Point Cloud Library (PCL)  1.11.0
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correspondence_types.hpp
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40 
41 #pragma once
42 
43 #include <pcl/registration/eigen.h>
44 
45 #include <cstddef>
46 #include <vector>
47 
48 
49 namespace pcl
50 {
51 
52 namespace registration
53 {
54 
55 inline void
56 getCorDistMeanStd (const pcl::Correspondences &correspondences, double &mean, double &stddev)
57 {
58  if (correspondences.empty ())
59  return;
60 
61  double sum = 0, sq_sum = 0;
62 
63  for (const auto &correspondence : correspondences)
64  {
65  sum += correspondence.distance;
66  sq_sum += correspondence.distance * correspondence.distance;
67  }
68  mean = sum / static_cast<double> (correspondences.size ());
69  double variance = (sq_sum - sum * sum / static_cast<double> (correspondences.size ())) / static_cast<double> (correspondences.size () - 1);
70  stddev = sqrt (variance);
71 }
72 
73 inline void
74 getQueryIndices (const pcl::Correspondences& correspondences, std::vector<int>& indices)
75 {
76  indices.resize (correspondences.size ());
77  for (std::size_t i = 0; i < correspondences.size (); ++i)
78  indices[i] = correspondences[i].index_query;
79 }
80 
81 
82 inline void
83 getMatchIndices (const pcl::Correspondences& correspondences, std::vector<int>& indices)
84 {
85  indices.resize (correspondences.size ());
86  for (std::size_t i = 0; i < correspondences.size (); ++i)
87  indices[i] = correspondences[i].index_match;
88 }
89 
90 } // namespace registration
91 } // namespace pcl
92 
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