ImFusion::ICPCore< TransformationModel > Class Template Reference

#include <AnatomyPlugin/include/ImFusion/AnatomyPlugin/ASCRegistrationMethods/ICPCore.h>

Core Iterative Closest Point (ICP) algorithm for point set registration. More...

Inheritance diagram for ImFusion::ICPCore< TransformationModel >:

Detailed Description

template<typename TransformationModel>
class ImFusion::ICPCore< TransformationModel >

Core Iterative Closest Point (ICP) algorithm for point set registration.

Iteratively aligns two point sets by finding nearest neighbor correspondences and fitting transformations until convergence. The transformation model is injected via template parameter, allowing for single or per-object transformations.

Template Parameters

TransformationModel

The transformation fitting strategy (must provide Hypothesis type and init/fit/apply methods)

Public Types
using	Hypothesis = typename TransformationModel::Hypothesis

Public Member Functions
	ICPCore (TransformationModel &transformationModel, const std::vector< PointsWithMetadata > &ptsFixed, std::vector< PointsWithMetadata > &ptsMoving)
	ICPCore (const ICPCore &)=delete
	disable copy, enable move
ICPCore &	operator= (const ICPCore &)=delete
	ICPCore (ICPCore &&)=default
ICPCore &	operator= (ICPCore &&)=default
void	initCaches ()
	Initialize nearest neighbor search structures and correspondence caches.
Hypothesis	singleIteration (const Hypothesis &currentHypothesis)
	Perform one ICP iteration: find correspondences and fit transformation.
void	compute ()
	Run the complete ICP algorithm until convergence or max iterations.
Public Member Functions inherited from ImFusion::Configurable
virtual void	configure (const Properties *p)
	Configure this object instance by de-serializing the given Properties.
virtual void	configuration (Properties *p) const
	Serialize the current object configuration into the given Properties object.
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

Public Attributes
Parameter< double >	p_maxIterations = {"maxIterations", 100, this}
	Maximum number of ICP iterations before stopping.
Parameter< CorrespondenceDirection >	p_correspondenceDirection
	Strategy for finding point correspondences.
Public Attributes inherited from ImFusion::Configurable
Signal	signalParametersChanged
	Emitted whenever one of the registered Parameters' or SubPropertys' signalValueChanged signal was emitted.

Additional Inherited Members
Protected Attributes inherited from ImFusion::Configurable
std::vector< Param >	m_params
	List of all registered Parameter and SubProperty instances.

Member Function Documentation

singleIteration()

template<typename TransformationModel>

Hypothesis ImFusion::ICPCore< TransformationModel >::singleIteration

(

const Hypothesis &

currentHypothesis

)

Perform one ICP iteration: find correspondences and fit transformation.

Parameters

currentHypothesis

Current transformation estimate

Returns

Updated transformation hypothesis for the next iteration

compute()

template<typename TransformationModel>

void ImFusion::ICPCore< TransformationModel >::compute

(

)

Run the complete ICP algorithm until convergence or max iterations.

Automatically initializes caches, runs iterations, and applies the final transformation to the moving points in-place.

Member Data Documentation

p_correspondenceDirection

template<typename TransformationModel>

Parameter<CorrespondenceDirection> ImFusion::ICPCore< TransformationModel >::p_correspondenceDirection

Initial value:

= {"correspondenceDirection",
                                                                        CorrespondenceDirection::ProjectOntoFixed,
                                                                        this}

Strategy for finding point correspondences.

---

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

• AnatomyPlugin/include/ImFusion/AnatomyPlugin/ASCRegistrationMethods/ICPCore.h