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[Registration] Skip non-finite points for Pyramid Feature Matching #4711

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merged 2 commits into from
Apr 27, 2021
Merged

[Registration] Skip non-finite points for Pyramid Feature Matching #4711

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4f76fd2
Fix PFM
larshg Apr 19, 2021
a99a594
Update values for test to pass.
larshg Apr 21, 2021
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12 changes: 11 additions & 1 deletion common/include/pcl/common/point_tests.h
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Original file line number Diff line number Diff line change
Expand Up @@ -69,8 +69,13 @@ namespace pcl
template<> inline bool isFinite<pcl::BRISKSignature512>(const pcl::BRISKSignature512&) { return (true); }
template<> inline bool isFinite<pcl::BorderDescription>(const pcl::BorderDescription &) { return true; }
template<> inline bool isFinite<pcl::Boundary>(const pcl::Boundary&) { return (true); }
template<> inline bool isFinite<pcl::CPPFSignature>(const pcl::CPPFSignature&) { return (true); }
template<> inline bool isFinite<pcl::ESFSignature640>(const pcl::ESFSignature640&) { return (true); }
template<> inline bool isFinite<pcl::FPFHSignature33>(const pcl::FPFHSignature33&) { return (true); }
template<> inline bool isFinite<pcl::GASDSignature512>(const pcl::GASDSignature512&) { return (true); }
template<> inline bool isFinite<pcl::GASDSignature984>(const pcl::GASDSignature984&) { return (true); }
template<> inline bool isFinite<pcl::GASDSignature7992>(const pcl::GASDSignature7992&) { return (true); }
template<> inline bool isFinite<pcl::GRSDSignature21>(const pcl::GRSDSignature21&) { return (true); }
template<> inline bool isFinite<pcl::Intensity>(const pcl::Intensity&) { return (true); }
template<> inline bool isFinite<pcl::IntensityGradient>(const pcl::IntensityGradient&) { return (true); }
template<> inline bool isFinite<pcl::Label>(const pcl::Label&) { return (true); }
Expand All @@ -79,7 +84,12 @@ namespace pcl
template<> inline bool isFinite<pcl::PFHRGBSignature250>(const pcl::PFHRGBSignature250&) { return (true); }
template<> inline bool isFinite<pcl::PFHSignature125>(const pcl::PFHSignature125&) { return (true); }
template<> inline bool isFinite<pcl::PPFRGBSignature>(const pcl::PPFRGBSignature&) { return (true); }
template<> inline bool isFinite<pcl::PPFSignature>(const pcl::PPFSignature&) { return (true); }

template<> inline bool isFinite<pcl::PPFSignature>(const pcl::PPFSignature& pt)
{
return std::isfinite(pt.f1) && std::isfinite(pt.f2) && std::isfinite(pt.f3) && std::isfinite(pt.f4) && std::isfinite(pt.alpha_m);
}

template<> inline bool isFinite<pcl::PrincipalCurvatures>(const pcl::PrincipalCurvatures&) { return (true); }
template<> inline bool isFinite<pcl::PrincipalRadiiRSD>(const pcl::PrincipalRadiiRSD&) { return (true); }
template<> inline bool isFinite<pcl::RGB>(const pcl::RGB&) { return (true); }
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4 changes: 4 additions & 0 deletions registration/include/pcl/registration/impl/pyramid_feature_matching.hpp
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Expand Up @@ -42,6 +42,7 @@
#ifndef PCL_REGISTRATION_IMPL_PYRAMID_FEATURE_MATCHING_H_
#define PCL_REGISTRATION_IMPL_PYRAMID_FEATURE_MATCHING_H_

#include <pcl/common/point_tests.h> // for pcl::isFinite
#include <pcl/console/print.h>
#include <pcl/pcl_macros.h>

Expand Down Expand Up @@ -309,6 +310,9 @@ PyramidFeatureHistogram<PointFeature>::compute()

for (const auto& point : *input_) {
std::vector<float> feature_vector;
// NaN is converted to very high number that gives out of bound exception.
if (!pcl::isFinite(point))
continue;
convertFeatureToVector(point, feature_vector);
addFeature(feature_vector);
}
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6 changes: 3 additions & 3 deletions test/registration/test_registration.cpp
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Expand Up @@ -694,7 +694,7 @@ TEST (PCL, PyramidFeatureHistogram)
pyramid_target->compute ();

float similarity_value = PyramidFeatureHistogram<PPFSignature>::comparePyramidFeatureHistograms (pyramid_source, pyramid_target);
EXPECT_NEAR (similarity_value, 0.74101555347442627, 1e-4);
EXPECT_NEAR (similarity_value, 0.738492727, 1e-4);

std::vector<std::pair<float, float> > dim_range_target2;
for (std::size_t i = 0; i < 3; ++i) dim_range_target2.emplace_back(static_cast<float> (-M_PI) * 5.0f, static_cast<float> (M_PI) * 5.0f);
Expand All @@ -707,7 +707,7 @@ TEST (PCL, PyramidFeatureHistogram)
pyramid_target->compute ();

float similarity_value2 = PyramidFeatureHistogram<PPFSignature>::comparePyramidFeatureHistograms (pyramid_source, pyramid_target);
EXPECT_NEAR (similarity_value2, 0.80097091197967529, 1e-4);
EXPECT_NEAR (similarity_value2, 0.798465133, 1e-4);


std::vector<std::pair<float, float> > dim_range_target3;
Expand All @@ -721,7 +721,7 @@ TEST (PCL, PyramidFeatureHistogram)
pyramid_target->compute ();

float similarity_value3 = PyramidFeatureHistogram<PPFSignature>::comparePyramidFeatureHistograms (pyramid_source, pyramid_target);
EXPECT_NEAR (similarity_value3, 0.87623238563537598, 1e-3);
EXPECT_NEAR (similarity_value3, 0.873699546, 1e-3);
}

// Suat G: disabled, since the transformation does not look correct.
Expand Down