correspondence_rejection_distance.hpp
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00038 #ifndef PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_DISTANCE_HPP_
00039 #define PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_DISTANCE_HPP_
00040 
00042 void
00043 pcl::registration::CorrespondenceRejectorDistance::getRemainingCorrespondences (
00044     const pcl::Correspondences& original_correspondences, 
00045     pcl::Correspondences& remaining_correspondences)
00046 {
00047   unsigned int number_valid_correspondences = 0;
00048   remaining_correspondences.resize (original_correspondences.size ());
00049   for (size_t i = 0; i < original_correspondences.size (); ++i)
00050   {
00051     if (data_container_)
00052     {
00053       if (data_container_->getCorrespondenceScore (original_correspondences[i]) < max_distance_)
00054       {
00055         remaining_correspondences[number_valid_correspondences] = original_correspondences[i];
00056         ++number_valid_correspondences;
00057       }
00058     }
00059     else
00060     {
00061       if (original_correspondences[i].distance < max_distance_)
00062       {
00063         remaining_correspondences[number_valid_correspondences] = original_correspondences[i];
00064         ++number_valid_correspondences;
00065       }
00066     }
00067   }
00068   remaining_correspondences.resize (number_valid_correspondences);
00069 }
00070 
00071 #endif /* PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_DISTANCE_HPP_ */


pcl
Author(s): Open Perception
autogenerated on Mon Oct 6 2014 03:14:44