Point Cloud Library (PCL)
1.3.1
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2010, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * 00034 * 00035 */ 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 / correspondences.size(); 00056 double variance = (double)(sq_sum - sum * sum / correspondences.size ()) / (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 /* PCL_REGISTRATION_IMPL_CORRESPONDENCE_TYPES_H_ */