correspondence_rejection_median_distance.hpp

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#ifndef PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_MEDIAN_DISTANCE_HPP_
#define PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_MEDIAN_DISTANCE_HPP_

#include <vector>

void
pcl::registration::CorrespondenceRejectorMedianDistance::getRemainingCorrespondences (
    const pcl::Correspondences& original_correspondences, 
    pcl::Correspondences& remaining_correspondences)
{
  std::vector <double> dists;
  dists.resize (original_correspondences.size ());

  for (size_t i = 0; i < original_correspondences.size (); ++i)
  {
    if (data_container_)
    {
      dists[i] = data_container_->getCorrespondenceScore (original_correspondences[i]);
    }
    else
    {
      dists[i] = original_correspondences[i].distance;
    }
  }
  nth_element (dists.begin (), dists.begin () + (dists.size () / 2), dists.end ());
  median_distance_ = dists [dists.size () / 2];

  unsigned int number_valid_correspondences = 0;
  remaining_correspondences.resize (original_correspondences.size ());

  for (size_t i = 0; i < original_correspondences.size (); ++i)
  {
    if ( dists[i] < median_distance_ * factor_)
    {
      remaining_correspondences[number_valid_correspondences] = original_correspondences[i];
      ++number_valid_correspondences;
    }
  }
  remaining_correspondences.resize (number_valid_correspondences);
}

#endif /* PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_MEDIAN_DISTANCE_HPP_ */