Point Cloud Library (PCL) 1.13.0
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ransac.hpp
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40
41#ifndef PCL_SAMPLE_CONSENSUS_IMPL_RANSAC_H_
42#define PCL_SAMPLE_CONSENSUS_IMPL_RANSAC_H_
43
44#include <pcl/sample_consensus/ransac.h>
45#ifdef _OPENMP
46#include <omp.h>
47#endif
48
49#if defined _OPENMP && _OPENMP >= 201107 // We need OpenMP 3.1 for the atomic constructs
50#define OPENMP_AVAILABLE_RANSAC true
51#else
52#define OPENMP_AVAILABLE_RANSAC false
53#endif
54
55//////////////////////////////////////////////////////////////////////////
56template <typename PointT> bool
58{
59 // Warn and exit if no threshold was set
60 if (threshold_ == std::numeric_limits<double>::max())
61 {
62 PCL_ERROR ("[pcl::RandomSampleConsensus::computeModel] No threshold set!\n");
63 return (false);
64 }
65
66 iterations_ = 0;
67 std::size_t n_best_inliers_count = 0;
68 double k = std::numeric_limits<double>::max();
69
70 Indices selection;
71 Eigen::VectorXf model_coefficients (sac_model_->getModelSize ());
72
73 const double log_probability = std::log (1.0 - probability_);
74 const double one_over_indices = 1.0 / static_cast<double> (sac_model_->getIndices ()->size ());
75
76 unsigned skipped_count = 0;
77
78 // suppress infinite loops by just allowing 10 x maximum allowed iterations for invalid model parameters!
79 const unsigned max_skip = max_iterations_ * 10;
80
81 int threads = threads_;
82 if (threads >= 0)
83 {
84#if OPENMP_AVAILABLE_RANSAC
85 if (threads == 0)
86 {
87 threads = omp_get_num_procs();
88 PCL_DEBUG ("[pcl::RandomSampleConsensus::computeModel] Automatic number of threads requested, choosing %i threads.\n", threads);
89 }
90#else
91 // Parallelization desired, but not available
92 PCL_WARN ("[pcl::RandomSampleConsensus::computeModel] Parallelization is requested, but OpenMP 3.1 is not available! Continuing without parallelization.\n");
93 threads = -1;
94#endif
95 }
96
97#if OPENMP_AVAILABLE_RANSAC
98#pragma omp parallel if(threads > 0) num_threads(threads) shared(k, skipped_count, n_best_inliers_count) firstprivate(selection, model_coefficients) // would be nice to have a default(none)-clause here, but then some compilers complain about the shared const variables
99#endif
100 {
101#if OPENMP_AVAILABLE_RANSAC
102 if (omp_in_parallel())
103#pragma omp master
104 PCL_DEBUG ("[pcl::RandomSampleConsensus::computeModel] Computing in parallel with up to %i threads.\n", omp_get_num_threads());
105 else
106#endif
107 PCL_DEBUG ("[pcl::RandomSampleConsensus::computeModel] Computing not parallel.\n");
108
109 // Iterate
110 while (true) // infinite loop with four possible breaks
111 {
112 // Get X samples which satisfy the model criteria
113#if OPENMP_AVAILABLE_RANSAC
114#pragma omp critical(samples)
115#endif
116 {
117 sac_model_->getSamples (iterations_, selection); // The random number generator used when choosing the samples should not be called in parallel
118 }
119
120 if (selection.empty ())
121 {
122 PCL_ERROR ("[pcl::RandomSampleConsensus::computeModel] No samples could be selected!\n");
123 break;
124 }
125
126 // Search for inliers in the point cloud for the current plane model M
127 if (!sac_model_->computeModelCoefficients (selection, model_coefficients)) // This function has to be thread-safe
128 {
129 //++iterations_;
130 unsigned skipped_count_tmp;
131#if OPENMP_AVAILABLE_RANSAC
132#pragma omp atomic capture
133#endif
134 skipped_count_tmp = ++skipped_count;
135 if (skipped_count_tmp < max_skip)
136 continue;
137 else
138 break;
139 }
140
141 // Select the inliers that are within threshold_ from the model
142 //sac_model_->selectWithinDistance (model_coefficients, threshold_, inliers);
143 //if (inliers.empty () && k > 1.0)
144 // continue;
145
146 std::size_t n_inliers_count = sac_model_->countWithinDistance (model_coefficients, threshold_); // This functions has to be thread-safe. Most work is done here
147
148 std::size_t n_best_inliers_count_tmp;
149#if OPENMP_AVAILABLE_RANSAC
150#pragma omp atomic read
151#endif
152 n_best_inliers_count_tmp = n_best_inliers_count;
153
154 if (n_inliers_count > n_best_inliers_count_tmp) // This condition is false most of the time, and the critical region is not entered, hopefully leading to more efficient concurrency
155 {
156#if OPENMP_AVAILABLE_RANSAC
157#pragma omp critical(update) // n_best_inliers_count, model_, model_coefficients_, k are shared and read/write must be protected
158#endif
159 {
160 // Better match ?
161 if (n_inliers_count > n_best_inliers_count)
162 {
163 n_best_inliers_count = n_inliers_count; // This write and the previous read of n_best_inliers_count must be consecutive and must not be interrupted!
164 n_best_inliers_count_tmp = n_best_inliers_count;
165
166 // Save the current model/inlier/coefficients selection as being the best so far
167 model_ = selection;
168 model_coefficients_ = model_coefficients;
169
170 // Compute the k parameter (k=std::log(z)/std::log(1-w^n))
171 const double w = static_cast<double> (n_best_inliers_count) * one_over_indices;
172 double p_outliers = 1.0 - std::pow (w, static_cast<double> (selection.size ())); // Probability that selection is contaminated by at least one outlier
173 p_outliers = (std::max) (std::numeric_limits<double>::epsilon (), p_outliers); // Avoid division by -Inf
174 p_outliers = (std::min) (1.0 - std::numeric_limits<double>::epsilon (), p_outliers); // Avoid division by 0.
175 k = log_probability / std::log (p_outliers);
176 }
177 } // omp critical
178 }
179
180 int iterations_tmp;
181 double k_tmp;
182#if OPENMP_AVAILABLE_RANSAC
183#pragma omp atomic capture
184#endif
185 iterations_tmp = ++iterations_;
186#if OPENMP_AVAILABLE_RANSAC
187#pragma omp atomic read
188#endif
189 k_tmp = k;
190#if OPENMP_AVAILABLE_RANSAC
191 PCL_DEBUG ("[pcl::RandomSampleConsensus::computeModel] Trial %d out of %f: %u inliers (best is: %u so far) (thread %d).\n", iterations_tmp, k_tmp, n_inliers_count, n_best_inliers_count_tmp, omp_get_thread_num());
192#else
193 PCL_DEBUG ("[pcl::RandomSampleConsensus::computeModel] Trial %d out of %f: %u inliers (best is: %u so far).\n", iterations_tmp, k_tmp, n_inliers_count, n_best_inliers_count_tmp);
194#endif
195 if (iterations_tmp > k_tmp)
196 break;
197 if (iterations_tmp > max_iterations_)
198 {
199 PCL_DEBUG ("[pcl::RandomSampleConsensus::computeModel] RANSAC reached the maximum number of trials.\n");
200 break;
201 }
202 } // while
203 } // omp parallel
204
205 PCL_DEBUG ("[pcl::RandomSampleConsensus::computeModel] Model: %lu size, %u inliers.\n", model_.size (), n_best_inliers_count);
206
207 if (model_.empty ())
208 {
209 PCL_ERROR ("[pcl::RandomSampleConsensus::computeModel] RANSAC found no model.\n");
210 inliers_.clear ();
211 return (false);
212 }
213
214 // Get the set of inliers that correspond to the best model found so far
215 sac_model_->selectWithinDistance (model_coefficients_, threshold_, inliers_);
216 return (true);
217}
218
219#define PCL_INSTANTIATE_RandomSampleConsensus(T) template class PCL_EXPORTS pcl::RandomSampleConsensus<T>;
220
221#endif // PCL_SAMPLE_CONSENSUS_IMPL_RANSAC_H_
222
bool computeModel(int debug_verbosity_level=0) override
Compute the actual model and find the inliers.
Definition ransac.hpp:57
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition types.h:133