Point Cloud Library (PCL)  1.11.1-dev
correspondence_rejection_sample_consensus.hpp
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40 
41 #ifndef PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_SAMPLE_CONSENSUS_HPP_
42 #define PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_SAMPLE_CONSENSUS_HPP_
43 
44 #include <pcl/sample_consensus/ransac.h>
45 #include <pcl/sample_consensus/sac_model_registration.h>
46 
47 #include <unordered_map>
48 
49 namespace pcl {
50 
51 namespace registration {
52 
53 template <typename PointT>
54 void
56  const pcl::Correspondences& original_correspondences,
57  pcl::Correspondences& remaining_correspondences)
58 {
59  if (!input_) {
60  PCL_ERROR("[pcl::registration::%s::getRemainingCorrespondences] No input cloud "
61  "dataset was given!\n",
62  getClassName().c_str());
63  return;
64  }
65 
66  if (!target_) {
67  PCL_ERROR("[pcl::registration::%s::getRemainingCorrespondences] No input target "
68  "dataset was given!\n",
69  getClassName().c_str());
70  return;
71  }
72 
73  if (save_inliers_)
74  inlier_indices_.clear();
75 
76  int nr_correspondences = static_cast<int>(original_correspondences.size());
77  std::vector<int> source_indices(nr_correspondences);
78  std::vector<int> target_indices(nr_correspondences);
79 
80  // Copy the query-match indices
81  for (std::size_t i = 0; i < original_correspondences.size(); ++i) {
82  source_indices[i] = original_correspondences[i].index_query;
83  target_indices[i] = original_correspondences[i].index_match;
84  }
85 
86  {
87  // From the set of correspondences found, attempt to remove outliers
88  // Create the registration model
89  using SampleConsensusModelRegistrationPtr =
91  SampleConsensusModelRegistrationPtr model;
92  model.reset(
93  new pcl::SampleConsensusModelRegistration<PointT>(input_, source_indices));
94  // Pass the target_indices
95  model->setInputTarget(target_, target_indices);
96  // Create a RANSAC model
97  pcl::RandomSampleConsensus<PointT> sac(model, inlier_threshold_);
98  sac.setMaxIterations(max_iterations_);
99 
100  // Compute the set of inliers
101  if (!sac.computeModel()) {
102  remaining_correspondences = original_correspondences;
103  best_transformation_.setIdentity();
104  return;
105  }
106  if (refine_ && !sac.refineModel()) {
107  PCL_ERROR("[pcl::registration::CorrespondenceRejectorSampleConsensus::"
108  "getRemainingCorrespondences] Could not refine the model! Returning an "
109  "empty solution.\n");
110  return;
111  }
112 
113  std::vector<int> inliers;
114  sac.getInliers(inliers);
115 
116  if (inliers.size() < 3) {
117  remaining_correspondences = original_correspondences;
118  best_transformation_.setIdentity();
119  return;
120  }
121  std::unordered_map<int, int> index_to_correspondence;
122  for (int i = 0; i < nr_correspondences; ++i)
123  index_to_correspondence[original_correspondences[i].index_query] = i;
124 
125  remaining_correspondences.resize(inliers.size());
126  for (std::size_t i = 0; i < inliers.size(); ++i)
127  remaining_correspondences[i] =
128  original_correspondences[index_to_correspondence[inliers[i]]];
129 
130  if (save_inliers_) {
131  inlier_indices_.reserve(inliers.size());
132  for (const auto& inlier : inliers)
133  inlier_indices_.push_back(index_to_correspondence[inlier]);
134  }
135 
136  // get best transformation
137  Eigen::VectorXf model_coefficients;
138  sac.getModelCoefficients(model_coefficients);
139  best_transformation_.row(0) = model_coefficients.segment<4>(0);
140  best_transformation_.row(1) = model_coefficients.segment<4>(4);
141  best_transformation_.row(2) = model_coefficients.segment<4>(8);
142  best_transformation_.row(3) = model_coefficients.segment<4>(12);
143  }
144 }
145 
146 } // namespace registration
147 } // namespace pcl
148 
149 #endif // PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_SAMPLE_CONSENSUS_HPP_
pcl::SampleConsensus< PointT >::getInliers
void getInliers(Indices &inliers) const
Return the best set of inliers found so far for this model.
Definition: sac.h:310
pcl
Definition: convolution.h:46
pcl::SampleConsensusModelRegistration::Ptr
shared_ptr< SampleConsensusModelRegistration< PointT > > Ptr
Definition: sac_model_registration.h:74
pcl::RandomSampleConsensus
RandomSampleConsensus represents an implementation of the RANSAC (RANdom SAmple Consensus) algorithm,...
Definition: ransac.h:65
pcl::SampleConsensus< PointT >::refineModel
virtual bool refineModel(const double sigma=3.0, const unsigned int max_iterations=1000)
Refine the model found.
Definition: sac.h:189
pcl::SampleConsensus< PointT >::setMaxIterations
void setMaxIterations(int max_iterations)
Set the maximum number of iterations.
Definition: sac.h:149
pcl::SampleConsensus< PointT >::getModelCoefficients
void getModelCoefficients(Eigen::VectorXf &model_coefficients) const
Return the model coefficients of the best model found so far.
Definition: sac.h:316
pcl::RandomSampleConsensus::computeModel
bool computeModel(int debug_verbosity_level=0) override
Compute the actual model and find the inliers.
Definition: ransac.hpp:57
pcl::registration::CorrespondenceRejectorSampleConsensus::getRemainingCorrespondences
void getRemainingCorrespondences(const pcl::Correspondences &original_correspondences, pcl::Correspondences &remaining_correspondences) override
Get a list of valid correspondences after rejection from the original set of correspondences.
Definition: correspondence_rejection_sample_consensus.hpp:55
pcl::Correspondences
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
Definition: correspondence.h:89
pcl::SampleConsensusModelRegistration
SampleConsensusModelRegistration defines a model for Point-To-Point registration outlier rejection.
Definition: sac_model_registration.h:61