,   UnknownAction , AbortedByUser , User = 1000 }
	Status codes. More...

Public Member Functions
	DeformableIcpAlgorithm (PointCloud &pointCloud1, PointCloud &pointCloud2)
	Constructor taking two point clouds.
	DeformableIcpAlgorithm (Mesh &mesh1, Mesh &mesh2)
	Constructor taking two meshes.
	DeformableIcpAlgorithm (PointCloud &pointCloud, Mesh &mesh)
	Constructor taking a fixed point cloud and a moving mesh.
	~DeformableIcpAlgorithm ()=default
	Destructor.
void	compute () override
	Registers the moving input in-place to the fixed input.
DeformableIcp &	deformableIcp ()
	The deformable ICP instance used by this algorithm.
Public Member Functions inherited from Algorithm
	Algorithm ()
	Default constructor will registers a single "compute" action that calls compute() and returns status().
virtual OwningDataList	takeOutput ()
	Return any new Data that was created by the Algorithm during the last call to compute().
virtual void	setProgress (Progress *progress)
	Sets a Progress interface the algorithm can use to notify observers about its computing progress.
Progress *	progress () const
	Returns the progress interface if set.
virtual int	status () const
	Indicates the status of the last call to compute().
virtual bool	survivesDataDeletion (const Data *) const
	Indicates whether the algorithm can handle (partial) deletion of the specified data, by default this checks whether the data is in the input list.
const FactoryInfo &	factoryInfo () const
	Returns the record describing how this Algorithm was instantiated by the AlgorithmFactory.
void	setFactoryInfo (const FactoryInfo &value)
	Sets the record describing how this Algorithm was instantiated by the AlgorithmFactory.
Status	runAction (const std::string &id)
	Run the action with name id if it exists.
const std::vector< Action > &	actions ()
	Get a mapping from Action id to Action as registered in this algorithm.
Public Member Functions inherited from Configurable
virtual void	configureDefaults ()
	Retrieve the properties of this object, replaces values with their defaults and sets it again.
void	registerParameter (ParameterBase *param)
	Register the given Parameter or SubProperty, so that it will be configured during configure()/configuration().
void	unregisterParameter (const ParameterBase *param)
	Remove the given Parameter or SubProperty from the list of registered parameters.
	Configurable (const Configurable &rhs)
	Configurable (Configurable &&rhs) noexcept
Configurable &	operator= (const Configurable &)
Configurable &	operator= (Configurable &&) noexcept

Static Public Member Functions
static bool	createCompatible (const DataList &data, Algorithm **a=nullptr)
	Used to create the algorithm from the ImFusion Suite.
Static Public Member Functions inherited from Algorithm
static bool	createCompatible (const DataList &data, Algorithm **a=nullptr)
	Factory function to check algorithm compatibility with input data and optionally instantiate it.

Public Attributes
Parameter< MovingInput >	p_movingInput = {"movingInput", MovingInput::Second, this}
	Which of the inputs to use as moving input.
Parameter< PointCloudInterpretation >	p_pointCloudInterpretation = {"pointCloudInterpretation", PointCloudInterpretation::ClosedCurve, this}
	How to interpret the moving point cloud, if provided as input.
Parameter< bool >	p_pointToPlane = {"pointToPlane", false, this}
	Whether to perform point-to-plane instead of point-to-point ICP using normals of the fixed input.
Parameter< bool >	p_useLabelsAsRegions = {"useLabelsAsRegions", false, this}
	Whether to use the labels of the inputs as regions.
Parameter< bool >	p_updateWhileIterating = {"updateWhileIterating", false, this}
	Whether to update the moving input and the display while iterating.
Parameter< bool >	p_verbose = {"verbose", false, this}
	Whether to print additional information (current phase, iterations, timings) to the log.
Public Attributes inherited from Algorithm
Signal	signalOutputChanged
	Signal should be emitted by Algorithms when their output/result has changed.
Signal	signalParametersChanged
	Signal should be emitted by Algorithms when their parameter configuration has changed.
Public Attributes inherited from Configurable
Signal	signalParametersChanged
	Emitted whenever one of the registered Parameters' or SubPropertys' signalValueChanged signal was emitted.
void	configure (const Properties *p) override
	Configurable interface.
void	configuration (Properties *p) const override
	Serialize the current object configuration into the given Properties object.

Additional Inherited Members
Protected Member Functions inherited from Algorithm
void	loadDefaults ()
void	registerAction (const std::string &id, const std::string &guiName, const std::function< Algorithm::Status(void)> &action)
	Register an action to be run via runAction.
template<typename D>
void	registerAction (const std::string &id, const std::string &guiName, Algorithm::Status(D::*action)(void))
	Template version of runAction that can be used with a pointer to a member function.
void	registerAction (const Action &action)
	Register an action.
Protected Attributes inherited from Algorithm
std::string	m_name
	Algorithm name.
Progress *	m_progress = nullptr
	Non-owing pointer to a progress interface. May be a nullptr.
FactoryInfo	m_factoryInfo = {}
	Record describing how this algorithm was instantiated by the AlgorithmFactory.
int	m_status = Status::Unknown
	Algorithm status after last call to compute()
std::vector< Action >	m_actions
	Map of key given by the id of the action, of the available actions of this algorithm.
Protected Attributes inherited from Configurable
std::vector< Param >	m_params
	List of all registered Parameter and SubProperty instances.

Member Enumeration Documentation

MovingInput

enum class MovingInput

strong

Used to define which input to use as moving input.

Enumerator
First	First input is moving.
Second	Second input is moving.

PointCloudInterpretation

enum class PointCloudInterpretation

strong

Used to define how to interpret point clouds provided as moving input.

Enumerator
ClosedCurve	Moving point cloud is interpreted as closed curve.
OpenCurve	Moving point cloud is interpreted as open curve.

Member Function Documentation

configure()

void configure ( const Properties * p )

overridevirtual

Configurable interface.

Reimplemented from Configurable.

configuration()

void configuration ( Properties * p ) const

overridevirtual

Serialize the current object configuration into the given Properties object.

The default implementation will do so automatically for all registered Parameter and SubProperty instances.

See also

configure() for the inverse functionality

Reimplemented from Configurable.

compute()

void compute ( )

overridevirtual

Registers the moving input in-place to the fixed input.

Implements Algorithm.

Member Data Documentation

p_useLabelsAsRegions

Parameter<bool> p_useLabelsAsRegions = {"useLabelsAsRegions", false, this}

Whether to use the labels of the inputs as regions.

Each region is treated separately when establishing point correspondences.

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

• ImFusion/Reg/DeformableIcpAlgorithm.h