pcl: correspondence_rejection_distance.hpp Source File

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00036 #ifndef PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_DISTANCE_HPP_
00037 #define PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_DISTANCE_HPP_
00038 
00039 void
00040 pcl::registration::CorrespondenceRejectorDistance::applyRejection(pcl::registration::Correspondences &correspondences)
00041 {
00042   unsigned int number_valid_correspondences = 0;
00043   correspondences.resize( input_correspondences_->size() );
00044   for ( unsigned int i = 0; i < input_correspondences_->size(); ++i )
00045   {
00046     if ( input_correspondences_->at(i).distance < max_distance_ )
00047     {
00048       correspondences[number_valid_correspondences] = input_correspondences_->at(i);
00049       ++number_valid_correspondences;
00050     }
00051   }
00052   correspondences.resize(number_valid_correspondences);
00053 }
00054 
00055 void
00056 pcl::registration::CorrespondenceRejectorDistance::getCorrespondences(const pcl::registration::Correspondences& original_correspondences, pcl::registration::Correspondences& remaining_correspondences)
00057 {
00058   unsigned int number_valid_correspondences = 0;
00059   remaining_correspondences.resize( original_correspondences.size() );
00060   for ( unsigned int i = 0; i < original_correspondences.size(); ++i )
00061   {
00062     if ( original_correspondences.at(i).distance < max_distance_ )
00063     {
00064       remaining_correspondences[number_valid_correspondences] = original_correspondences.at(i);
00065       ++number_valid_correspondences;
00066     }
00067   }
00068   remaining_correspondences.resize(number_valid_correspondences);
00069 }
00070 
00071 #endif /* PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_DISTANCE_HPP_ */