ppf: remove redundant codes #6230
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mvieth
reviewed
Feb 7, 2025
| angle *= (-1); | ||
| p.alpha_m = -angle; | ||
| float angle = std::atan2 (model_point_transformed(2), model_point_transformed(1)); | ||
| p.alpha_m = angle; |
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Did you forget a minus sign here?
And I am still not sure about +pi becoming -pi. Even if they represent the same angle, couldn't this cause a problem in the discretization in PPFRegistration?
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@YeHuanjie Hi, I just wanted to ask whether you are still working on this pull request? If not, that would be totally fine, but then I would close this pull request and the related issue soon (because it is not a bug or error in the code). |
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remove unnecessary (-1) and modify alpha calculation according to 《A Method for 6D Pose Estimation of Free-Form Rigid Objects Using Point Pair Features on Range Data》