40 #ifndef PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_SAMPLE_CONSENSUS_HPP_
41 #define PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_SAMPLE_CONSENSUS_HPP_
43 #include <unordered_map>
46 template <
typename Po
intT>
void
53 PCL_ERROR (
"[pcl::registration::%s::getRemainingCorrespondences] No input cloud dataset was given!\n", getClassName ().c_str ());
59 PCL_ERROR (
"[pcl::registration::%s::getRemainingCorrespondences] No input target dataset was given!\n", getClassName ().c_str ());
64 inlier_indices_.clear ();
66 int nr_correspondences =
static_cast<int> (original_correspondences.size ());
67 std::vector<int> source_indices (nr_correspondences);
68 std::vector<int> target_indices (nr_correspondences);
71 for (std::size_t i = 0; i < original_correspondences.size (); ++i)
73 source_indices[i] = original_correspondences[i].index_query;
74 target_indices[i] = original_correspondences[i].index_match;
81 SampleConsensusModelRegistrationPtr model;
84 model->setInputTarget (target_, target_indices);
92 remaining_correspondences = original_correspondences;
93 best_transformation_.setIdentity ();
98 PCL_ERROR (
"[pcl::registration::CorrespondenceRejectorSampleConsensus::getRemainingCorrespondences] Could not refine the model! Returning an empty solution.\n");
102 std::vector<int> inliers;
105 if (inliers.size () < 3)
107 remaining_correspondences = original_correspondences;
108 best_transformation_.setIdentity ();
111 std::unordered_map<int, int> index_to_correspondence;
112 for (
int i = 0; i < nr_correspondences; ++i)
113 index_to_correspondence[original_correspondences[i].index_query] = i;
115 remaining_correspondences.resize (inliers.size ());
116 for (std::size_t i = 0; i < inliers.size (); ++i)
117 remaining_correspondences[i] = original_correspondences[index_to_correspondence[inliers[i]]];
121 inlier_indices_.reserve (inliers.size ());
122 for (
const int &inlier : inliers)
123 inlier_indices_.push_back (index_to_correspondence[inlier]);
127 Eigen::VectorXf model_coefficients;
129 best_transformation_.row (0) = model_coefficients.segment<4>(0);
130 best_transformation_.row (1) = model_coefficients.segment<4>(4);
131 best_transformation_.row (2) = model_coefficients.segment<4>(8);
132 best_transformation_.row (3) = model_coefficients.segment<4>(12);
136 #endif // PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_SAMPLE_CONSENSUS_HPP_