correspondence_rejection_distance.cpp

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#include <pcl/registration/correspondence_rejection_distance.h>

void
pcl::registration::CorrespondenceRejectorDistance::getRemainingCorrespondences (
    const pcl::Correspondences& original_correspondences,
    pcl::Correspondences& remaining_correspondences)
{
  unsigned int number_valid_correspondences = 0;
  remaining_correspondences.resize (original_correspondences.size ());
  for (size_t i = 0; i < original_correspondences.size (); ++i)
  {
    if (data_container_)
    {
      if (data_container_->getCorrespondenceScore (original_correspondences[i]) < max_distance_)
      {
        remaining_correspondences[number_valid_correspondences] = original_correspondences[i];
        ++number_valid_correspondences;
      }
    }
    else
    {
      if (original_correspondences[i].distance < max_distance_)
      {
        remaining_correspondences[number_valid_correspondences] = original_correspondences[i];
        ++number_valid_correspondences;
      }
    }
  }
  remaining_correspondences.resize (number_valid_correspondences);
}