correspondence_rejection_trimmed.hpp
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00038 #ifndef PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_TRIMMED_HPP_
00039 #define PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_TRIMMED_HPP_
00040 
00042 void
00043 pcl::registration::CorrespondenceRejectorTrimmed::getRemainingCorrespondences (
00044     const pcl::Correspondences& original_correspondences, 
00045     pcl::Correspondences& remaining_correspondences)
00046 {
00047   /* not really an efficient implementation */
00048   remaining_correspondences = original_correspondences;
00049   unsigned int number_valid_correspondences = (int (std::floor (overlap_ratio_ * static_cast<float> (remaining_correspondences.size ()))));
00050   number_valid_correspondences = std::max (number_valid_correspondences, nr_min_correspondences_);
00051 
00052   if (number_valid_correspondences < remaining_correspondences.size ())
00053   {
00054     std::sort (remaining_correspondences.begin (), remaining_correspondences.end (), 
00055                pcl::registration::sortCorrespondencesByDistance ());
00056     remaining_correspondences.resize (number_valid_correspondences);
00057   }
00058 }
00059 
00060 
00061 #endif /* PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_TRIMMED_HPP_ */


pcl
Author(s): Open Perception
autogenerated on Mon Oct 6 2014 03:14:46