https://svn.lrde.epita.fr/svn/oln/trunk/milena Index: ChangeLog from Thierry Geraud &lt;thierry.geraud(a)lrde.epita.fr&gt; Fix registration std dev computation. * mln/registration/icp2.hh (compute_standard_deviation): Fix. icp2.hh | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) Index: mln/registration/icp2.hh --- mln/registration/icp2.hh (revision 3305) +++ mln/registration/icp2.hh (working copy) @@ -32,6 +32,7 @@ /// /// Register an image over an another using the ICP algorithm. +# include <cmath> # include <algorithm> # include <mln/core/alias/vec3d.hh> @@ -114,8 +115,11 @@ const p_array<P>& X, const F& closest_point); + + # ifndef MLN_INCLUDE_ONLY + /// Closest point functor based on map distance. template <typename P> class closest_point_with_map @@ -267,7 +271,7 @@ } float d = e_k_accu.to_result(); - sd = math::sqrt((e_k_accu.hook_value_() - 2.5 * math::sqr(d)) / P_.nsites()); + sd = std::sqrt(e_k_accu.hook_value_() / P_.nsites() - d * d); return sd; } @@ -399,7 +403,7 @@ Qk(2,3) = Spx(1,2) + Spx(2,1); Qk(3,2) = Spx(1,2) + Spx(2,1); - return mln::math::jacobi(Qk); + return math::jacobi(Qk); }