RanRegisC - RanRegisC uses the Range Image Search Nearest Neighbour Method and is reference counted (Big Object).

Developer Documentation

Centre for Vision, Speech & Signal Processing

Comments:
RanRegisC is derived from the base abstract class BaseRegisC and is reference counted (Big Object). This is the Body and should not be used directly. It should be used by the provided Handle Class.

The class requires two range images (FloatRangeC).

An initial guess is required to start the iterative process of motion estimate, which is passed to PerformRegistration (a member function of BaseRegisC). The result of the final transformation that registers the two surfaces will be returned as a RigidTransC.

The constructor uses the first range image to do the nearest neighbour (NN) search on.

There are various options provided by the constructor and member functions, which affect results, except the trace option. See the Base Class for more details on these options.

Parent Classes:

BaseRegisC

Variables:

const double SlopeThresholdM;: cos(1.46) : Better than -> 3.0/1.0
const int NeighbourHThresholdM;: Neighbourhood Threshold (5x5)
FloatRangeC fixedM;: Fixed surface
ByteImageC lookUpM;: Tells you whether a range square is invalid, valid, or whether its on a boundary

Methods:

int NoValidPoints(const FloatRangeC & mov)

This is to be used by the constructor only!!!!!

mov	IN: The moveable object

It is just to determine the number of valid points within the moveable FloatRangeC.

RanRegisC(const FloatRangeC & fix,const FloatRangeC & mov,const int & trace = 0,const RigidTransC & preReg = RigidTransC())

Constructor

fix	IN: The fixed object
mov	IN: The moveable object
trace	IN: 1 = Detailed prints & save data
	0 = No prints, no savings

~RanRegisC()

Destructor

void GetNNPairs(VectorSetC & fixPts,VectorSetC & workMovPts,VectorSetC & fixNormals,RealSArray1dC & fixDists,SArray1dC<double> & wght,int & boundCheckAffectedWeights)

Get Nearest Neighbours

fixPts	IN: Fixed points
workMovPts	IN: Workable moveable points
fixNormals	IN: Normals associated with fixPts
fixDists	IN: Distances between NN points on fixed object
	and points on moving object
wght	I&O: Weights associated with points on moveable
boundCheckAffectedWeights	OUT: Whether any weights were
	affected by the boundary check

It uses the method defined in RanRegis::GetNearest() to find a nearest point.

void LabelLookup(void)

Labels the lookUpM byte image.
It is used as a lookup to know whether a range square is invalid, valid or on a boundary.

void Lookup2RSquare(const PixelC & pxl,PixelC & topl,PixelC & topr,PixelC & botl,PixelC & botr)

Takes the x,y position used with lookUpM, and converts them into coordinates that are associated with a range square.

pxl	IN: Pixel we want mapped to the range square
topl	OUT: Top left corner of range square
topr	OUT: Top right corner of range square
botl	OUT: Bottom left corner of range square
botr	OUT: Bottom right corner of range square

NOTE: No error checking is done to see if the value of pxl is within a valid range.

TriNearestT NearestInsideSquare(const PixelC & pxl,const Vector3dC & point)

Returns the nearest point in a range square.

pxl	IN: Pixel related to a range square
point	IN: The point which we want to find nearest point for
	on the range square

NOTE: No error checks are done to see if the range square, pxl, is refering to is valid.

void ExpandNeighbourhood(PixelC & minTopLeftPxl,PixelC & maxBotRightPxl,IndexT & minRow,IndexT & maxRow,IndexT & minCol,IndexT & maxCol)

This is used to expand a neighbourhood.

minTopLeftPxl	I&O: Top left corner in neighbourhood
maxBotRightPxl	I&O: Bottom right corner in neighbourhood
minRow	OUT: Minimum row
maxRow	OUT: Maximum row
minCol	OUT: Minimum column
maxCol	OUT: Maximum column

The neighbourhood is defined by the top left corner and bottom right corner. It also calculates the minimum & maximum rows and columns, so that the neighbourhood can be done in strips. Eg top and bottom row done first, then the columns.

******* ------- By doing it like this, |:::::| _\ *:::::* it stops the corners of |:::::| / *:::::* the neighbourhood being ******* ------- checked twice.

Normally you would expect a neighbourhood thats 3x3 to goto 5x5, but if we are in the corner of an image then it might goto a 4x4.

If when this function is called and we are at the maximum neighbourhood size (the image size), then an error is printed and the program is terminated. This means either no nearest neighbours have been found that could meet the criteria or the range image consisted of invalid range squares only.

void GetNearest(const Vector3dC & r,Vector3dC & rnearest,Vector3dC & normal,double & distance,EnumRSquareStatus & bflag)

This function is used to get a nearest point, along with its associated normal and distance from the point r, as well as whether the point is sitting on a valid range square or boundary range square.

r	IN: Point we want to find nearest for
rnearest	OUT: The nearest point
normal	OUT: The normal associated with the nearest point
distance	OUT: The distance between r and rnearest
bflag	OUT: Whether we successfully found a nearest point

If we cannot find a nearest point that meets the criterian then bflag is set to invalid. This means rnearest, normal, and distance are invalid. Hence bflag must be tested to know whether the NN search was successful.

#include "amma/BaseRegis.hh"

void SetExpectedRT(const RigidTransC & exp = RigidTransC())

Sets the expected Final translation & rotation.

exp	IN: Expected final Translation and Rotation

This is so that it can be compared with the actual translation and rotation at the end of the print out. It also allows errors to be computed.

void SetMaxIter(const int & iteration = 1000)

Maximum number of iterations before terminating the registration.

iteration	IN: Maximum number of iterations

void SetPrediction(const EnumPrediction & prediction = noPrediction)

Whether to use prediction or basic ICP.

prediction	IN: noPrediction = No Prediction
	prediction = Perform Prediction

void SetRMSThresh(const double & ratioThres = 0.99)

Set threshold for RMS error.

ratioThres	IN: ratio threshold

Termination occurs when 2 successive ratios exceed ratioThres. See IterationBreak() for details.

void SetRegWay(const EnumRegWay & regWay = regis)

Chooses the function which will calculate the transform to move the moveable onto the new nearest neighbours on the fixed surface.

regWay	IN: regis = Regis
	pRegis = PRegis

THE DEFAULT IS THE ONLY OPTION CURRENTLY USED !!!!

void SetRegType(const SceModT & regType = scene_scene)

Defines the registration type.

regType	IN: scene_scene = scene_scene
	model_scene = model_scene

THE DEFAULT IS THE ONLY OPTION CURRENTLY USED !!!!

void SetMSECalculation(const EnumMseCalculation & mseCalc = standardMse)

Sets the calculation type for the MSE.

mseCalc	IN: standardMse = Standard MSE
	madEstimator = Uses the MAD Estimator

void SetBoundaryCheck(const EnumBoundary & bound = discardBoundaryPoints)

Whether to modify weights of NN pairs that are on the boundary of fixed.

bound	IN: keepBoundaryPoints = Don't modify weight values
	discardBoundaryPoints = Modify weight values accordingly

void SetNormalCheck(const EnumAngle & normal = noAngleCheck)

Whether to modify weights of NN pairs that have significantly different normal values.

normal	IN: noAngleCheck = Don't do normal angle check
	doAngleCheck = Do normal angle check

void SetDistanceCheck(const EnumSigmaCheck & sigma = noDistanceCheck)

Whether to modify weights of NN pairs that have significantly greater distances between them & the moving object, compared to the rest overall.

sigma	IN: noDistanceCheck = Don't do distance check
	doDistanceCheck = Do distance check

void SetHistory(const int & hst = 0)

Used to set whether a history of RTs (RigidTransforms) are kept.

hst	IN: 0 = Do not keep history of RTs
	1 = Keep a history of each RT obtained
	after each iteration

Note: Call this function before PerformRegistration().

void SaveHistory2Com(const char * comfname,const char * movfname)

Uses the history information and creates a .com file.

comfname	IN: Filename for .com file
movfname	IN: Filename of the moveable file

Note: Call this function after you have called PerformRegistration().

RigidTransC PerformRegistration(RigidTransC guess)

Execute registration with initial guess, return desired RT.

guess	IN: Initial guess

void GetNNPairs(VectorSetC & fixPts,VectorSetC & workMovPts,VectorSetC & fixNormals,RealSArray1dC & fixDists,SArray1dC<double> & wght,int & boundCheckAffectedWeights)

Get Nearest Neighbours.

fixPts	IN: Fixed points
workMovPts	IN: Workable moveable points
fixNormals	IN: Normals associated with fixPts
fixDists	IN: Distances between NN points on fixed object
	and points on moving object
wght	I&O: Weights associated with points on moveable
boundCheckAffectedWeights	OUT: Whether any weights were
	affected by the boundary check

Method of how this is achieved is defined in the derived classes.

double CheckBoundary(const double & distance)

Returns a weight value to modify a point's weight value accordingly to the distance passed associated with the NN Pair, i.e. weight[point] *= return_value.

distance	IN: Distance between NN Pair

double MSE()

Compute the average mean square error.

Method used depends on calculation type chosen by the user, determined by the call to SetMSECalculation().

void NormAngleCheck(VectorSetC & movNormals,VectorSetC & fixNrm,SArray1dC<double> & wght)

Check angle between normals and modify weights accordingly.

movNormals	IN: Normals associated with moveable
fixNrm	IN: Normals associated with fixM
wght	I&O: Weights associated with points on moveable

void DistanceCheck(const RealSArray1dC & fixDists,SArray1dC<double> & wght)

Checks distance against the standard deviation and modifies the weights accordingly.

fixDists	IN: Distances between NN Pairs
wght	I&O: Weights associated with points on moveable

void FindNearest(VectorSetC & workMovPts,VectorSetC & workMovNmls,VectorSetC & fixPts,VectorSetC & fixNmls,SArray1dC<double> & wght)

Finds nearest neighbours using GetNNPairs().

workMovPts	IN: Working moveable surface
workMovNmls	IN: Normals of working moveable
fixPts	OUT: NN on fixed surface.
fixNmls	OUT: Normals of NN on fixed.
wght	I&O: Weights associated with points

This is defined in derived class. It calculates the MSE, applies the rejection criteria (quality improvement checks) which are optional. If Quality Improvement Checks are used then the weights are updated.

NOTE: All vector sets and the array must have the same size. (Not tested)

void DoTransformation()

Transform the moving set as estimated.

int IterationBreak(const int & iteration)

Used to determine whether registration is completed.

iteration	IN: Current Iteration

In other words whether the criterion has been met.

It checks whether iteration==max_iter and/or the rms error has changed below the threshold.

BooleanT BasicIterate(const int & iteration)

Performs one Basic ICP iteration.

iteration	IN: Current Iteration

BooleanT AcceleratedIterate(const int & iteration)

Performs one Accelerated ICP Iteration.

iteration	IN: Current Iteration

void PrintHeader(void)

Prints out header information, which includes key symbol information.

void PrintResults(const int & iteration)

Compute and print results of one iteration.

iteration	IN: Current Iteration

void FinalResults()

Print the final translation and rotation.

void Savings()

Saves translation, rotation and rms error.

Currently not implemented!!!

VectorC RigidT_TO_VectorC7(RigidTransC & r)

Takes a RigidTransC and returns it as a VectorC. (RigidTransC -> VectorC).

r	IN: RigidTransC

RigidTransC VectorC7_TO_RigidT(VectorC & qq)

Takes a VectorC and returns it as a RigidTransC. (VectorC -> RigidTransC).

qq	IN : VectorC

NOTE: The involved quaternion is assumed to be valid.

#include "amma/BRefCntV.hh"

BodyRefCounterVC & Copy() const: Creat a copy of this object.
BooleanT operator==(const BodyRefCounterVC & oth) const: Compair identitys.
BooleanT operator!=(const BodyRefCounterVC & oth) const: Compair identitys.
BooleanT Save(ostream & out) const: Save to ostream.

#include "amma/BRefCnt.hh"

void AddReference(): Another reference to the object has been created.
void RemoveReference(): One reference to the object was deleted.
Locking scheme -------------- The object is possible to lock (to make constant). The scheme assumes that the object is created, it can be locked, after that it can only be destroyed. The locked object cannot be unlocked. This locking scheme is very useful during debugging, using assert() function, when it is necassary to check that object is treated as constant and the constancy is not violated by any casting or passing through the copy constructor of shared objects.
void SetConst(void) const: This locks the object.
Often objects you wish to lock are already const.
void SetConst(void): This locks the object.
BooleanT IsConst(void) const: Returns TRUE if the object is locked, ie. it is assumed to be constant.
BooleanT IsNotConst(void) const: Returns TRUE if the object is unlocked.
ie. there is no special information if the object is constant or not. Counter state information -------------------------
BooleanT ToBeDeleted() const: Returns TRUE if there is only one reference to the object and the whole object or its reference counting part can be deleted.
BooleanT ToBeDeletedRemoveIgnoreNoRemove(): Decrement refrence by 1 return true if this leaves no refrences to the object.
BooleanT ToBeDeletedRemove(): Decrement refrence by 1 return true if this leaves no refrences to the object. This also checks the NoRemove flag.
BooleanT BodyMightBeDeleted() const: Returns TRUE if the reference counted part of the object can be deleted, ie. flag NOREMOVE is false .
BooleanT IsCountZero() const: Are there any refrences left ?
BooleanT BRCPtrCanDeleteObject() const: Used by BRRCPtrC to establish if an object has ZERO refrences and can be deleted.
IntT Count() const: Returns the current state of the counter, ie. how many references to this object exist.
const BodyRefCounterC & operator=(const BodyRefCounterC & b): It has not meaning to assign object 'b' to this object because it would destroy a history of the object which is counted. So this is a dummy function.
BooleanT IsValidObject() const: Test if object is valid.
When amma check is disabled this always returns true.
BooleanT UserBitTest(IntT x) const: Test user flag.
void UserBitSet(IntT x,BooleanT setit = TRUE): Test user flag.
void UserBitZero(IntT x): Set bit to zero.
void ReportBRCError(char * Msg): Report error, used in BRCPtrC.
UIntT Hash() const: Hash on address of object.
void SetUndeletable(): Make object undeletable.
Usefull to prevent recursive deleting in graph structures. Only hackers need this function.
void ReportInvalidObject(char * Msg = 0) const: Tell user about validation failure.

#include "amma/RefCBase.hh"

LabelT Label() const: Returns the label of this reference counter.
The member function is useful mainly to recognize objects during debugging. The value of the label is uniquely defined pointer.

Programmer: Simon Cunnington , Documentation by CxxDoc: Tue Mar 20 10:49:27 2001

RanRegisC

RanRegisC uses the Range Image Search Nearest Neighbour Method and is reference counted (Big Object).

include	"amma/RanRegis.hh"
User Level:	Default
Library:	POLREGIS
Example:	cri.cc
Section:	3D Surface.Registration
In Scope:	std