Point Cloud Library (PCL)  1.11.1
correspondence_types.h
1 /*
2  * Software License Agreement (BSD License)
3  *
4  * Point Cloud Library (PCL) - www.pointclouds.org
5  * Copyright (c) 2010, Willow Garage, Inc.
6  * Copyright (c) 2012-, Open Perception, Inc.
7  *
8  * All rights reserved.
9  *
10  * Redistribution and use in source and binary forms, with or without
11  * modification, are permitted provided that the following conditions
12  * are met:
13  *
14  * * Redistributions of source code must retain the above copyright
15  * notice, this list of conditions and the following disclaimer.
16  * * Redistributions in binary form must reproduce the above
17  * copyright notice, this list of conditions and the following
18  * disclaimer in the documentation and/or other materials provided
19  * with the distribution.
20  * * Neither the name of the copyright holder(s) nor the names of its
21  * contributors may be used to endorse or promote products derived
22  * from this software without specific prior written permission.
23  *
24  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
25  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
26  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
27  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
28  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
29  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
30  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
31  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
32  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
33  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
34  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
35  * POSSIBILITY OF SUCH DAMAGE.
36  *
37  * $Id$
38  *
39  */
40 
41 #pragma once
42 
43 #include <pcl/correspondence.h>
44 
45 namespace pcl
46 {
47  namespace registration
48  {
49  /** \brief calculates the mean and standard deviation of descriptor distances from correspondences
50  * \param[in] correspondences list of correspondences
51  * \param[out] mean the mean descriptor distance of correspondences
52  * \param[out] stddev the standard deviation of descriptor distances.
53  * \note The sample variance is used to determine the standard deviation
54  */
55  inline void
56  getCorDistMeanStd (const pcl::Correspondences& correspondences, double &mean, double &stddev);
57 
58  /** \brief extracts the query indices
59  * \param[in] correspondences list of correspondences
60  * \param[out] indices array of extracted indices.
61  * \note order of indices corresponds to input list of descriptor correspondences
62  */
63  inline void
64  getQueryIndices (const pcl::Correspondences& correspondences, std::vector<int>& indices);
65 
66  /** \brief extracts the match indices
67  * \param[in] correspondences list of correspondences
68  * \param[out] indices array of extracted indices.
69  * \note order of indices corresponds to input list of descriptor correspondences
70  */
71  inline void
72  getMatchIndices (const pcl::Correspondences& correspondences, std::vector<int>& indices);
73 
74  }
75 }
76 
77 #include <pcl/registration/impl/correspondence_types.hpp>
void getCorDistMeanStd(const pcl::Correspondences &correspondences, double &mean, double &stddev)
calculates the mean and standard deviation of descriptor distances from correspondences
void getMatchIndices(const pcl::Correspondences &correspondences, std::vector< int > &indices)
extracts the match indices
void getQueryIndices(const pcl::Correspondences &correspondences, std::vector< int > &indices)
extracts the query indices
std::vector< pcl::Correspondence, Eigen::aligned_allocator< pcl::Correspondence > > Correspondences