correspondence_types.hpp
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#pragma once
#include <cstddef>
#include <vector>
namespace pcl {
namespace registration {
inline void
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
getQueryIndices(const pcl::Correspondences& correspondences, pcl::Indices& indices)
{
indices.resize(correspondences.size());
for (std::size_t i = 0; i < correspondences.size(); ++i)
indices[i] = correspondences[i].index_query;
}
inline void
getMatchIndices(const pcl::Correspondences& correspondences, pcl::Indices& indices)
{
indices.resize(correspondences.size());
for (std::size_t i = 0; i < correspondences.size(); ++i)
indices[i] = correspondences[i].index_match;
}
} // namespace registration
} // namespace pcl
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::registration::getMatchIndices
void getMatchIndices(const pcl::Correspondences &correspondences, pcl::Indices &indices)
extracts the match indices
Definition: correspondence_types.hpp:79
pcl::registration::getQueryIndices
void getQueryIndices(const pcl::Correspondences &correspondences, pcl::Indices &indices)
extracts the query indices
Definition: correspondence_types.hpp:71
pcl
Definition: convolution.h:46
pcl::Correspondences
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
Definition: correspondence.h:89
pcl::Indices
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition: types.h:133