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_ONE_TO_ONE_HPP_ 00037 #define PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_ONE_TO_ONE_HPP_ 00038 00040 void 00041 pcl::registration::CorrespondenceRejectorOneToOne::applyRejection ( 00042 pcl::Correspondences &correspondences) 00043 { 00044 /* not really an efficient implementation */ 00045 pcl::Correspondences input = *input_correspondences_; 00046 00047 std::sort (input.begin (), input.end (), pcl::registration::sortCorrespondencesByMatchIndexAndDistance ()); 00048 00049 correspondences.resize (input_correspondences_->size ()); 00050 int index_last = -1; 00051 unsigned int number_valid_correspondences = 0; 00052 for (size_t i = 0; i < input.size (); ++i) 00053 { 00054 if (input[i].index_match < 0) 00055 continue; 00056 else if (input[i].index_match != index_last) 00057 { 00058 correspondences[number_valid_correspondences] = input[i]; 00059 index_last = input[i].index_match; 00060 ++number_valid_correspondences; 00061 } 00062 } 00063 correspondences.resize (number_valid_correspondences); 00064 } 00065 00067 void 00068 pcl::registration::CorrespondenceRejectorOneToOne::getRemainingCorrespondences ( 00069 const pcl::Correspondences& original_correspondences, 00070 pcl::Correspondences& remaining_correspondences) 00071 { 00072 /* not really an efficient implementation */ 00073 pcl::Correspondences input = original_correspondences; 00074 00075 std::sort (input.begin (), input.end (), pcl::registration::sortCorrespondencesByMatchIndexAndDistance ()); 00076 00077 remaining_correspondences.resize (input.size ()); 00078 int index_last = -1; 00079 unsigned int number_valid_correspondences = 0; 00080 for (size_t i = 0; i < input.size (); ++i) 00081 { 00082 if (input[i].index_match < 0) 00083 continue; 00084 else if (input[i].index_match != index_last) 00085 { 00086 remaining_correspondences[number_valid_correspondences] = input[i]; 00087 index_last = input[i].index_match; 00088 ++number_valid_correspondences; 00089 } 00090 } 00091 remaining_correspondences.resize (number_valid_correspondences); 00092 } 00093 00094 #endif /* PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_ONE_TO_ONE_HPP_ */