PointCloudLibrary / PointCloudLibrary/pcl
[gpu/features] It is puzzling to understand the code in pcl/gpu/features/src/fpfh.cu
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Description
Recently, I just dig into the source code in pcl/gpu/features/src/fpfh.cu, but it really confuses me.
For example, in line 241, I think the for loop is not necessary because each thread will use one neightbor point's SPFH with a weighting scheme to assemble the FPFH. If there is a for loop, each thread will assemble the FPFH repeatedly.
And, the normalizeFeature in line 288, line 289 and line 290 also seems strange.
Is there anyone who can help me with these?
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 by reading pcl/gpu/features/src/fpfh.cu around lines 241 and 288-290, then trace how the loop and normalizeFeature are used in the FPFH calculation. Compare the implementation with the issue's understanding and document whether these sections are correct or identify the specific behavior that needs changing.
Written by the indexing model from the issue text.
Assessment
- Tech stack
- cpp
- Domain
- computer-vision
- Issue type
- Documentation
- Difficulty
- 4/5
- Estimated time
- 3-5 days
- Activity status
- Stale
- Clarity
- Needs clarification
- Newbie friendliness
- 35/100