Point Cloud Library (PCL)  1.3.1
correspondence_rejection_distance.hpp
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00036 #ifndef PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_DISTANCE_HPP_
00037 #define PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_DISTANCE_HPP_
00038 
00040 void
00041 pcl::registration::CorrespondenceRejectorDistance::applyRejection (pcl::Correspondences &correspondences)
00042 {
00043   unsigned int number_valid_correspondences = 0;
00044   correspondences.resize (input_correspondences_->size ());
00045   for (size_t i = 0; i < input_correspondences_->size (); ++i)
00046   {
00047     if (data_container_)
00048     {
00049       if (data_container_->getCorrespondenceScore ((*input_correspondences_)[i]) < max_distance_)
00050       {
00051         correspondences[number_valid_correspondences] = (*input_correspondences_)[i];
00052         ++number_valid_correspondences;
00053       }
00054     }
00055     else
00056     {
00057       if ((*input_correspondences_)[i].distance < max_distance_)
00058       {
00059         correspondences[number_valid_correspondences] = (*input_correspondences_)[i];
00060         ++number_valid_correspondences;
00061       }
00062     }
00063   }
00064   correspondences.resize (number_valid_correspondences);
00065 }
00066 
00068 void
00069 pcl::registration::CorrespondenceRejectorDistance::getRemainingCorrespondences (
00070     const pcl::Correspondences& original_correspondences, 
00071     pcl::Correspondences& remaining_correspondences)
00072 {
00073   unsigned int number_valid_correspondences = 0;
00074   remaining_correspondences.resize (original_correspondences.size ());
00075   for (size_t i = 0; i < original_correspondences.size (); ++i)
00076   {
00077     if (data_container_)
00078     {
00079       if (data_container_->getCorrespondenceScore (original_correspondences[i]) < max_distance_)
00080       {
00081         remaining_correspondences[number_valid_correspondences] = original_correspondences[i];
00082         ++number_valid_correspondences;
00083       }
00084     }
00085     else
00086     {
00087       if (original_correspondences[i].distance < max_distance_)
00088       {
00089         remaining_correspondences[number_valid_correspondences] = original_correspondences[i];
00090         ++number_valid_correspondences;
00091       }
00092     }
00093   }
00094   remaining_correspondences.resize (number_valid_correspondences);
00095 }
00096 
00097 #endif /* PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_DISTANCE_HPP_ */
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