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 00039 void 00040 pcl::registration::CorrespondenceRejectorOneToOne::applyRejection(pcl::registration::Correspondences &correspondences) 00041 { 00043 pcl::registration::Correspondences input = *input_correspondences_; 00044 00045 std::sort(input.begin(), input.end(), pcl::registration::sortCorrespondencesByMatchIndexAndDistance()); 00046 00047 correspondences.resize(input_correspondences_->size()); 00048 int index_last = -1; 00049 unsigned int number_valid_correspondences = 0; 00050 for ( unsigned int i = 0; i < input.size(); ++i ) 00051 { 00052 if (input[i].indexMatch < 0) 00053 continue; 00054 else if ( input[i].indexMatch != index_last ) 00055 { 00056 correspondences[number_valid_correspondences] = input[i]; 00057 index_last = input[i].indexMatch; 00058 ++number_valid_correspondences; 00059 } 00060 } 00061 correspondences.resize(number_valid_correspondences); 00062 } 00063 00064 void 00065 pcl::registration::CorrespondenceRejectorOneToOne::getCorrespondences(const pcl::registration::Correspondences& original_correspondences, pcl::registration::Correspondences& remaining_correspondences) 00066 { 00068 pcl::registration::Correspondences input = original_correspondences; 00069 00070 std::sort(input.begin(), input.end(), pcl::registration::sortCorrespondencesByMatchIndexAndDistance()); 00071 00072 remaining_correspondences.resize(input.size()); 00073 int index_last = -1; 00074 unsigned int number_valid_correspondences = 0; 00075 for ( unsigned int i = 0; i < input.size(); ++i ) 00076 { 00077 if (input[i].indexMatch < 0) 00078 continue; 00079 else if ( input[i].indexMatch != index_last ) 00080 { 00081 remaining_correspondences[number_valid_correspondences] = input[i]; 00082 index_last = input[i].indexMatch; 00083 ++number_valid_correspondences; 00084 } 00085 } 00086 remaining_correspondences.resize(number_valid_correspondences); 00087 } 00088 00089 #endif /* PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_ONE_TO_ONE_HPP_ */