Point Cloud Library (PCL)  1.8.1
correspondence_types.hpp
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40 #ifndef PCL_REGISTRATION_IMPL_CORRESPONDENCE_TYPES_H_
41 #define PCL_REGISTRATION_IMPL_CORRESPONDENCE_TYPES_H_
42 
43 #include <limits>
44 #include <pcl/registration/eigen.h>
45 
46 //////////////////////////////////////////////////////////////////////////////////////////
47 inline void
48 pcl::registration::getCorDistMeanStd (const pcl::Correspondences &correspondences, double &mean, double &stddev)
49 {
50  if (correspondences.empty ())
51  return;
52 
53  double sum = 0, sq_sum = 0;
54 
55  for (size_t i = 0; i < correspondences.size (); ++i)
56  {
57  sum += correspondences[i].distance;
58  sq_sum += correspondences[i].distance * correspondences[i].distance;
59  }
60  mean = sum / static_cast<double> (correspondences.size ());
61  double variance = (sq_sum - sum * sum / static_cast<double> (correspondences.size ())) / static_cast<double> (correspondences.size () - 1);
62  stddev = sqrt (variance);
63 }
64 
65 //////////////////////////////////////////////////////////////////////////////////////////
66 inline void
67 pcl::registration::getQueryIndices (const pcl::Correspondences& correspondences, std::vector<int>& indices)
68 {
69  indices.resize (correspondences.size ());
70  for (size_t i = 0; i < correspondences.size (); ++i)
71  indices[i] = correspondences[i].index_query;
72 }
73 
74 //////////////////////////////////////////////////////////////////////////////////////////
75 inline void
76 pcl::registration::getMatchIndices (const pcl::Correspondences& correspondences, std::vector<int>& indices)
77 {
78  indices.resize (correspondences.size ());
79  for (size_t i = 0; i < correspondences.size (); ++i)
80  indices[i] = correspondences[i].index_match;
81 }
82 
83 #endif /* PCL_REGISTRATION_IMPL_CORRESPONDENCE_TYPES_H_ */
void getCorDistMeanStd(const pcl::Correspondences &correspondences, double &mean, double &stddev)
calculates the mean and standard deviation of descriptor distances from correspondences ...
void getMatchIndices(const pcl::Correspondences &correspondences, std::vector< int > &indices)
extracts the match indices
void getQueryIndices(const pcl::Correspondences &correspondences, std::vector< int > &indices)
extracts the query indices
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences