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#ifndef PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_TRIMMED_HPP_
#define PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_TRIMMED_HPP_

//////////////////////////////////////////////////////////////////////////////////////////////
void
pcl::registration::CorrespondenceRejectorTrimmed::applyRejection (
    pcl::Correspondences &correspondences)
{
  /* not really an efficient implementation */
  correspondences = *input_correspondences_;
  unsigned int number_valid_correspondences = (int(std::floor (overlap_ratio_ * (float)(correspondences.size ()))));
  number_valid_correspondences = std::max (number_valid_correspondences, nr_min_correspondences_);

  if (number_valid_correspondences < input_correspondences_->size ())
  {
    std::sort (correspondences.begin (), correspondences.end (), 
               pcl::registration::sortCorrespondencesByDistance ());
    correspondences.resize (number_valid_correspondences);
  }
  else
    correspondences = *input_correspondences_;
}

//////////////////////////////////////////////////////////////////////////////////////////////
void
pcl::registration::CorrespondenceRejectorTrimmed::getRemainingCorrespondences (
    const pcl::Correspondences& original_correspondences, 
    pcl::Correspondences& remaining_correspondences)
{
  /* not really an efficient implementation */
  remaining_correspondences = original_correspondences;
  unsigned int number_valid_correspondences = (int (std::floor (overlap_ratio_ * (float) (remaining_correspondences.size ()))));
  number_valid_correspondences = std::max (number_valid_correspondences, nr_min_correspondences_);

  if (number_valid_correspondences < remaining_correspondences.size ())
  {
    std::sort (remaining_correspondences.begin (), remaining_correspondences.end (), 
               pcl::registration::sortCorrespondencesByDistance ());
    remaining_correspondences.resize (number_valid_correspondences);
  }
}


#endif /* PCL_REGISTRATION_IMPL_CORRESPONDENCE_REJECTION_TRIMMED_HPP_ */
