Point Cloud Library (PCL) 1.12.0
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correspondence_types.hpp
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40
41#pragma once
42
43#include <cstddef>
44#include <vector>
45
46namespace pcl {
47
48namespace registration {
49
50inline void
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
70inline void
71getQueryIndices(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
78inline void
79getMatchIndices(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
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, pcl::Indices &indices)
extracts the match indices
void getQueryIndices(const pcl::Correspondences &correspondences, pcl::Indices &indices)
extracts the query indices
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition types.h:133