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Bug fix in SurfaceNormalOutlierFilter #457

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merged 6 commits into from
Aug 3, 2021
Merged

Bug fix in SurfaceNormalOutlierFilter #457

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0899b97
Bug fix: this call to `anyabs` should not be here
cjamin Mar 25, 2021
e1fc28c
Merge branch 'master' into patch-1
pomerlef Apr 6, 2021
ed85a13
Merge branch 'master' into patch-1
pomerlef Jul 6, 2021
5859e77
Merge branch 'master' into patch-1
simonpierredeschenes Jul 13, 2021
843adfc
Clarify SurfaceNormalOutlierFilter documentation
cjamin Jul 27, 2021
af1da4e
update result from tests
pomerlef Aug 3, 2021
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8 changes: 4 additions & 4 deletions examples/data/icp_data/force4DOFForPointToPlaneMinimizer.ref_trans
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
0.9836155772209167 -0.1802777200937271 0 0.2438895702362061
0.1802777200937271 0.9836155772209167 0 -0.709206759929657
0 0 1 -0.1967320442199707
0 0 0 1
0.9983626008033752 -0.05720203369855881 0 0.2742069959640503
0.05720203369855881 0.9983626008033752 0 -0.7140782475471497
0 0 1 -0.2944283485412598
0 0 0 1
2 changes: 1 addition & 1 deletion pointmatcher/OutlierFiltersImpl.cpp
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Expand Up @@ -261,7 +261,7 @@ typename PointMatcher<T>::OutlierWeights OutlierFiltersImpl<T>::SurfaceNormalOut

const Vector normalRef = normalsReference.col(idRef).normalized();

const T value = anyabs(normalRead.dot(normalRef));
const T value = normalRead.dot(normalRef);

if(value < eps) // test to keep the points
w(y, x) = 0;
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2 changes: 1 addition & 1 deletion pointmatcher/OutlierFiltersImpl.h
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Expand Up @@ -177,7 +177,7 @@ struct OutlierFiltersImpl
{
inline static const std::string description()
{
return "Hard rejection threshold using the angle between the surface normal vector of the reading and the reference. If normal vectors or not in the descriptor for both of the point clouds, does nothing.";
return "Hard rejection threshold using the angle between the surface normal vector of the reading and the reference. Usually used in combination with `OrientNormalDataPointsFilter`. If normal vectors are not in the descriptor for both of the point clouds, does nothing.";
}
inline static const ParametersDoc availableParameters()
{
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