Registration
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Point Set and Surface Registration

When building 3D Models not all of the surface of a real world 3D object can be captured at the same time. Various views have to be captured front, sides and back which have some overlap. Some extra views will also likely have to be taken due to occlussion.

Once the different views have been captured they have to be aligned into a common coordinate frame. Once aligned they can be fused (integrated) into one 3D Model.

Registration (alignment) has two different categories: point set registration and surface registration. The classes for these are listed below.

To Register surfaces correspondences have to be found between different surfaces using a nearest neighbour method. These correspondences are then given to a point set registration method, which solves for the required transform (comprising of a rotation and translation) precisely. We then iterate, the process obtaining new correspondences and again solving for the transform. This continues until there is convergence. The overall process is called surface registration.

Subtopics:

    AMMA
        3D Surface
            Registration

Classes:

Default Classes Description
RegisC Registers two 3d data sets.
ViewT ViewT is used internally by NRegisC
CorresT CorresT is used internally by NRegisC
NRegisC N-Point Set Registration.
PRegisC Finds the pose.
CorSpecT CorSpecT holds the information for one correspondence set.
CorrSetC Provides routines for correspondence sets (it stores an array of CorSpecT's)
MeanRegisC MeanRegisC registers N point sets, using Pennec's method of mean shape.
SchmittC The SchmittC class registers N point sets using Schmitt's method.
BaseRegisC BaseRegisC is an Abstract Base Class, which is reference counted (Big Object) and provides the core operations for doing point set registration.
PolRegisC PolRegisC uses the Surface Based Nearest Neighbour Method and is reference counted (Big Object).
RanRegisC RanRegisC uses the Range Image Search Nearest Neighbour Method and is reference counted (Big Object).
BaseRegisHC BaseRegisHC is a Handle to the Abstract Base Class, BaseRegisC, which is reference counted.
VoxRegisC VoxRegisC uses the Voxel Based Nearest Neighbour Method and is reference counted (Big Object).
PolRegisHC PolRegisHC is a Handle to the Derived Class PolRegisC, which is reference counted.
VoxRegisHC VoxRegisHC is a Handle to the Derived Class VoxRegisC, which is reference counted.
RanRegisHC RanRegisHC is a Handle to the Derived Class RanRegisC, which is reference counted.

Executables:

Executables Description
gencsets Correspondence Sets Generation Tool
nregtool N-Point Set Registration Tool
regtool 3D Surface Registration Tool
Author: Simon Cunnington, Created: 28/04/97, Generated by DocEntry: March 20, 2001