Point Cloud Library (PCL)  1.3.1
correspondence_rejection_trimmed.hpp
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00036 #ifndef PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_TRIMMED_HPP_
00037 #define PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_TRIMMED_HPP_
00038 
00040 void
00041 pcl::registration::CorrespondenceRejectorTrimmed::applyRejection (
00042     pcl::Correspondences &correspondences)
00043 {
00044   /* not really an efficient implementation */
00045   correspondences = *input_correspondences_;
00046   unsigned int number_valid_correspondences = (int(std::floor (overlap_ratio_ * (float)(correspondences.size ()))));
00047   number_valid_correspondences = std::max (number_valid_correspondences, nr_min_correspondences_);
00048 
00049   if (number_valid_correspondences < input_correspondences_->size ())
00050   {
00051     std::sort (correspondences.begin (), correspondences.end (), 
00052                pcl::registration::sortCorrespondencesByDistance ());
00053     correspondences.resize (number_valid_correspondences);
00054   }
00055   else
00056     correspondences = *input_correspondences_;
00057 }
00058 
00060 void
00061 pcl::registration::CorrespondenceRejectorTrimmed::getRemainingCorrespondences (
00062     const pcl::Correspondences& original_correspondences, 
00063     pcl::Correspondences& remaining_correspondences)
00064 {
00065   /* not really an efficient implementation */
00066   remaining_correspondences = original_correspondences;
00067   unsigned int number_valid_correspondences = (int (std::floor (overlap_ratio_ * (float) (remaining_correspondences.size ()))));
00068   number_valid_correspondences = std::max (number_valid_correspondences, nr_min_correspondences_);
00069 
00070   if (number_valid_correspondences < remaining_correspondences.size ())
00071   {
00072     std::sort (remaining_correspondences.begin (), remaining_correspondences.end (), 
00073                pcl::registration::sortCorrespondencesByDistance ());
00074     remaining_correspondences.resize (number_valid_correspondences);
00075   }
00076 }
00077 
00078 
00079 #endif /* PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_TRIMMED_HPP_ */
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