correspondence_types.hpp

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#pragma once
 
#include <cstddef>
#include <vector>
 
namespace pcl {
 
namespace registration {
 
inline void
getCorDistMeanStd(const pcl::Correspondences& correspondences,
                  double& mean,
                  double& stddev)
{
  if (correspondences.empty())
    return;
 
  double sum = 0, sq_sum = 0;
 
  for (const auto& correspondence : correspondences) {
    sum += correspondence.distance;
    sq_sum += correspondence.distance * correspondence.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
getQueryIndices(const pcl::Correspondences& correspondences, pcl::Indices& indices)
{
  indices.resize(correspondences.size());
  for (std::size_t i = 0; i < correspondences.size(); ++i)
    indices[i] = correspondences[i].index_query;
}
 
inline void
getMatchIndices(const pcl::Correspondences& correspondences, pcl::Indices& indices)
{
  indices.resize(correspondences.size());
  for (std::size_t i = 0; i < correspondences.size(); ++i)
    indices[i] = correspondences[i].index_match;
}
 
} // namespace registration
} // namespace pcl