PointCloudLibrary / PointCloudLibrary/pcl
'acos' missing in PPF feature calculation
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Description
Hi everyone,
in the ppf.cpp file, in the function computePPFPairFeature the 'acos' should be applied to the f1, f2 and f3 components of the feature vector. In the paper, these components should be angles between 0 and pi, but in the function they are leaved as the inner products of the vectors.
The problem arises when using the PPFRegistration class, these features are discretized as if they were angles. This could lead to unexpected behavior.
Best,
Alfonso
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First steps
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Research direction
Start in ppf.cpp at computePPFPairFeature and compare the f1, f2, and f3 calculations with the paper's angle definitions. Then inspect how PPFRegistration discretizes these features and verify that the resulting values are treated as angles between 0 and pi; check any relevant PPF tests or examples for expected behavior.
Written by the indexing model from the issue text.
Assessment
- Tech stack
- cpp
- Domain
- computer-vision
- Issue type
- Bug
- Difficulty
- 2/5
- Estimated time
- 1-3 hours
- Activity status
- Stale
- Clarity
- Clearly specified
- Newbie friendliness
- 52/100