00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Point Cloud Library (PCL) - www.pointclouds.org 00005 * Copyright (c) 2010-2011, Willow Garage, Inc. 00006 * 00007 * All rights reserved. 00008 * 00009 * Redistribution and use in source and binary forms, with or without 00010 * modification, are permitted provided that the following conditions 00011 * are met: 00012 * 00013 * * Redistributions of source code must retain the above copyright 00014 * notice, this list of conditions and the following disclaimer. 00015 * * Redistributions in binary form must reproduce the above 00016 * copyright notice, this list of conditions and the following 00017 * disclaimer in the documentation and/or other materials provided 00018 * with the distribution. 00019 * * Neither the name of Willow Garage, Inc. nor the names of its 00020 * contributors may be used to endorse or promote products derived 00021 * from this software without specific prior written permission. 00022 * 00023 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00024 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00025 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00026 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00027 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00028 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00029 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00030 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00031 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00032 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00033 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00034 * POSSIBILITY OF SUCH DAMAGE. 00035 * 00036 * 00037 */ 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_ */