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Fix numerical issue in GASD estimation #3498

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Dec 5, 2019
Merged

Fix numerical issue in GASD estimation #3498

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711d9cc
Revert values in GASD estimation test
taketwo Dec 4, 2019
fc57987
Simplify computation of distance histogram value in GASD
taketwo Dec 4, 2019
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5 changes: 2 additions & 3 deletions features/include/pcl/features/impl/gasd.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -289,9 +289,8 @@ pcl::GASDEstimation<PointInT, PointOutT>::computeFeature (PointCloudOut &output)

const float shape_grid_step = distance_normalization_factor / shape_half_grid_size_;

const float dist_hist_start = ((int) (d / shape_grid_step)) * shape_grid_step;

const float dist_hist_val = (d - dist_hist_start) / shape_grid_step;
float integral;
const float dist_hist_val = std::modf(d / shape_grid_step, &integral);

const float dbin = dist_hist_val * shape_hists_size_;

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4 changes: 2 additions & 2 deletions test/features/test_gasd_estimation.cpp
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Expand Up @@ -178,7 +178,7 @@ TEST (PCL, GASDShapeAndColorEstimationNoInterp)
gasd.compute (descriptor);

const float ref_values[984] =
{ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.757576, 0, 0, 0, 0, 3.53535, 1.26263, 0, 0, 0,
{ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0101, 0, 0, 0, 0, 3.53535, 1.26263, 0, 0, 0,
1.51515, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.757576, 0, 0, 0, 0, 0.757576, 6.06061, 0,
0, 0, 0, 4.0404, 1.51515, 0, 0, 0, 0, 6.81818, 0, 0, 0, 0, 0, 1.76768, 1.76768, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0.50505, 0, 0, 0, 0, 0, 3.78788, 0.50505, 0, 0, 0, 0, 5.80808, 0, 0, 0, 0, 0, 2.0202,
Expand Down Expand Up @@ -238,7 +238,7 @@ TEST(PCL, GASDShapeAndColorEstimationQuadrilinearInterp)
gasd.compute (descriptor);

const float ref_values[984] =
{ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.757576, 0, 0, 0, 0, 3.53535, 1.26263, 0, 0, 0,
{ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0101, 0, 0, 0, 0, 3.53535, 1.26263, 0, 0, 0,
1.51515, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.757576, 0, 0, 0, 0, 0.757576, 6.06061, 0,
0, 0, 0, 4.0404, 1.51515, 0, 0, 0, 0, 6.81818, 0, 0, 0, 0, 0, 1.76768, 1.76768, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0.50505, 0, 0, 0, 0, 0, 3.78788, 0.50505, 0, 0, 0, 0, 5.80808, 0, 0, 0, 0, 0, 2.0202,
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