Point Cloud Library (PCL)
1.7.0
|
00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Point Cloud Library (PCL) - www.pointclouds.org 00005 * Copyright (c) 2010, Willow Garage, Inc. 00006 * Copyright (c) 2012-, Open Perception, Inc. 00007 * 00008 * All rights reserved. 00009 * 00010 * Redistribution and use in source and binary forms, with or without 00011 * modification, are permitted provided that the following conditions 00012 * are met: 00013 * 00014 * * Redistributions of source code must retain the above copyright 00015 * notice, this list of conditions and the following disclaimer. 00016 * * Redistributions in binary form must reproduce the above 00017 * copyright notice, this list of conditions and the following 00018 * disclaimer in the documentation and/or other materials provided 00019 * with the distribution. 00020 * * Neither the name of the copyright holder(s) nor the names of its 00021 * contributors may be used to endorse or promote products derived 00022 * from this software without specific prior written permission. 00023 * 00024 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00025 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00026 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00027 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00028 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00029 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00030 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00031 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00032 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00033 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00034 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00035 * POSSIBILITY OF SUCH DAMAGE. 00036 * 00037 * $Id$ 00038 * 00039 */ 00040 #ifndef PCL_REGISTRATION_IMPL_CORRESPONDENCE_TYPES_H_ 00041 #define PCL_REGISTRATION_IMPL_CORRESPONDENCE_TYPES_H_ 00042 00043 #include <limits> 00044 #include <pcl/registration/eigen.h> 00045 00046 ////////////////////////////////////////////////////////////////////////////////////////// 00047 inline void 00048 pcl::registration::getCorDistMeanStd (const pcl::Correspondences &correspondences, double &mean, double &stddev) 00049 { 00050 if (correspondences.empty ()) 00051 return; 00052 00053 double sum = 0, sq_sum = 0; 00054 00055 for (size_t i = 0; i < correspondences.size (); ++i) 00056 { 00057 sum += correspondences[i].distance; 00058 sq_sum += correspondences[i].distance * correspondences[i].distance; 00059 } 00060 mean = sum / static_cast<double> (correspondences.size ()); 00061 double variance = (sq_sum - sum * sum / static_cast<double> (correspondences.size ())) / static_cast<double> (correspondences.size () - 1); 00062 stddev = sqrt (variance); 00063 } 00064 00065 ////////////////////////////////////////////////////////////////////////////////////////// 00066 inline void 00067 pcl::registration::getQueryIndices (const pcl::Correspondences& correspondences, std::vector<int>& indices) 00068 { 00069 indices.resize (correspondences.size ()); 00070 for (size_t i = 0; i < correspondences.size (); ++i) 00071 indices[i] = correspondences[i].index_query; 00072 } 00073 00074 ////////////////////////////////////////////////////////////////////////////////////////// 00075 inline void 00076 pcl::registration::getMatchIndices (const pcl::Correspondences& correspondences, std::vector<int>& indices) 00077 { 00078 indices.resize (correspondences.size ()); 00079 for (size_t i = 0; i < correspondences.size (); ++i) 00080 indices[i] = correspondences[i].index_match; 00081 } 00082 00083 #endif /* PCL_REGISTRATION_IMPL_CORRESPONDENCE_TYPES_H_ */