38 #ifndef PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_SAMPLE_CONSENSUS_2D_HPP_
39 #define PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_SAMPLE_CONSENSUS_2D_HPP_
41 #include <pcl/sample_consensus/sac_model_registration_2d.h>
42 #include <pcl/sample_consensus/ransac.h>
44 #include <unordered_map>
47 template <
typename Po
intT>
void
54 PCL_ERROR (
"[pcl::registration::%s::getRemainingCorrespondences] No input cloud dataset was given!\n", getClassName ().c_str ());
60 PCL_ERROR (
"[pcl::registration::%s::getRemainingCorrespondences] No input target dataset was given!\n", getClassName ().c_str ());
64 if (projection_matrix_ == Eigen::Matrix3f::Identity ())
66 PCL_ERROR (
"[pcl::registration::%s::getRemainingCorrespondences] Intrinsic camera parameters not given!\n", getClassName ().c_str ());
70 int nr_correspondences = static_cast<int> (original_correspondences.size ());
71 std::vector<int> source_indices (nr_correspondences);
72 std::vector<int> target_indices (nr_correspondences);
75 for (std::size_t i = 0; i < original_correspondences.size (); ++i)
77 source_indices[i] = original_correspondences[i].index_query;
78 target_indices[i] = original_correspondences[i].index_match;
82 std::vector<int> source_indices_good;
83 std::vector<int> target_indices_good;
98 PCL_ERROR (
"[pcl::registration::%s::getRemainingCorrespondences] Error computing model! Returning the original correspondences...\n", getClassName ().c_str ());
99 remaining_correspondences = original_correspondences;
100 best_transformation_.setIdentity ();
104 PCL_WARN (
"[pcl::registration::%s::getRemainingCorrespondences] Error refining model!\n", getClassName ().c_str ());
106 std::vector<int> inliers;
109 if (inliers.size () < 3)
111 PCL_ERROR (
"[pcl::registration::%s::getRemainingCorrespondences] Less than 3 correspondences found!\n", getClassName ().c_str ());
112 remaining_correspondences = original_correspondences;
113 best_transformation_.setIdentity ();
117 std::unordered_map<int, int> index_to_correspondence;
118 for (
int i = 0; i < nr_correspondences; ++i)
119 index_to_correspondence[original_correspondences[i].index_query] = i;
121 remaining_correspondences.resize (inliers.size ());
122 for (std::size_t i = 0; i < inliers.size (); ++i)
123 remaining_correspondences[i] = original_correspondences[index_to_correspondence[inliers[i]]];
126 Eigen::VectorXf model_coefficients;
128 best_transformation_.row (0) = model_coefficients.segment<4>(0);
129 best_transformation_.row (1) = model_coefficients.segment<4>(4);
130 best_transformation_.row (2) = model_coefficients.segment<4>(8);
131 best_transformation_.row (3) = model_coefficients.segment<4>(12);
134 #endif // PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_SAMPLE_CONSENSUS_2D_HPP_