43 #include <pcl/registration/eigen.h>
51 if (correspondences.empty ())
54 double sum = 0, sq_sum = 0;
56 for (
const auto &correspondence : correspondences)
58 sum += correspondence.distance;
59 sq_sum += correspondence.distance * correspondence.distance;
61 mean = sum / static_cast<double> (correspondences.size ());
62 double variance = (sq_sum - sum * sum / static_cast<double> (correspondences.size ())) / static_cast<double> (correspondences.size () - 1);
63 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;