本文整理汇总了C++中pcl::Correspondences::end方法的典型用法代码示例。如果您正苦于以下问题：C++ Correspondences::end方法的具体用法？C++ Correspondences::end怎么用？C++ Correspondences::end使用的例子？那么, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类pcl::Correspondences的用法示例。
在下文中一共展示了Correspondences::end方法的1个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C++代码示例。
示例1: float
template <typename PointSource, typename PointTarget, typename NormalT, typename Scalar> int
pcl::registration::FPCSInitialAlignment <PointSource, PointTarget, NormalT, Scalar>::determineBaseMatches (
const std::vector <int> &base_indices,
std::vector <std::vector <int> > &matches,
const pcl::Correspondences &pairs_a,
const pcl::Correspondences &pairs_b,
const float (&ratio)[2])
{
// calculate edge lengths of base
float dist_base[4];
dist_base[0] = pcl::euclideanDistance (target_->points[base_indices[0]], target_->points[base_indices[2]]);
dist_base[1] = pcl::euclideanDistance (target_->points[base_indices[0]], target_->points[base_indices[3]]);
dist_base[2] = pcl::euclideanDistance (target_->points[base_indices[1]], target_->points[base_indices[2]]);
dist_base[3] = pcl::euclideanDistance (target_->points[base_indices[1]], target_->points[base_indices[3]]);
// loop over first point pair correspondences and store intermediate points 'e' in new point cloud
PointCloudSourcePtr cloud_e (new PointCloudSource);
cloud_e->resize (pairs_a.size () * 2);
PointCloudSourceIterator it_pt = cloud_e->begin ();
for (pcl::Correspondences::const_iterator it_pair = pairs_a.begin (), it_pair_e = pairs_a.end () ; it_pair != it_pair_e; it_pair++)
{
const PointSource *pt1 = &(input_->points[it_pair->index_match]);
const PointSource *pt2 = &(input_->points[it_pair->index_query]);
// calculate intermediate points using both ratios from base (r1,r2)
for (int i = 0; i < 2; i++, it_pt++)
{
it_pt->x = pt1->x + ratio[i] * (pt2->x - pt1->x);
it_pt->y = pt1->y + ratio[i] * (pt2->y - pt1->y);
it_pt->z = pt1->z + ratio[i] * (pt2->z - pt1->z);
}
}
// initialize new kd tree of intermediate points from first point pair correspondences
KdTreeReciprocalPtr tree_e (new KdTreeReciprocal);
tree_e->setInputCloud (cloud_e);
std::vector <int> ids;
std::vector <float> dists_sqr;
// loop over second point pair correspondences
for (pcl::Correspondences::const_iterator it_pair = pairs_b.begin (), it_pair_e = pairs_b.end () ; it_pair != it_pair_e; it_pair++)
{
const PointTarget *pt1 = &(input_->points[it_pair->index_match]);
const PointTarget *pt2 = &(input_->points[it_pair->index_query]);
// calculate intermediate points using both ratios from base (r1,r2)
for (int i = 0; i < 2; i++)
{
PointTarget pt_e;
pt_e.x = pt1->x + ratio[i] * (pt2->x - pt1->x);
pt_e.y = pt1->y + ratio[i] * (pt2->y - pt1->y);
pt_e.z = pt1->z + ratio[i] * (pt2->z - pt1->z);
// search for corresponding intermediate points
tree_e->radiusSearch (pt_e, coincidation_limit_, ids, dists_sqr);
for (std::vector <int>::iterator it = ids.begin (), it_e = ids.end (); it != it_e; it++)
{
std::vector <int> match_indices (4);
match_indices[0] = pairs_a[static_cast <int> (std::floor ((float)(*it/2.f)))].index_match;
match_indices[1] = pairs_a[static_cast <int> (std::floor ((float)(*it/2.f)))].index_query;
match_indices[2] = it_pair->index_match;
match_indices[3] = it_pair->index_query;
// EDITED: added coarse check of match based on edge length (due to rigid-body )
if (checkBaseMatch (match_indices, dist_base) < 0)
continue;
matches.push_back (match_indices);
}
}
}
// return unsuccessfull if no match was found
return (matches.size () > 0 ? 0 : -1);
}