60 PCL_ERROR(
"[pcl::registration::%s::getRemainingCorrespondences] No input cloud "
61 "dataset was given!\n",
62 getClassName().
c_str());
67 PCL_ERROR(
"[pcl::registration::%s::getRemainingCorrespondences] No input target "
68 "dataset was given!\n",
69 getClassName().
c_str());
74 inlier_indices_.clear();
98 sac.setMaxIterations(max_iterations_);
101 if (!
sac.computeModel()) {
103 best_transformation_.setIdentity();
106 if (refine_ && !
sac.refineModel()) {
107 PCL_ERROR(
"[pcl::registration::CorrespondenceRejectorSampleConsensus::"
108 "getRemainingCorrespondences] Could not refine the model! Returning an "
109 "empty solution.\n");
118 best_transformation_.setIdentity();