PointCloudLibrary / PointCloudLibrary/pcl
[Features] our_cvfh use own impl of extract clusters
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- Dominant language
- C++
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Description
Describe the bug
OURCVFHEstimation used its own impl of extractEuclideanClustersSmooth (ie. using normals also)
See: https://github.com/PointCloudLibrary/pcl/blob/70047873577e4d9b6d6d6e675eafaff3216492bc/features/include/pcl/features/impl/our_cvfh.hpp#L73-L157
Context
Looking into the various cluster algorithms.
Expected behavior
Let our_cvfh use the cluster algorithms in segmentation module.
Current Behavior
It has its own implementation which doesn't get fixed. ie. latest commit about abs/acos to the dot_p.
Your Environment (please complete the following information):
- OS: Windows
- Compiler: VS2019
- PCL Version Head
Possible Solution
Remove the local implementation and use the segmentation method from the segmentation module.
Additional context
Wonder if there are other places where this happens or something similiar😄
Contributor guide
First steps
- Read the whole issue, then the project's contributing guide.
- Comment on the issue to say you are picking it up — it saves two people doing the same work.
- Fork the repository and make your change on a branch.
- Open a pull request that references the issue number.
Research direction
Start with features/include/pcl/features/impl/our_cvfh.hpp, especially the local extractEuclideanClustersSmooth implementation around lines 73-157. Compare it with the clustering method in the segmentation module, then remove the duplicated implementation so OURCVFHEstimation uses that shared method; also inspect whether similar local implementations exist elsewhere.
Written by the indexing model from the issue text.
Assessment
- Tech stack
- cpp
- Domain
- computer-vision
- Issue type
- Refactor
- Difficulty
- 4/5
- Estimated time
- 3-5 days
- Activity status
- Stale
- Clarity
- Mostly clear
- Newbie friendliness
- 35/100