Point Cloud Library (PCL) 1.13.0
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
49namespace pcl {
50
51namespace registration {
52
53template <typename PointT>
54void
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 pcl::Indices source_indices(nr_correspondences);
78 pcl::Indices 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 pcl::Indices 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_
RandomSampleConsensus represents an implementation of the RANSAC (RANdom SAmple Consensus) algorithm,...
Definition: ransac.h:66
bool computeModel(int debug_verbosity_level=0) override
Compute the actual model and find the inliers.
Definition: ransac.hpp:57
void getInliers(Indices &inliers) const
Return the best set of inliers found so far for this model.
Definition: sac.h:310
void getModelCoefficients(Eigen::VectorXf &model_coefficients) const
Return the model coefficients of the best model found so far.
Definition: sac.h:316
virtual bool refineModel(const double sigma=3.0, const unsigned int max_iterations=1000)
Refine the model found.
Definition: sac.h:189
void setMaxIterations(int max_iterations)
Set the maximum number of iterations.
Definition: sac.h:149
SampleConsensusModelRegistration defines a model for Point-To-Point registration outlier rejection.
shared_ptr< SampleConsensusModelRegistration< PointT > > Ptr
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.
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition: types.h:133