correspondence_rejection_distance.cpp
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00001 /*
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00039 
00040 #include <pcl/registration/correspondence_rejection_distance.h>
00041 
00043 void
00044 pcl::registration::CorrespondenceRejectorDistance::getRemainingCorrespondences (
00045     const pcl::Correspondences& original_correspondences,
00046     pcl::Correspondences& remaining_correspondences)
00047 {
00048   unsigned int number_valid_correspondences = 0;
00049   remaining_correspondences.resize (original_correspondences.size ());
00050   for (size_t i = 0; i < original_correspondences.size (); ++i)
00051   {
00052     if (data_container_)
00053     {
00054       if (data_container_->getCorrespondenceScore (original_correspondences[i]) < max_distance_)
00055       {
00056         remaining_correspondences[number_valid_correspondences] = original_correspondences[i];
00057         ++number_valid_correspondences;
00058       }
00059     }
00060     else
00061     {
00062       if (original_correspondences[i].distance < max_distance_)
00063       {
00064         remaining_correspondences[number_valid_correspondences] = original_correspondences[i];
00065         ++number_valid_correspondences;
00066       }
00067     }
00068   }
00069   remaining_correspondences.resize (number_valid_correspondences);
00070 }


pcl
Author(s): Open Perception
autogenerated on Wed Aug 26 2015 15:23:02