correspondence.cpp
Go to the documentation of this file.
00001 /*
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Copyright (c) 2010, Willow Garage, Inc.
00005  *  All rights reserved.
00006  *
00007  *  Redistribution and use in source and binary forms, with or without
00008  *  modification, are permitted provided that the following conditions
00009  *  are met:
00010  *
00011  *   * Redistributions of source code must retain the above copyright
00012  *     notice, this list of conditions and the following disclaimer.
00013  *   * Redistributions in binary form must reproduce the above
00014  *     copyright notice, this list of conditions and the following
00015  *     disclaimer in the documentation and/or other materials provided
00016  *     with the distribution.
00017  *   * Neither the name of Willow Garage, Inc. nor the names of its
00018  *     contributors may be used to endorse or promote products derived
00019  *     from this software without specific prior written permission.
00020  *
00021  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032  *  POSSIBILITY OF SUCH DAMAGE.
00033  *
00034  *  $Id: correspondence.cpp 4912 2012-03-05 16:55:55Z rusu $
00035  */
00036 
00037 #include <pcl/correspondence.h>
00038 #include <algorithm>
00039 #include <iterator>
00040 
00042 void
00043 pcl::getRejectedQueryIndices (const pcl::Correspondences &correspondences_before,
00044                               const pcl::Correspondences &correspondences_after,
00045                               std::vector<int>& indices,
00046                               bool presorting_required)
00047 {
00048   indices.clear();
00049 
00050   const int nr_correspondences_before = static_cast<int> (correspondences_before.size ());
00051   const int nr_correspondences_after = static_cast<int> (correspondences_after.size ());
00052 
00053   if (nr_correspondences_before == 0)
00054     return;
00055   else if (nr_correspondences_after == 0)
00056   {
00057     indices.resize(nr_correspondences_before);
00058     for (int i = 0; i < nr_correspondences_before; ++i)
00059       indices[i] = correspondences_before[i].index_query;
00060     return;
00061   }
00062 
00063   std::vector<int> indices_before (nr_correspondences_before);
00064   for (int i = 0; i < nr_correspondences_before; ++i)
00065     indices_before[i] = correspondences_before[i].index_query;
00066 
00067   std::vector<int> indices_after (nr_correspondences_after);
00068   for (int i = 0; i < nr_correspondences_after; ++i)
00069     indices_after[i] = correspondences_after[i].index_query;
00070 
00071   if (presorting_required)
00072   {
00073     std::sort (indices_before.begin (), indices_before.end ());
00074     std::sort (indices_after.begin (), indices_after.end ());
00075   }
00076 
00077   set_difference (
00078       indices_before.begin (), indices_before.end (),
00079       indices_after.begin (),  indices_after.end (),
00080       inserter (indices, indices.begin ()));
00081 }


pcl
Author(s): Open Perception
autogenerated on Mon Oct 6 2014 03:14:43