correspondence_types.hpp

Go to the documentation of this file.

/*
 * Software License Agreement (BSD License)
 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2010, Willow Garage, Inc.
 *  Copyright (c) 2012-, Open Perception, Inc.
 *
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of the copyright holder(s) nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *
 * $Id$
 *
 */
#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 (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_ */