39 #ifndef PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_SAMPLE_CONSENSUS_2D_HPP_
40 #define PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_SAMPLE_CONSENSUS_2D_HPP_
42 #include <pcl/sample_consensus/ransac.h>
43 #include <pcl/sample_consensus/sac_model_registration_2d.h>
45 #include <unordered_map>
49 namespace registration {
51 template <
typename Po
intT>
58 PCL_ERROR(
"[pcl::registration::%s::getRemainingCorrespondences] No input cloud "
59 "dataset was given!\n",
60 getClassName().c_str());
65 PCL_ERROR(
"[pcl::registration::%s::getRemainingCorrespondences] No input target "
66 "dataset was given!\n",
67 getClassName().c_str());
71 if (projection_matrix_ == Eigen::Matrix3f::Identity()) {
72 PCL_ERROR(
"[pcl::registration::%s::getRemainingCorrespondences] Intrinsic camera "
73 "parameters not given!\n",
74 getClassName().c_str());
78 int nr_correspondences =
static_cast<int>(original_correspondences.size());
79 std::vector<int> source_indices(nr_correspondences);
80 std::vector<int> target_indices(nr_correspondences);
83 for (std::size_t i = 0; i < original_correspondences.size(); ++i) {
84 source_indices[i] = original_correspondences[i].index_query;
85 target_indices[i] = original_correspondences[i].index_match;
101 PCL_ERROR(
"[pcl::registration::%s::getRemainingCorrespondences] Error computing "
102 "model! Returning the original correspondences...\n",
103 getClassName().c_str());
104 remaining_correspondences = original_correspondences;
105 best_transformation_.setIdentity();
110 "[pcl::registration::%s::getRemainingCorrespondences] Error refining model!\n",
111 getClassName().c_str());
113 std::vector<int> inliers;
116 if (inliers.size() < 3) {
117 PCL_ERROR(
"[pcl::registration::%s::getRemainingCorrespondences] Less than 3 "
118 "correspondences found!\n",
119 getClassName().c_str());
120 remaining_correspondences = original_correspondences;
121 best_transformation_.setIdentity();
125 std::unordered_map<int, int> index_to_correspondence;
126 for (
int i = 0; i < nr_correspondences; ++i)
127 index_to_correspondence[original_correspondences[i].index_query] = i;
129 remaining_correspondences.resize(inliers.size());
130 for (std::size_t i = 0; i < inliers.size(); ++i)
131 remaining_correspondences[i] =
132 original_correspondences[index_to_correspondence[inliers[i]]];
135 Eigen::VectorXf model_coefficients;
137 best_transformation_.row(0) = model_coefficients.segment<4>(0);
138 best_transformation_.row(1) = model_coefficients.segment<4>(4);
139 best_transformation_.row(2) = model_coefficients.segment<4>(8);
140 best_transformation_.row(3) = model_coefficients.segment<4>(12);
146 #endif // PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_SAMPLE_CONSENSUS_2D_HPP_