correspondence_rejection_trimmed.cpp

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#include <pcl/registration/correspondence_rejection_trimmed.h>

void
pcl::registration::CorrespondenceRejectorTrimmed::getRemainingCorrespondences (
    const pcl::Correspondences& original_correspondences,
    pcl::Correspondences& remaining_correspondences)
{
  // not really an efficient implementation
  remaining_correspondences = original_correspondences;
  unsigned int number_valid_correspondences = (int (std::floor (overlap_ratio_ * static_cast<float> (remaining_correspondences.size ()))));
  number_valid_correspondences = std::max (number_valid_correspondences, nr_min_correspondences_);

  if (number_valid_correspondences < remaining_correspondences.size ())
  {
    std::sort (remaining_correspondences.begin (), remaining_correspondences.end (),
               pcl::registration::sortCorrespondencesByDistance ());
    remaining_correspondences.resize (number_valid_correspondences);
  }
}