I have a question on using the rpl/rgrl registration library.
I have modified the registration code in
rgrl/examples/regitration_range_data.cxx for my application
(without changing the major part).
The error I got is an "Empty match set!!!" return from
and the registration process terminates (and fails).
Below is the detailed error hope someone can help me.
Details of error:
179123 oriented points loaded from 01\01_sm3.xyzn1.
187687 oriented points loaded from 02\02_sm3.xyzn1.
register_oripts(): subsam1 = 10, subsam2 = 20.
rgrl_rigid_icp_register(): 9385 points to 17913 points.
Debug: rgrl_feature_based_registration::register_single_feature ( line
rgrl_feature_based_registration:: Empty match set!!!
My input, the .xyzn1 file is the same format as the example file in
I got this error even with a perfect initial alignment.
The strange thing is that when I run the same code on the Stanford bunny
(i.e. rgrl/examples/bun000.txt.out and bun045.txt.out), it works.
After a few hours of reading the rgrl manual and tracing into the rgrl
I still can not locate where and how the "Empty match set" occurs.
I believe the error is in Line 332 in rgrl_feature_based_registration.cxx :
match_set = matcher>compute_matches (...)
After that, in Line 354, match_et->from_size() == 0 triggers the error
message of "Empty match set!!!".
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