Error when performing imregtform with initial transformation

99 次查看（过去 30 天）
Anatole Jimenez
Anatole Jimenez 2024-11-7，18:31
评论： Anatole Jimenez 2024-11-18，17:35
I performed rigid 2d imregtform registration with initial transformation 'InitialTransformation'. It outputs the error:
'\mathworks\hub\3rdparty\R2022a\7296554\win64\ITK\include\ITK-5.2\itkRigid2DTransform.hxx:79:
Attempt to set a Non-Orthogonal matrix'
The rigid 2d registration is initialized with a transformation from point cloud ICP registration pcregistericp. pcregistericp outputs a rigidtform3d transform but with only 2d components as my point clouds are only 2d. I converted the point cloud rigidtform3d transformation back to rigidtform2d transformation.
Code is (data is attached):
% Pre-register with point cloud ICP registration
tform3d=pcregistericp(moving2dCloudPoint,fixed2dCloudPoint);
% Convert point cloud 3d transformation to 2d transformation
tforminit =rigidtform2d(tform3d.R(1:2,1:2),tform3d.Translation(1:2));
% Register with image registration intialized with 2d converted point cloud 3d transformation
tform2d=imregtform(fixedImage,R,movingImage,R,tformType,optimizer,metric,'InitialTransformation',tforminit);
Thanks for the help,
  4 个评论
显示 2更早的评论

请先登录，再进行评论。

请先登录，再回答此问题。

回答（1 个）

Gayathri
Gayathri 2024-11-18，6:24
Ran in:
Hi @Anatole Jimenez,
I also faced the same issue at my end using the code and data provided. Please make sure that the rotation matrix in “tforminit” object must be an orthonormal matrix. I defined the “tforminit.R” to be a simple orthonormal matrix (which is also a rotation matrix), and the code ran without any errors as shown below.
load data
% Pre-register with point cloud ICP registration
tform3d=pcregistericp(moving2dCloudPoint,fixed2dCloudPoint);
% Convert point cloud 3d transformation to 2d transformation
tforminit =rigidtform2d(tform3d.R(1:2,1:2),tform3d.Translation(1:2));
tforminit.R=[0 -1;1 0];
% Register with image registration intialized with 2d converted point cloud 3d transformation
tform2d=imregtform(fixedImage,R,movingImage,R,tformType,optimizer,metric,'InitialTransformation',tforminit)
tform2d =
rigidtform2d with properties: Dimensionality: 2 RotationAngle: 59.0440 Translation: [4.5610 -5.6587] R: [2x2 single] A: [0.5144 -0.8576 4.5610 0.8576 0.5144 -5.6587 0 0 1.0000]
For more information on “imregtform” function, please refer to the following documentation link.
https://www.mathworks.com/help/releases/R2023a/images/ref/imregtform.html
Hope you find this information helpful.

类别

在 Help Center 和 File Exchange 中查找有关 Point Cloud Processing 的更多信息

标签

产品


版本

R2023a

Community Treasure Hunt

Find the treasures in MATLAB Central and discover how the community can help you!

Start Hunting!

Translated by