Fix inaccurate covariance matrix computation #4983
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…ations The previous, naive implementation was not accurate enough. The new implementation uses an estimate of the mean to shift the data. It is much more accurate and almost as fast as the naive implementation. Also considered were a two-pass and an online implementation, but they are overall not as accurate and/or fast as the chosen algorithm. See PointCloudLibrary#4965 for details
The old test values were apparently only chosen to fit the old covariance algorithm, so they can simply be replaced with values that fit the new, more accurate covariance algorithm.
Avoids "maybe uninitialized" warnings
larshg
approved these changes
Oct 27, 2021
This was referenced Nov 20, 2021
This was referenced Nov 28, 2021
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See issue #4965 for detailed discussion
Regarding the tests: the test
TranslatedNormalEstimationwas taken from pull request #1407 with slight modifications. The new tests (added in the first commit) failed on Azure Pipelines with the old covariance implementation, but pass with the new implementation.@pmdifran for your information