correspondence_types.hpp
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#ifndef PCL_REGISTRATION_IMPL_CORRESPONDENCE_TYPES_H_
#define PCL_REGISTRATION_IMPL_CORRESPONDENCE_TYPES_H_
#include <limits>
#include <pcl/registration/eigen.h>
//////////////////////////////////////////////////////////////////////////////////////////
inline void
pcl::registration::getCorDistMeanStd (const pcl::Correspondences &correspondences, double &mean, double &stddev)
{
if (correspondences.empty ())
return;
double sum = 0, sq_sum = 0;
for (const auto &correspondence : correspondences)
{
sum += correspondence.distance;
sq_sum += correspondence.distance * correspondence.distance;
}
mean = sum / static_cast<double> (correspondences.size ());
double variance = (sq_sum - sum * sum / static_cast<double> (correspondences.size ())) / static_cast<double> (correspondences.size () - 1);
stddev = sqrt (variance);
}
//////////////////////////////////////////////////////////////////////////////////////////
inline void
pcl::registration::getQueryIndices (const pcl::Correspondences& correspondences, std::vector<int>& indices)
{
indices.resize (correspondences.size ());
for (std::size_t i = 0; i < correspondences.size (); ++i)
indices[i] = correspondences[i].index_query;
}
//////////////////////////////////////////////////////////////////////////////////////////
inline void
pcl::registration::getMatchIndices (const pcl::Correspondences& correspondences, std::vector<int>& indices)
{
indices.resize (correspondences.size ());
for (std::size_t i = 0; i < correspondences.size (); ++i)
indices[i] = correspondences[i].index_match;
}
#endif /* PCL_REGISTRATION_IMPL_CORRESPONDENCE_TYPES_H_ */
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:48
pcl::registration::getMatchIndices
void getMatchIndices(const pcl::Correspondences &correspondences, std::vector< int > &indices)
extracts the match indices
Definition: correspondence_types.hpp:76
pcl::registration::getQueryIndices
void getQueryIndices(const pcl::Correspondences &correspondences, std::vector< int > &indices)
extracts the query indices
Definition: correspondence_types.hpp:67
pcl::Correspondences
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
Definition: correspondence.h:88