correspondence_types.hpp

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#ifndef PCL_REGISTRATION_IMPL_CORRESPONDENCE_TYPES_H_
#define PCL_REGISTRATION_IMPL_CORRESPONDENCE_TYPES_H_

#include <limits>
#include <Eigen/Core>

inline void
pcl::registration::getCorDistMeanStd (const pcl::Correspondences &correspondences, double &mean, double &stddev)
{
  if (correspondences.empty ())
    return;

  double sum = 0, sq_sum = 0;

  for (size_t i = 0; i < correspondences.size (); ++i)
  {
    sum += correspondences[i].distance;
    sq_sum += correspondences[i].distance * correspondences[i].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 (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 (size_t i = 0; i < correspondences.size (); ++i)
    indices[i] = correspondences[i].index_match;
}

#endif /* PCL_REGISTRATION_IMPL_CORRESPONDENCE_TYPES_H_ */