41 #ifndef PCL_SAMPLE_CONSENSUS_IMPL_LMEDS_H_ 42 #define PCL_SAMPLE_CONSENSUS_IMPL_LMEDS_H_ 44 #include <pcl/sample_consensus/lmeds.h> 47 template <
typename Po
intT>
bool 51 if (threshold_ == std::numeric_limits<double>::max())
53 PCL_ERROR (
"[pcl::LeastMedianSquares::computeModel] No threshold set!\n");
58 double d_best_penalty = std::numeric_limits<double>::max();
60 std::vector<int> best_model;
61 std::vector<int> selection;
62 Eigen::VectorXf model_coefficients;
63 std::vector<double> distances;
65 int n_inliers_count = 0;
67 unsigned skipped_count = 0;
69 const unsigned max_skip = max_iterations_ * 10;
72 while (iterations_ < max_iterations_ && skipped_count < max_skip)
75 sac_model_->getSamples (iterations_, selection);
77 if (selection.empty ())
break;
80 if (!sac_model_->computeModelCoefficients (selection, model_coefficients))
87 double d_cur_penalty = 0;
91 sac_model_->getDistancesToModel (model_coefficients, distances);
94 if (distances.empty ())
101 std::sort (distances.begin (), distances.end ());
103 std::size_t mid = sac_model_->getIndices ()->size () / 2;
104 if (mid >= distances.size ())
112 if (sac_model_->getIndices ()->size () % 2 == 0)
113 d_cur_penalty = (sqrt (distances[mid-1]) + sqrt (distances[mid])) / 2;
115 d_cur_penalty = sqrt (distances[mid]);
118 if (d_cur_penalty < d_best_penalty)
120 d_best_penalty = d_cur_penalty;
124 model_coefficients_ = model_coefficients;
128 if (debug_verbosity_level > 1)
129 PCL_DEBUG (
"[pcl::LeastMedianSquares::computeModel] Trial %d out of %d. Best penalty is %f.\n", iterations_, max_iterations_, d_best_penalty);
134 if (debug_verbosity_level > 0)
135 PCL_DEBUG (
"[pcl::LeastMedianSquares::computeModel] Unable to find a solution!\n");
146 sac_model_->getDistancesToModel (model_coefficients_, distances);
148 if (distances.empty ())
150 PCL_ERROR (
"[pcl::LeastMedianSquares::computeModel] The model found failed to verify against the given constraints!\n");
154 std::vector<int> &indices = *sac_model_->getIndices ();
156 if (distances.size () != indices.size ())
158 PCL_ERROR (
"[pcl::LeastMedianSquares::computeModel] Estimated distances (%lu) differs than the normal of indices (%lu).\n", distances.size (), indices.size ());
162 inliers_.resize (distances.size ());
165 for (std::size_t i = 0; i < distances.size (); ++i)
166 if (distances[i] <= threshold_)
167 inliers_[n_inliers_count++] = indices[i];
170 inliers_.resize (n_inliers_count);
172 if (debug_verbosity_level > 0)
173 PCL_DEBUG (
"[pcl::LeastMedianSquares::computeModel] Model: %lu size, %d inliers.\n", model_.size (), n_inliers_count);
178 #define PCL_INSTANTIATE_LeastMedianSquares(T) template class PCL_EXPORTS pcl::LeastMedianSquares<T>; 180 #endif // PCL_SAMPLE_CONSENSUS_IMPL_LMEDS_H_