[ransac] Refactor ransac_ground.h #14
Open
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
- Refactor find_inlier_indices function: - Replace std::function with template argument for better inlining - Rewrite algo - replace translations with signed distances calculation - Refactor remove_ground_ransac function: - Calculate number of ransac iterations for given error probability and expected plane point share - Improve complexity: O(N * logN) -> O(N) - Replace unnecessary shared pointers - A few other improvements
- Refactor remove_ground_ransac function: - Add check for sample plane normal vector validity - Add check for resulting best pair validity
- Refactor remove_ground_ransac and find_inlier_indices functions: - Use std::vector instead of std::shared_ptr whenever it is possible without API change - Refactor find_inlier_indices in a std::algo manner - use input iterators
- Add SFINAE input iterator check in find_inlier_indices function header
Obs01ete
reviewed
May 11, 2023
| // To reduce the number of outliers (non-ground points) we can roughly crop | ||
| // the point cloud by Z coordinate in the range (-rough_filter_thr, rough_filter_thr). | ||
| // Simultaneously we perform decimation of the remaining points since the full | ||
| // point cloud is excessive for RANSAC. | ||
| std::mt19937::result_type decimation_seed = 41; | ||
| std::mt19937 rng_decimation(decimation_seed); | ||
| std::mt19937 rng_decimation(std::random_device {}()); |
There was a problem hiding this comment.
"std::random_device is a uniformly-distributed integer random number generator that produces non-deterministic random numbers."
This is not good for reproducability. No benefit over the pseudo RNG.
|
|
||
| EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| }; | ||
|
|
||
| // Helper alias for input iterator SFINAE check |
There was a problem hiding this comment.
Looks like a random over-engineering. Why do we need this?
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Refactor find_inlier_indices function:
Refactor remove_ground_ransac function:
A few other improvements