PCL 1.8.1 Question about grsd.hpp

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PCL 1.8.1 Question about grsd.hpp

nenadpol
This post was updated on .
Hi,

I have been trying Global Radius-based Surface Descriptor (GRSD)  and have
noticed something in grsd.hpp file.

This is code from line nr 84 to line nr 91.

  // Compute RSD
  pcl::PointCloud<pcl::PrincipalRadiiRSD>::Ptr radii (new
pcl::PointCloud<pcl::PrincipalRadiiRSD>());
  pcl::RSDEstimation<PointInT, PointNT, pcl::PrincipalRadiiRSD> rsd;
  rsd.setInputCloud (cloud_downsampled);
  rsd.setSearchSurface (input_);
  rsd.setInputNormals (normals_);
  rsd.setRadiusSearch (std::max (search_radius_, std::sqrt (3.0) * width_ /2));
  rsd.compute (*radii);
-------------------------------------------------------------------------------------------------------

I do not understand line nr 90 (std::max (search_radius_, std::sqrt (3.0) *width_ / 2)) and computing of  parameter RadiusSearch.

According to  Line 103 in grsd.h  setRadiusSearch (double radius) { width_ =search_radius_ = radius; }

search_radius_    and    width_   are same values.

My question is what is been computed here : "std::max (search_radius_,std::sqrt (3.0) * width_ / 2)"


Second question/ observation is computing of RSD features in Line 91. If we
take a look at code from line 85 to 91 we kan se that one input parameter is
missing and that is planeRadius.

Since there is no input value, planeRadius gets default value 0.2 ( rsd.h
file line nr.149) and , as result of this , in most cases computed RSD
features have same min and max radius.

This should be corrected.

thanks
Nenad



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Re: PCL 1.8.1 Question about grsd.hpp

Sérgio Agostinho

Can you report this to the issue tracker so we can review it there please?

Thanks


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Re: PCL 1.8.1 Question about grsd.hpp

nenadpol
Hei,

I have reported it

Cheers,
Nenad




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Re: PCL 1.8.1 Question about grsd.hpp

Sérgio Agostinho
Thanks. I'll have a look into it later this week.

Cheers


On 11-12-2017 05:32, nenadpol wrote:

> Hei,
>
> I have reported it
>
> Cheers,
> Nenad
>
>
>
>
> --
> Sent from: http://www.pcl-users.org/
> _______________________________________________
> [hidden email] / http://pointclouds.org
> http://pointclouds.org/mailman/listinfo/pcl-users

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