40 #ifndef PCL_REGISTRATION_IMPL_CORRESPONDENCE_TYPES_H_
41 #define PCL_REGISTRATION_IMPL_CORRESPONDENCE_TYPES_H_
44 #include <pcl/registration/eigen.h>
50 if (correspondences.empty ())
53 double sum = 0, sq_sum = 0;
55 for (
const auto &correspondence : correspondences)
57 sum += correspondence.distance;
58 sq_sum += correspondence.distance * correspondence.distance;
60 mean = sum /
static_cast<double> (correspondences.size ());
61 double variance = (sq_sum - sum * sum /
static_cast<double> (correspondences.size ())) /
static_cast<double> (correspondences.size () - 1);
62 stddev = sqrt (variance);
69 indices.resize (correspondences.size ());
70 for (std::size_t i = 0; i < correspondences.size (); ++i)
71 indices[i] = correspondences[i].index_query;
78 indices.resize (correspondences.size ());
79 for (std::size_t i = 0; i < correspondences.size (); ++i)
80 indices[i] = correspondences[i].index_match;