correspondence_rejection_one_to_one.hpp

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#ifndef PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_ONE_TO_ONE_HPP_
#define PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_ONE_TO_ONE_HPP_

void
pcl::registration::CorrespondenceRejectorOneToOne::getRemainingCorrespondences (
    const pcl::Correspondences& original_correspondences, 
    pcl::Correspondences& remaining_correspondences)
{
  /* not really an efficient implementation */
  pcl::Correspondences input = original_correspondences;

  std::sort (input.begin (), input.end (), pcl::registration::sortCorrespondencesByMatchIndexAndDistance ());

  remaining_correspondences.resize (input.size ());
  int index_last = -1;
  unsigned int number_valid_correspondences = 0;
  for (size_t i = 0; i < input.size (); ++i)
  {
    if (input[i].index_match < 0)
      continue;
    else if (input[i].index_match != index_last)
    {
      remaining_correspondences[number_valid_correspondences] = input[i];
      index_last = input[i].index_match;
      ++number_valid_correspondences;
    }
  }
  remaining_correspondences.resize (number_valid_correspondences);
}

#endif /* PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_ONE_TO_ONE_HPP_ */