add minInlierRatio to ICP-RANSAC

PreibischLab · Mar 20, 2024 · 0d367e3 · 0d367e3
1 parent 84ebc64
commit 0d367e3
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Showing 3 changed files with 29 additions and 16 deletions.
diff --git a/...process/interestpointregistration/pairwise/methods/icp/IterativeClosestPointPairwise.java b/...process/interestpointregistration/pairwise/methods/icp/IterativeClosestPointPairwise.java
@@ -81,7 +81,7 @@ public PairwiseResult< I > match( final List< I > listAIn, final List< I > listB
 			return result;
 		}
 
-		final ICP< I > icp = new ICP< I >( listA, listB, (float)ip.getMaxDistance(), ip.useRANSAC(), ip.getMaxEpsilonRANSAC(), ip.getMaxIterationsRANSAC() );
+		final ICP< I > icp = new ICP< I >( listA, listB, (float)ip.getMaxDistance(), ip.useRANSAC(), ip.getMinInlierRatio(), ip.getMaxEpsilonRANSAC(), ip.getMaxIterationsRANSAC() );
 
 		int i = 0;
 		double lastAvgError = 0;
@@ -175,7 +175,7 @@ public static void main( final String[] args ) throws Exception
 			IOFunctions.println( Util.printCoordinates( listA.get( i ).getL() ) + " >>> " + Util.printCoordinates( listB.get( i ).getL() ) + ", d=" + Point.distance( listA.get( i ), listB.get( i ) ) );
 		}
 
-		final ICP< InterestPoint > icp = new ICP< InterestPoint >( listA, listB, maxError, false, 0, 0 );
+		final ICP< InterestPoint > icp = new ICP< InterestPoint >( listA, listB, maxError, false, 0.0, 0, 0 );
 
 		// identity transform
 		TranslationModel3D model = new TranslationModel3D();

diff --git a/...ocess/interestpointregistration/pairwise/methods/icp/IterativeClosestPointParameters.java b/...ocess/interestpointregistration/pairwise/methods/icp/IterativeClosestPointParameters.java
@@ -32,21 +32,24 @@ public class IterativeClosestPointParameters
 	public static double defaultMaxEpsionRANSAC = maxDistance / 2.0;
 	public static int defaultNumIterationsRANSAC = 200;
 	public static int defaultMinNumPoints = 12;
+	public static double defaultMinInlierRatio = 0.1;
 
-	private double d;
-	private int maxIt;
-	private boolean useRANSAC;
-	private double maxEpsilonRANSAC;
-	private int maxIterationsRANSAC;
-	private int minNumPoints;
+	final private double d;
+	final private int maxIt;
+	final private boolean useRANSAC;
+	final private double maxEpsilonRANSAC;
+	final private double minInlierRatio;
+	final private int maxIterationsRANSAC;
+	final private int minNumPoints;
 
 	private Model< ? > model = null;
 
 	public IterativeClosestPointParameters(
 			final Model< ? > model,
 			final double maxDistance,
 			final int maxIterations,
-			final boolean useRANSAC, 
+			final boolean useRANSAC,
+			final double minInlierRatio,
 			final double maxEpsilonRANSAC,
 			final int maxIterationsRANSAC,
 			final int minNumPoints )
@@ -56,6 +59,7 @@ public IterativeClosestPointParameters(
 		this.maxIt = maxIterations;
 		this.useRANSAC = useRANSAC;
 		this.maxEpsilonRANSAC = maxEpsilonRANSAC;
+		this.minInlierRatio = minInlierRatio;
 		this.maxIterationsRANSAC = maxIterationsRANSAC;
 		this.minNumPoints = minNumPoints;
 	}
@@ -64,16 +68,17 @@ public IterativeClosestPointParameters(
 			final Model< ? > model,
 			IterativeClosestPointParameters p )
 	{
-		this( model, p.getMaxDistance(), p.getMaxNumIterations(), p.useRANSAC(), p.getMaxEpsilonRANSAC(), p.getMaxIterationsRANSAC(), p.getMinNumPoints() );
+		this( model, p.getMaxDistance(), p.getMaxNumIterations(), p.useRANSAC(), p.getMinInlierRatio(), p.getMaxEpsilonRANSAC(), p.getMaxIterationsRANSAC(), p.getMinNumPoints() );
 	}
 
 	public IterativeClosestPointParameters( final Model< ? > model )
 	{
-		this( model, maxDistance, maxIterations, defaultUseRANSAC, defaultMaxEpsionRANSAC, defaultNumIterationsRANSAC, defaultMinNumPoints );
+		this( model, maxDistance, maxIterations, defaultUseRANSAC, defaultMinInlierRatio, defaultMaxEpsionRANSAC, defaultNumIterationsRANSAC, defaultMinNumPoints );
 	}
 
 	public Model< ? > getModel() { return model.copy(); }
 	public double getMaxDistance() { return d; }
+	public double getMinInlierRatio() { return minInlierRatio; }
 	public int getMaxNumIterations() { return maxIt; }
 	public boolean useRANSAC() { return useRANSAC; }
 	public double getMaxEpsilonRANSAC() { return maxEpsilonRANSAC; }

diff --git a/src/main/java/net/preibisch/mvrecon/process/pointcloud/icp/ICP.java b/src/main/java/net/preibisch/mvrecon/process/pointcloud/icp/ICP.java
@@ -54,6 +54,7 @@ public class ICP < P extends RealLocalizable >
 
 	final boolean useRANSAC;
 	final double maxEpsilonRANSAC;
+	final double minInlierRatio;
 	final int maxIterationsRANSAC;
 
 	double avgError, maxError;
@@ -67,14 +68,16 @@ public class ICP < P extends RealLocalizable >
 	 * @param reference - the {@link List} of reference points
 	 * @param pointMatchIdentifier - the {@link PointMatchIdentification} which defines how correspondences are established
 	 * @param useRANSAC - use RANSAC during every iteration
+	 * @param minInlierRatio - minInlierRatio for RANSAC
 	 * @param maxEpsilonRANSAC - max error for RANSAC if used
 	 * @param maxIterationsRANSAC - max iterations for RANSAC if used
 	 */
 	public ICP(
 			final List< P > target,
 			final List< P > reference,
 			final PointMatchIdentification< P > pointMatchIdentifier,
-			final boolean useRANSAC, 
+			final boolean useRANSAC,
+			final double minInlierRatio,
 			final double maxEpsilonRANSAC,
 			final int maxIterationsRANSAC )
 	{
@@ -103,6 +106,7 @@ public ICP(
 		this.pointMatchIdentifier = pointMatchIdentifier;
 
 		this.useRANSAC = useRANSAC;
+		this.minInlierRatio = minInlierRatio;
 		this.maxEpsilonRANSAC = maxEpsilonRANSAC;
 		this.maxIterationsRANSAC = maxIterationsRANSAC;
 
@@ -118,6 +122,7 @@ public ICP(
 	 * @param reference - the {@link List} of reference points
 	 * @param distanceThreshold - the maximal distance of {@link SimplePointMatchIdentification}, so that the nearest neighbor of a point is still counted as a corresponding point
 	 * @param useRANSAC - use RANSAC during every iteration
+	 * @param minInlierRatio - minInlierRatio for RANSAC
 	 * @param maxEpsilonRANSAC - max error for RANSAC if used
 	 * @param maxIterationsRANSAC - max iterations for RANSAC if used
 	 */
@@ -126,10 +131,11 @@ public ICP(
 			final List< P > reference,
 			final double distanceThreshold,
 			final boolean useRANSAC,
+			final double minInlierRatio,
 			final double maxEpsilonRANSAC,
 			final int maxIterationsRANSAC )
 	{
-		this( target, reference, new SimplePointMatchIdentification< P >( distanceThreshold ), useRANSAC, maxEpsilonRANSAC, maxIterationsRANSAC );
+		this( target, reference, new SimplePointMatchIdentification< P >( distanceThreshold ), useRANSAC, minInlierRatio, maxEpsilonRANSAC, maxIterationsRANSAC );
 	}
 
 	/**
@@ -138,17 +144,19 @@ public ICP(
 	 * @param target - the {@link List} of target points
 	 * @param reference - the {@link List} of reference points
 	 * @param useRANSAC - use RANSAC during every iteration
+	 * @param minInlierRatio - minInlierRatio for RANSAC
 	 * @param maxEpsilonRANSAC - max error for RANSAC if used
 	 * @param maxIterationsRANSAC - max iterations for RANSAC if used
 	 */
 	public ICP(
 			final List< P > target,
 			final List< P > reference,
-			final boolean useRANSAC, 
+			final boolean useRANSAC,
+			final double minInlierRatio,
 			final double maxEpsilonRANSAC,
 			final int maxIterationsRANSAC )
 	{
-		this( target, reference, new SimplePointMatchIdentification<P>(), useRANSAC, maxEpsilonRANSAC, maxIterationsRANSAC );
+		this( target, reference, new SimplePointMatchIdentification<P>(), useRANSAC, minInlierRatio, maxEpsilonRANSAC, maxIterationsRANSAC );
 	}
 
 	/**
@@ -176,7 +184,7 @@ public void runICPIteration( final Model<?> lastModel, final Model<?> newModel )
 
 		if ( useRANSAC )
 		{
-			newModel.filterRansac( candidates, matches, maxIterationsRANSAC, maxEpsilonRANSAC, 0.0f );
+			newModel.filterRansac( candidates, matches, maxIterationsRANSAC, maxEpsilonRANSAC, minInlierRatio );
 			//IOFunctions.println( "RANSAC: " + matches.size() + "/" + candidates.size() );
 		}
 		else