Point Cloud Library (PCL)
1.3.1
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2010, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * 00034 * 00035 */ 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_ */