Point Cloud Library (PCL)  1.3.1
correspondence_rejection_one_to_one.hpp
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00036 #ifndef PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_ONE_TO_ONE_HPP_
00037 #define PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_ONE_TO_ONE_HPP_
00038 
00040 void
00041 pcl::registration::CorrespondenceRejectorOneToOne::applyRejection (
00042     pcl::Correspondences &correspondences)
00043 {
00044   /* not really an efficient implementation */
00045   pcl::Correspondences input = *input_correspondences_;
00046 
00047   std::sort (input.begin (), input.end (), pcl::registration::sortCorrespondencesByMatchIndexAndDistance ());
00048 
00049   correspondences.resize (input_correspondences_->size ());
00050   int index_last = -1;
00051   unsigned int number_valid_correspondences = 0;
00052   for (size_t i = 0; i < input.size (); ++i)
00053   {
00054     if (input[i].index_match < 0)
00055       continue;
00056     else if (input[i].index_match != index_last)
00057     {
00058       correspondences[number_valid_correspondences] = input[i];
00059       index_last = input[i].index_match;
00060       ++number_valid_correspondences;
00061     }
00062   }
00063   correspondences.resize (number_valid_correspondences);
00064 }
00065 
00067 void
00068 pcl::registration::CorrespondenceRejectorOneToOne::getRemainingCorrespondences (
00069     const pcl::Correspondences& original_correspondences, 
00070     pcl::Correspondences& remaining_correspondences)
00071 {
00072   /* not really an efficient implementation */
00073   pcl::Correspondences input = original_correspondences;
00074 
00075   std::sort (input.begin (), input.end (), pcl::registration::sortCorrespondencesByMatchIndexAndDistance ());
00076 
00077   remaining_correspondences.resize (input.size ());
00078   int index_last = -1;
00079   unsigned int number_valid_correspondences = 0;
00080   for (size_t i = 0; i < input.size (); ++i)
00081   {
00082     if (input[i].index_match < 0)
00083       continue;
00084     else if (input[i].index_match != index_last)
00085     {
00086       remaining_correspondences[number_valid_correspondences] = input[i];
00087       index_last = input[i].index_match;
00088       ++number_valid_correspondences;
00089     }
00090   }
00091   remaining_correspondences.resize (number_valid_correspondences);
00092 }
00093 
00094 #endif /* PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_ONE_TO_ONE_HPP_ */
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