Point Cloud Library (PCL)  1.12.0-dev
correspondence_types.hpp
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40 
41 #pragma once
42 
43 #include <cstddef>
44 #include <vector>
45 
46 namespace pcl {
47 
48 namespace registration {
49 
50 inline void
51 getCorDistMeanStd(const pcl::Correspondences& correspondences,
52  double& mean,
53  double& stddev)
54 {
55  if (correspondences.empty())
56  return;
57 
58  double sum = 0, sq_sum = 0;
59 
60  for (const auto& correspondence : correspondences) {
61  sum += correspondence.distance;
62  sq_sum += correspondence.distance * correspondence.distance;
63  }
64  mean = sum / static_cast<double>(correspondences.size());
65  double variance = (sq_sum - sum * sum / static_cast<double>(correspondences.size())) /
66  static_cast<double>(correspondences.size() - 1);
67  stddev = sqrt(variance);
68 }
69 
70 inline void
71 getQueryIndices(const pcl::Correspondences& correspondences, pcl::Indices& indices)
72 {
73  indices.resize(correspondences.size());
74  for (std::size_t i = 0; i < correspondences.size(); ++i)
75  indices[i] = correspondences[i].index_query;
76 }
77 
78 inline void
79 getMatchIndices(const pcl::Correspondences& correspondences, pcl::Indices& indices)
80 {
81  indices.resize(correspondences.size());
82  for (std::size_t i = 0; i < correspondences.size(); ++i)
83  indices[i] = correspondences[i].index_match;
84 }
85 
86 } // namespace registration
87 } // namespace pcl
pcl
Definition: convolution.h:46
pcl::registration::getCorDistMeanStd
void getCorDistMeanStd(const pcl::Correspondences &correspondences, double &mean, double &stddev)
calculates the mean and standard deviation of descriptor distances from correspondences
Definition: correspondence_types.hpp:51
pcl::Indices
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition: types.h:133
pcl::registration::getMatchIndices
void getMatchIndices(const pcl::Correspondences &correspondences, pcl::Indices &indices)
extracts the match indices
Definition: correspondence_types.hpp:79
pcl::Correspondences
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
Definition: correspondence.h:89
pcl::registration::getQueryIndices
void getQueryIndices(const pcl::Correspondences &correspondences, pcl::Indices &indices)
extracts the query indices
Definition: correspondence_types.hpp:71