common.cpp
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00001 /*
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00036  * $Id: distances.cpp 527 2011-04-17 23:57:26Z rusu $
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00039 #include <pcl/common/common.h>
00040 #include <pcl/console/print.h>
00041 
00043 void 
00044 pcl::getMinMax (const pcl::PCLPointCloud2 &cloud, int,
00045                 const std::string &field_name, float &min_p, float &max_p)
00046 {
00047   min_p = FLT_MAX;
00048   max_p = -FLT_MAX;
00049 
00050   int field_idx = -1;
00051   for (size_t d = 0; d < cloud.fields.size (); ++d)
00052     if (cloud.fields[d].name == field_name)
00053       field_idx = static_cast<int>(d);
00054 
00055   if (field_idx == -1)
00056   {
00057     PCL_ERROR ("[getMinMax] Invalid field (%s) given!\n", field_name.c_str ());
00058     return;
00059   }
00060 
00061   for (unsigned int i = 0; i < cloud.fields[field_idx].count; ++i)
00062   {
00063     float data;
00064     // TODO: replace float with the real data type
00065     memcpy (&data, &cloud.data[cloud.fields[field_idx].offset + i * sizeof (float)], sizeof (float));
00066     min_p = (data > min_p) ? min_p : data; 
00067     max_p = (data < max_p) ? max_p : data; 
00068   }
00069 }
00070 
00072 void
00073 pcl::getMeanStdDev (const std::vector<float> &values, double &mean, double &stddev)
00074 {
00075   double sum = 0, sq_sum = 0;
00076 
00077   for (size_t i = 0; i < values.size (); ++i)
00078   {
00079     sum += values[i];
00080     sq_sum += values[i] * values[i];
00081   }
00082   mean = sum / static_cast<double>(values.size ());
00083   double variance = (sq_sum - sum * sum / static_cast<double>(values.size ())) / (static_cast<double>(values.size ()) - 1);
00084   stddev = sqrt (variance);
00085 }
00086 


pcl
Author(s): Open Perception
autogenerated on Wed Aug 26 2015 15:22:49