58 PCL_ERROR(
"[pcl::registration::%s::getRemainingCorrespondences] No input cloud "
59 "dataset was given!\n",
60 getClassName().
c_str());
65 PCL_ERROR(
"[pcl::registration::%s::getRemainingCorrespondences] No input target "
66 "dataset was given!\n",
67 getClassName().
c_str());
71 if (projection_matrix_ == Eigen::Matrix3f::Identity()) {
72 PCL_ERROR(
"[pcl::registration::%s::getRemainingCorrespondences] Intrinsic camera "
73 "parameters not given!\n",
74 getClassName().
c_str());
93 model->setProjectionMatrix(projection_matrix_);
97 sac.setMaxIterations(max_iterations_);
100 if (!
sac.computeModel()) {
101 PCL_ERROR(
"[pcl::registration::%s::getRemainingCorrespondences] Error computing "
102 "model! Returning the original correspondences...\n",
103 getClassName().
c_str());
105 best_transformation_.setIdentity();
108 if (refine_ && !
sac.refineModel(2.0))
110 "[pcl::registration::%s::getRemainingCorrespondences] Error refining model!\n",
111 getClassName().
c_str());
117 PCL_ERROR(
"[pcl::registration::%s::getRemainingCorrespondences] Less than 3 "
118 "correspondences found!\n",
119 getClassName().
c_str());
121 best_transformation_.setIdentity();