correspondence_rejection_var_trimmed.cpp

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#include <pcl/registration/correspondence_rejection_var_trimmed.h>

void
pcl::registration::CorrespondenceRejectorVarTrimmed::getRemainingCorrespondences (
    const pcl::Correspondences& original_correspondences,
    pcl::Correspondences& remaining_correspondences)
{
  std::vector <double> dists;
  dists.resize (original_correspondences.size ());

  for (size_t i = 0; i < original_correspondences.size (); ++i)
  {
    if (data_container_)
    {
      dists[i] = data_container_->getCorrespondenceScore (original_correspondences[i]);
    }
    else
    {
      dists[i] = original_correspondences[i].distance;
    }
  }
  factor_ = optimizeInlierRatio (dists);
  nth_element (dists.begin (), dists.begin () + int (double (dists.size ()) * factor_), dists.end ());
  trimmed_distance_ = dists [int (double (dists.size ()) * factor_)];

  unsigned int number_valid_correspondences = 0;
  remaining_correspondences.resize (original_correspondences.size ());

  for (size_t i = 0; i < original_correspondences.size (); ++i)
  {
    if ( dists[i] < trimmed_distance_)
    {
      remaining_correspondences[number_valid_correspondences] = original_correspondences[i];
      ++number_valid_correspondences;
    }
  }
  remaining_correspondences.resize (number_valid_correspondences);
}

float
pcl::registration::CorrespondenceRejectorVarTrimmed::optimizeInlierRatio (std::vector <double>&  dists)
{
  unsigned int points_nbr = static_cast<unsigned int> (dists.size ());
  std::sort (dists.begin (), dists.end ());

  const int min_el = int (floor (min_ratio_ * points_nbr));
  const int max_el = int (floor (max_ratio_ * points_nbr));

  typedef Eigen::Array <double, Eigen::Dynamic, 1> LineArray;
  Eigen::Map<LineArray> sorted_dist (&dists[0], points_nbr);

  const LineArray trunk_sorted_dist = sorted_dist.segment (min_el, max_el-min_el);
  const double lower_sum = sorted_dist.head (min_el).sum ();
  const LineArray ids = LineArray::LinSpaced (trunk_sorted_dist.rows (), min_el+1, max_el);
  const LineArray ratio = ids / points_nbr;
  const LineArray deno = ratio.pow (lambda_);
  const LineArray FRMS = deno.inverse ().square () * ids.inverse () * (lower_sum + trunk_sorted_dist);
  int min_index (0);
  FRMS.minCoeff (&min_index);

  const float opt_ratio = float (min_index + min_el) / float (points_nbr);
  return (opt_ratio);
}