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00036 #ifndef PCL_REGISTRATION_IMPL_CORRESPONDENCE_TYPES_H_
00037 #define PCL_REGISTRATION_IMPL_CORRESPONDENCE_TYPES_H_
00038
00039 #include <limits>
00040 #include <Eigen/Core>
00041
00042 inline void
00043 pcl::registration::getCorDistMeanStd (const pcl::Correspondences &correspondences, double &mean, double &stddev)
00044 {
00045 if (correspondences.empty ())
00046 return;
00047
00048 double sum = 0, sq_sum = 0;
00049
00050 for (size_t i = 0; i < correspondences.size (); ++i)
00051 {
00052 sum += correspondences[i].distance;
00053 sq_sum += correspondences[i].distance * correspondences[i].distance;
00054 }
00055 mean = sum / static_cast<double> (correspondences.size ());
00056 double variance = (sq_sum - sum * sum / static_cast<double> (correspondences.size ())) / static_cast<double> (correspondences.size () - 1);
00057 stddev = sqrt (variance);
00058 }
00059
00060 inline void
00061 pcl::registration::getQueryIndices (const pcl::Correspondences& correspondences, std::vector<int>& indices)
00062 {
00063 indices.resize (correspondences.size ());
00064 for (size_t i = 0; i < correspondences.size (); ++i)
00065 indices[i] = correspondences[i].index_query;
00066 }
00067
00068 inline void
00069 pcl::registration::getMatchIndices (const pcl::Correspondences& correspondences, std::vector<int>& indices)
00070 {
00071 indices.resize (correspondences.size ());
00072 for (size_t i = 0; i < correspondences.size (); ++i)
00073 indices[i] = correspondences[i].index_match;
00074 }
00075
00076 #endif