correspondence_rejection_trimmed.cpp
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00039 
00040 #include <pcl/registration/correspondence_rejection_trimmed.h>
00041 
00043 void
00044 pcl::registration::CorrespondenceRejectorTrimmed::getRemainingCorrespondences (
00045     const pcl::Correspondences& original_correspondences,
00046     pcl::Correspondences& remaining_correspondences)
00047 {
00048   // not really an efficient implementation
00049   remaining_correspondences = original_correspondences;
00050   unsigned int number_valid_correspondences = (int (std::floor (overlap_ratio_ * static_cast<float> (remaining_correspondences.size ()))));
00051   number_valid_correspondences = std::max (number_valid_correspondences, nr_min_correspondences_);
00052 
00053   if (number_valid_correspondences < remaining_correspondences.size ())
00054   {
00055     std::sort (remaining_correspondences.begin (), remaining_correspondences.end (),
00056                pcl::registration::sortCorrespondencesByDistance ());
00057     remaining_correspondences.resize (number_valid_correspondences);
00058   }
00059 }


pcl
Author(s): Open Perception
autogenerated on Wed Aug 26 2015 15:23:12