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Fixes incorrect distance calculation in getMaxDistance #1453

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Nov 29, 2015
Merged

Fixes incorrect distance calculation in getMaxDistance #1453

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20 changes: 11 additions & 9 deletions common/include/pcl/common/impl/common.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -132,14 +132,15 @@ pcl::getMaxDistance (const pcl::PointCloud<PointT> &cloud, const Eigen::Vector4f
float max_dist = -FLT_MAX;
int max_idx = -1;
float dist;
const Eigen::Vector3f pivot_pt3 = pivot_pt.head<3> ();

// If the data is dense, we don't need to check for NaN
if (cloud.is_dense)
{
for (size_t i = 0; i < cloud.points.size (); ++i)
{
pcl::Vector4fMapConst pt = cloud.points[i].getVector4fMap ();
dist = (pivot_pt - pt).norm ();
pcl::Vector3fMapConst pt = cloud.points[i].getVector3fMap ();
dist = (pivot_pt3 - pt).norm ();
if (dist > max_dist)
{
max_idx = int (i);
Expand All @@ -155,8 +156,8 @@ pcl::getMaxDistance (const pcl::PointCloud<PointT> &cloud, const Eigen::Vector4f
// Check if the point is invalid
if (!pcl_isfinite (cloud.points[i].x) || !pcl_isfinite (cloud.points[i].y) || !pcl_isfinite (cloud.points[i].z))
continue;
pcl::Vector4fMapConst pt = cloud.points[i].getVector4fMap ();
dist = (pivot_pt - pt).norm ();
pcl::Vector3fMapConst pt = cloud.points[i].getVector3fMap ();
dist = (pivot_pt3 - pt).norm ();
if (dist > max_dist)
{
max_idx = int (i);
Expand All @@ -179,14 +180,15 @@ pcl::getMaxDistance (const pcl::PointCloud<PointT> &cloud, const std::vector<int
float max_dist = -FLT_MAX;
int max_idx = -1;
float dist;
const Eigen::Vector3f pivot_pt3 = pivot_pt.head<3> ();

// If the data is dense, we don't need to check for NaN
if (cloud.is_dense)
{
for (size_t i = 0; i < indices.size (); ++i)
{
pcl::Vector4fMapConst pt = cloud.points[indices[i]].getVector4fMap ();
dist = (pivot_pt - pt).norm ();
pcl::Vector3fMapConst pt = cloud.points[indices[i]].getVector3fMap ();
dist = (pivot_pt3 - pt).norm ();
if (dist > max_dist)
{
max_idx = static_cast<int> (i);
Expand All @@ -205,8 +207,8 @@ pcl::getMaxDistance (const pcl::PointCloud<PointT> &cloud, const std::vector<int
!pcl_isfinite (cloud.points[indices[i]].z))
continue;

pcl::Vector4fMapConst pt = cloud.points[indices[i]].getVector4fMap ();
dist = (pivot_pt - pt).norm ();
pcl::Vector3fMapConst pt = cloud.points[indices[i]].getVector3fMap ();
dist = (pivot_pt3 - pt).norm ();
if (dist > max_dist)
{
max_idx = static_cast<int> (i);
Expand All @@ -216,7 +218,7 @@ pcl::getMaxDistance (const pcl::PointCloud<PointT> &cloud, const std::vector<int
}

if(max_idx != -1)
max_pt = cloud.points[max_idx].getVector4fMap ();
max_pt = cloud.points[indices[max_idx]].getVector4fMap ();
else
max_pt = Eigen::Vector4f(std::numeric_limits<float>::quiet_NaN(),std::numeric_limits<float>::quiet_NaN(),std::numeric_limits<float>::quiet_NaN(),std::numeric_limits<float>::quiet_NaN());
}
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29 changes: 29 additions & 0 deletions test/common/test_common.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -522,6 +522,35 @@ TEST (PCL, HasField)
EXPECT_FALSE ((pcl::traits::has_label<pcl::Normal>::value));
}

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
TEST (PCL, GetMaxDistance)
{
PointCloud<PointXYZ> cloud;
Eigen::Vector4f max_pt, max_exp_pt;
const Eigen::Vector4f pivot_pt (Eigen::Vector4f::Zero ());

// populate cloud
cloud.points.resize (3);
cloud[0].data[0] = 4.f; cloud[0].data[1] = 3.f;
cloud[0].data[2] = 0.f; cloud[0].data[3] = 0.f;
cloud[1].data[0] = 0.f; cloud[1].data[1] = 0.f;
cloud[1].data[2] = 0.f; cloud[1].data[3] = 1000.f; //This term should not influence max dist
cloud[2].data[0] = -1.5f; cloud[2].data[1] = 1.5f;
cloud[2].data[2] = -.5f; cloud[2].data[3] = 0.f;

// No indices specified
max_exp_pt = cloud[0].getVector4fMap ();
getMaxDistance (cloud, pivot_pt, max_pt);
EXPECT_EQ (max_exp_pt, max_pt);

// Specifying indices
std::vector<int> idx (2);
idx[0] = 1; idx[1] = 2;
max_exp_pt = cloud[2].getVector4fMap ();
getMaxDistance (cloud, idx, pivot_pt, max_pt);
EXPECT_EQ (max_exp_pt, max_pt);
}

/* ---[ */
int
main (int argc, char** argv)
Expand Down