correspondence_rejection_surface_normal.hpp

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#ifndef PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_SURFACE_NORMAL_HPP_
#define PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_SURFACE_NORMAL_HPP_

void
pcl::registration::CorrespondenceRejectorSurfaceNormal::getRemainingCorrespondences (
    const pcl::Correspondences& original_correspondences, 
    pcl::Correspondences& remaining_correspondences)
{
  assert (data_container_ && "DataContainer object is not initialized");

  unsigned int number_valid_correspondences = 0;
  remaining_correspondences.resize (original_correspondences.size ());
  for (size_t i = 0; i < original_correspondences.size (); ++i)
  {
    if (boost::static_pointer_cast<DataContainer<pcl::PointXYZ, pcl::PointNormal> > 
        (data_container_)->getCorrespondenceScoreFromNormals (original_correspondences[i]) > threshold_)
    {
      remaining_correspondences[number_valid_correspondences] = original_correspondences[i];
      ++number_valid_correspondences;
    }
  }
}

#endif /* PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_SURFACE_NORMAL_HPP_ */